Research on driving control strategy of 4-wheel articulated electric drive vehicles

Articulated vehicles are suitable for working on bumpy road and in narrow space. They are used in open-pit mine vehicles and underground vehicles. In this paper we focus on driving control strategy of 4-wheel articulated electric drive vehicles. By analyzing characteristics of articulated vehicles and working performance of in-wheel motor, we conclude a control strategy which is under the load distribution and aims at consistent torque. We design a 4-wheel electric drive prototype on the basis of the LHD (load-haul-dump) which has a two-degree-of-freedom articulated body and verify this strategy on the prototype. The data shows the strategy works well.