传统铲运机的发动机选型必须满足联合铲装工况的峰值功率需求，而发动机长时间低负荷工作导致铲运机较差的燃油经济性和排放性能，因此将混合动力技术应用到铲运机上具有重要意义。针对电动轮驱动地下铲运机“L”型循环工况特点，增加超级电容器作为储能单元，与柴油发电机组进行串联布置，设计混合动力铲运机驱动系统结构，制定驱动系统控制策略；动态协调控制是控制策略的重要组成部分，对各部件进行动态调节，使系统在动态中达到平衡，工作在选择的驱动系统工作模式下。搭建混合动力驱动系统试验台，对控制系统试验与调试。试验内容包括各动力子系统试验、混合动力系统工作模式调试、系统联合调试，验证系统的有效性和合理性。结果可知控制系统可以满足整车需要，响应速度和限功率控制及其他保护报警功能达到设计要求，为同类设计提供参考。

The engine of traditional underground Load-haul-dump (LHD) must meet the conditions of the joint loading shovel peak power demand, while low load operation of the engine leads to poor fuel economy and emission performance of LHD, therefore, it is important that the hybrid technology will be applied to the LHD. For the L-type driving cycle characteristics of underground LHD with electric drive wheel, the tandem hybrid LHD drive system architecture was proposed with the super capacitor as energy storage unit, and the control strategy of the drive system was formulated. Dynamic coordinated control algorithm adjusts the components dynamically, and it can make the system reach equilibrium dynamically and work at the selected drive system operation mode. The hybrid test bench of LHD was used to test and debug the hybrid drive system. Test content including the power subsystem test, the hybrid system working mode debugging and joint debugging. LHD hybrid drive system control is an effective and reasonable strategy for validation. The results show that the control system can meet the vehicle needs, response speed and power control limits and the design requirements needed by other protection alarm functions, which can provide reference for similar designs.