Study on Control Strategy of The Autonomous Mining Truck Wire Control Braking System

Although the open-pit mine mining truck is equipped with a variety of auxiliary braking devices, the compound control is not realized. To address this problem, this paper proposes a compound control strategy for the autonomous mining truck wire-control braking system combining logic threshold and fuzzy PID to meet the requirements of compound control of braking system. Simulation and real-vehicle tests of the control strategy show that the proposed control strategy can greatly reduce the activation frequency of the EBS main brake and improve the safety of the braking system. Moreover, the target speed can be followed by the actual speed well. Meanwhile, the control error is less than ±2km/h which indicates a good ramp speed control effect.