Motion simulation and human-computer interaction system design of trackless rubber-tyred vehicle based on digital twin
LI Jiaran
BI Yueqi
Abstract：To enhance the operational safety and intelligent control level of underground trackless auxiliary transport rubber-tyred vehicles in coal mines,a motion simulation and human-computer interaction system integrating new-generation information techno-logy with the concept of digital twin is proposed to solve the limitations of traditional monitoring and simulation modeling methods in intuitively representing operational status and constructing high-fidelity models.The system takes a trackless rubber-tyred vehicle with multi-sensor redundancy as the research object,and the system architecture and functional modules are designed using MAT-LAB/Simulink,and the CAN bus is used for standardized conversion and high-speed transmission of multi-source sensor data.Real-time data interaction between the digital twin model and the physical entity is achieved through the I/O interface of the vehicle con-trol unit(VCU),forming a virtual-physical fusion environment that enables continuous monitoring of key safety parameters such as torque,speed,and brake pressure.A predictive simulation method based on physical modeling and real-time data is introduced to ac-curately simulate the dynamic response of vehicle under various working conditions,supporting VCU program optimization and con-trol algorithm parameter tuning.Taking a low-speed four-wheel steering scenario in an underground coal mine as an example,the di-gital twin-based simulation platform reproduces real turning conditions.Combined with the dynamic characteristics of vehicle,mul-tiple simulation experiments are conducted to optimize the proportional-integral-derivative(PID)control parameters.The optimized control strategy significantly improves yaw rate and reduces turning radius.The simulation results closely match the measured data,with a maximum relative error of 1.34%and an average error of 0.85%,verifying the accuracy and reliability of the model.The over-all time delay of the control system is controlled within 30 ms,fully demonstrating the real-time performance of the system.
Keywords：underground trackless rubber-tyred vehicledigital twinmulti-source sensing datahuman-computer interaction systemvisual simulation
Publication Date：2026-02-20
Online Publishing Date：2026-03-19(First online date of this platform, not the publication date of the document)
Pages：11( 220-230 )