This article proposes the structure and algorithm to design a PID controller for
the driving wheel slip prevention system (DWSPs) of a dump truck using a diesel
engine, which is equipped just only with a traditional high-pressure pump (HPP)
under low-adhesion coefficient conditions. First, a longitudinal dynamic model,
and a dynamic model of the wheel and powertrain of a dump truck are,
respectively, established, and an experiment in the torque determination of a
diesel engine is set up to investigate longitudinal vehicle dynamics as well.
Then, a control system structure of the DWSPs for a dump truck using a diesel
engine with a high-pressure inline fuel pump is proposed. Finally, based on
performance analysis of other types of controllers, a PID controller is selected
to control actual load level of a diesel engine. The criteria representing the
vehicle’s acceleration such as the vehicle speed, vehicle acceleration, total
slip time, and time to reach vehicle speed are selected to examine the
effectiveness of the proposed controller when vehicles are being operated under
the road surface conditions with low values of adhesion coefficient. The
obtained results show that the proposed controller has greatly limited the
driving wheel slipping phenomenon and increased the acceleration of the original
dump truck. In addition, these findings can be used as a theoretical basis for
the improvement of the wheel slip controllers in trucks using diesel
engines.
