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Journal Article

Lateral Control for Driverless Mining Trucks with the Consideration of Steering Lag and Vehicle–Road States

Abstract Lateral control is an essential part of driverless mining truck systems. However, the considerable steering lag and poor tracking accuracy limit the development of unmanned mining. In this article, a dynamic preview distance was designed to resist the steering lag. Then the vehicle–road states, which described the real-time lateral and heading errors between the vehicle and the target road, was defined to describe the control strategy more efficiently. In order to trade off the tracking accuracy and stability, the Takagi–Sugeno (TS) fuzzy method was used to adjust the weight matrix of the linear quadratic regulator (LQR) for different vehicle–road states. Based on the actual mine production environment and the TR100 mining truck, experimental results show that the TS-LQR algorithm performed much better than the pure pursuit algorithm.

SAE J1939 Network Compliance

SAE J1939-82 compliance describes the compliance tests and procedures to verify an SAE J1939 electronic control unit (ECU) operates correctly on a SAE J1939 network. The purpose of these compliance procedures is to generate one or more test documents that outline the tests needed to assure that an ECU that is designed to operate as a node on a SAE J1939 network would do so correctly. SAE does not certify devices and these tests and their results do not constitute endorsement by SAE of any particular ECU. These tests are presented to allow testing of an ECU to determine self-compliance by the manufacturer of an ECU. The manufacturer can use its record of what procedures were run successfully to show the level of compliance with SAE J1939.

Nickel Alloy, Corrosion- and Heat-Resistant, Bars, Forgings, Rings and Stock for Forging 41.5Ni - 16Cr - 37Fe - 2.9Cb (Nb) - 1.8Ti Consumable Electrode Remelted or Vacuum Induction Melted 1750 °F (954 °C) Solution Heat Treated

This specification covers a corrosion- and heat-resistant nickel alloy in the form of bars, forgings, and flash-welded rings up to 4.00 inches (101.6 mm), inclusive, in nominal thickness or distance between parallel sides and having a maximum cross-sectional area of less than 12.6 square inches (81 cm2). Stock for forging or flash-welded rings may be of any size and condition as ordered.