Abstract: Dual-powered underground articulated dump truck has two types of power,the one is the engine system,the other is overhead trolley system.The overhead trolley system installed on top of the tunnel could supply 3-phase AC power to the vehicle by pantograph.Firstly,the different working modes of the pantograph are analyzed,and the control requirements on different modes are given according to the dimensions of the pantograph and the tunnel.Secondly,the hydraulic and control system is designed,and the control strategies for different modes are made.The state of the pantograph is monitored in real time using the sensors information collected by the PLC.Finally,the function of manual rising-lowering,automatic rising-lowering and dynamic servo control of the pantograph are realized by controlling the cylinders locations and action sequence.It guarantees the connecting between the trolley system and the pantograph reliably and safely,which solves the problem of the power supplying by the trolley system.

Key words: Dual-powered articulated dump truck, Overhead trolley system, Pantograph,Automatic rising-lowering control