Load Haul Dump Vehicle Kinematics and Control

[+] Author and Article Information
Peter Ridley

School of Mechanical and Manufacturing Engineering, Queensland University of Technology, PO Box 2434, Brisbane, 4001 Australiae-mail: p.ridley@qut.edu.au

Peter Corke

CSIRO Manufacturing Science and Technology, Queensland Center for Advanced Technologies, PO Box 883, Kenmore 4069, Australiae-mail: pic@cat.csiro.au

J. Dyn. Sys., Meas., Control 125(1), 54-59 (Mar 10, 2003) (6 pages) doi:10.1115/1.1541671 History: Received May 01, 2000; Revised August 01, 2002; Online March 10, 2003
Copyright © 2003 by ASME
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Grahic Jump Location
Path of an LHD vehicle as it locks onto a prescribed circle (R=10 m), from an initial position whose location errors are εd=1.0 m,εθ=0.1 rad, and εc=0.0111 m−1. The vehicle speed is constant V=2.0 m/s, and tuned (k=[0.0344,0.3536,1.6994]) for pole placement ωn=0.3 rad/s and ξ=0.7,(l1=1.6,l2=1.8)
Grahic Jump Location
Error time responses for the journey described in Fig. 8
Grahic Jump Location
Steering time responses for the journey described in Fig. 8
Grahic Jump Location
Geometric layout of LHD vehicle, showing the instantaneous center (I1) of velocity of front and rear of the vehicle and the center (c) of curvature of point p
Grahic Jump Location
Plan-view of LHD vehicle, defining the displacement, heading and curvature errors (εdθ, and εc) relative to the circle through points P1,P2, and P3 on a desired path
Grahic Jump Location
Geometric relationship between path errors (εdθ, and εc) between two infinitesimally separated positions of the vehicle
Grahic Jump Location
State variable feedback control strategy block diagram
Grahic Jump Location
Locus of roots of the system characteristic equation as vehicle speed varies between zero and 15 m/s for constant feedback gains k=[0.0344,0.3536,1.6994]
Grahic Jump Location
Variation of feedback gain required to maintain constant pole placement, ωn=0.3 rad/s and ξ=0.7, as vehicle speed varies (l1=1.6,l2=1.8,R=10 m,)
Grahic Jump Location
System block diagram showing the entry of path disturbance inputs c(t), h(t), and d(t)



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