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This study focuses on the operation of trolley-assisted mining truck, which leverage overhead lines for uphill propulsion, substantially reducing fuel consumption and carbon emissions. The pantograph mounted at the truck body's front exhibits complex vibrational behavior due to the subgrade stiffness and the nonlinearities of the hydro-pneumatic suspension. Vertical dynamic model of the mining truck is constructed which considering the road conditions and suspension characteristics to illustrate the pantograph's contact force. The vibration characteristic of pantograph base is analyzed which using the spatial transformation relationship between the truck's center mass of gravity and the base of pantograph. The stiffness of pantograph is designed based on a pantograph-catenary system model considering different road conditions. The real mining truck is modeled in the Trucksim software to obtain the vibration of pantograph base.

In the last decade, the accelerated advancements in manufacturing techniques and material science enabled the automotive industry to manufacture commercial vehicles at more affordable rates. This, however, brought about roadways having to accommodate an ever-increasing number of vehicles every day. However, some roadways, during specific hours of the day, had already been on the brink of reaching their capacity to withstand the number of vehicles travelling on them. Hence, overcrowded roadways create slow traffic, and sometimes, bottlenecks. In this paper, a Dynamic Speed Harmonization (DSH) algorithm that regulates the speed of a vehicle to prevent it from being affected by bottlenecks has been presented. First, co-simulations were run between MATLAB Simulink and CarSim to test different deceleration profiles.

With high maneuverability and heavy-duty load capacity, articulated steer vehicles (ASV) are widely used in construction, forestry and mining sectors. However, the steering process of ASV is much different from wheeled steer vehicles and tractor-trailer vehicles. Unsuitable steering control in path following could easily give rise to the “snaking” behaviour, which greatly reduces the safety and stability of ASV. In order to achieve precise control for ASV, a novel path tracking control method is proposed by virtual terrain field (VTF) method. A virtual U-shaped terrain field is assumed to exist along the reference path. The virtual terrain altitude depends on the lateral error, heading error, preview distance and road curvature. If the vehicle deviates from the reference line, it will be pulled back to the lowest position under the influence of additional lateral tire forces which are caused by the virtual banked road.