矿用宽体车整车控制系统架构设计与关键技术研究

Research on the Design Architecture and Key Technologies of the Overall Control System for Mine-Wide Body Vehicles

摘要

矿用宽体车工作在高粉尘、繁复路况、大载荷交变工况，现有的体系在实时响应、功能安全方面存在考验。本文提出分层模块化整车控制架构，把决策、协调、执行驱动三者合在一起。使用 CAN FD 以及以太网融合通信、精密时间同步技术，实现动力传动以及转向制动的协同，用异构冗余机制保证失效导向的安全。验证结果表明，该方案大大减小了横摆误差和能耗，在极端环境下具备纵深防御能力，靠着软硬协同监测及自适应标定方略，增强了极端工况下抗干扰能力以及系统自恢复能力，给智能矿山无人化作业给出高可靠的技术支撑。

Abstract

Mining wide-body trucks operate under high-dust, complex road conditions, and high-load alternating working conditions, and the existing systems face challenges in real-time responsiveness and functional safety. This paper proposes a layered modular vehicle control architecture that integrates three-layer logic: decision-making, coordination, and executive drive. By leveraging CAN FD and Ethernet converged communication, along with precise time synchronization technology, it achieves synergy among powertrain, steering, and braking. The integration of heterogeneous redundancy mechanisms ensures fail-safe operation. Validation demonstrates that the proposed scheme significantly reduces yaw error and energy consumption, establishes defense-in-depth capability under extreme environments, and further enhances anti-interference capability and system self-recovery performance under harsh conditions through hardware-software collaborative monitoring and adaptive calibration strategies, providing highly reliable technical support for unmanned intelligent mining operations.

关键词

矿用宽体车 / 整车控制架构 / 分层模块化 / 协同控制 / 功能安全

Key words

mining wide-body truck / vehicle control architecture / layered modularization / cooperative control / functional safety

参考文献

[1] 郭三刺, 苏振恒, 刘本学. 基于PLC-Lasso回归算法的鱼池投饲轨道车驱动控制系统设计[J]. 渔业现代化, 2025, 52(06):97-105.

[2] 陈文鸿, 李堃臻, 杨云福, 等. 龙门式电动履带作业车设计与试验[J]. 林业机械与木工设备, 2025, 53(12):36-40.

[3] 徐昊洋, 程海豫, 颜斌. 基于TC264D的双车跟随智能车控制系统设计[J]. 电子制作, 2025, 33(23):44-49.

[4] 于彬, 李宗杰, 师帅. 矿用单元支架搬运车快速装卸及四履带转向系统设计[J]. 煤炭科技, 2025, 46(05):41-45.

[5] Wang Yilin, Weiwei Yang, and Nong Zhang. ‘Slope estimation of distributed electric drive mining dump truck based on multi-sensor integration’. International Journal of Vehicle Design 96.3-4 (2024): 263-285.