Title: Sliding mode control of longitudinal motions for underground mining electric vehicles with parametric uncertainties

Authors: Wenjie Ye; Weixiang Shen; Jinchuan Zheng; Damon Honnery; Daya Dayawansa

Addresses: Faculty of Science, Engineering and Technology, Swinburne University of Technology, Hawthorn, Victoria, 3122, Australia ' Faculty of Science, Engineering and Technology, Swinburne University of Technology, Hawthorn, Victoria, 3122, Australia ' Faculty of Science, Engineering and Technology, Swinburne University of Technology, Hawthorn, Victoria, 3122, Australia ' Department of Mechanical and Aerospace Engineering, Monash University, Clayton, Victoria, 3800, Australia ' Department of Mechanical and Aerospace Engineering, Monash University, Clayton, Victoria, 3800, Australia

Abstract: Nowadays, zero-emission electric vehicles become more and more attractive personnel transport vehicles for mining industry. Owing to the special working environment and complex road conditions, a robust controller needs to be designed to achieve a stable and reliable vehicle system for underground mining electric vehicles (UMEVs). This paper first presents the UMEV model with system uncertainties. Then, a new controller based on the sliding mode control (SMC) is designed for UMEVs to track the longitudinal velocity while maintaining longitudinal slip ratio in a desired linear region in the presence of the bounded system uncertainties. The comparison of the simulation results for both the proposed SMC controller and a traditional SMC controller shows that the proposed SMC controller has a better performance for the long-distance up/down slopes with varying rolling resistance coefficients.

Keywords: bounded system uncertainties; bicycle modelling; electric vehicles; sliding mode control; SMC; underground mining; longitudinal motion; parametric uncertainty; mining industry; robust control; controller design; longitudinal velocity; longitudinal slip ratio; simulation; rolling resistance.

DOI: 10.1504/IJMIC.2016.077739

International Journal of Modelling, Identification and Control, 2016 Vol.26 No.1, pp.68 - 78

Received: 23 May 2015
Accepted: 21 Jul 2015
Published online: 14 Jul 2016 *

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