CN111483522B - Mining heavy four-wheel drive vehicle and control method thereof - Google Patents
Mining heavy four-wheel drive vehicle and control method thereof Download PDFInfo
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- CN111483522B CN111483522B CN202010288380.9A CN202010288380A CN111483522B CN 111483522 B CN111483522 B CN 111483522B CN 202010288380 A CN202010288380 A CN 202010288380A CN 111483522 B CN111483522 B CN 111483522B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention relates to a mining heavy four-wheel drive vehicle and a control method thereof, belonging to the technical field of coal mine transportation equipment; the control method of the mining heavy four-wheel drive vehicle comprises the following steps: obtaining a steering angle by measuring the displacement of a piston in a steering oil cylinder; judging the load condition of the vehicle through a pressure sensor; a current sensor is arranged on the side of a storage battery bus to calculate the total input power; calculating a real-time travel speed by an encoder; judging the output torque of the vehicle through the communication data of the frequency converter; the motors are all torque controlled. The invention carries out the running control according to the whole vehicle power distribution principle, namely, carries out the moment distribution of the front wheels and the rear wheels in different running states, thereby improving the running stability of the vehicle.
Description
Technical Field
The invention discloses a mining heavy four-wheel drive vehicle and a control method thereof, and belongs to the technical field of coal mine transportation equipment.
Background
The development trend of the mining vehicle is that the mining vehicle is more clean and heavier. Only by adopting the four-wheel drive technology in many heavy new energy transport vehicle projects, the motor power can be reduced, the motor volume can be greatly reduced, and the size requirement of the whole vehicle can be met.
The wheel side driving of the articulated vehicle is realized by hydraulic driving, but the control is extensive; the switch magnetic resistance exists, but the noise is large, and the control is not accurate; permanent magnet motors are used for driving, but the terminal of the motor is easily over-high voltage in the downhill process, and the motor is easily demagnetized. In the aspect of vehicle steering signal measurement, the steering wheel or the tire rotation angle is mostly obtained at present, but the reliability is often lower because of the fact that the reliability is lower, the technology that the articulated vehicle adopts the steering cylinder sensor is also available, but the external sensor is generally adopted, and the damage is very easy to occur in the practical use.
In the aspect of vehicle control, the synchronization problem of four-wheel drive in the walking process is difficult to guarantee all the time, and the controller is too far away from the frequency converter, so that the control signal is unreliable. During the steering process of the vehicle, the deviation of the differential strategy often causes excessive parasitic power.
Disclosure of Invention
The invention discloses a mining heavy four-wheel drive vehicle and a control method thereof, overcomes the defects in the prior art, and provides the mining heavy four-wheel drive vehicle with reliable signal acquisition and accurate steering and the control method thereof.
In order to solve the technical problems, the invention adopts the technical scheme that: a mining heavy four-wheel drive vehicle comprises a shovel plate, a front frame, a middle frame, a rear frame and a battery frame, wherein the shovel plate is arranged in front of the front frame, the front frame is connected with the middle frame through a hinged part, the rear end of the middle frame is connected with the rear frame, the rear end of the rear frame is connected with the battery frame, a left steering oil cylinder and a right steering oil cylinder which are connected with the middle frame and the rear frame are respectively arranged on the left side and the right side of the hinged part, when the heavy four-wheel drive vehicle is in straight running or steering, the angle of a front wheel relative to the front frame is kept unchanged, the angle of a rear wheel relative to the rear frame is kept unchanged, and the steering is realized through the extension and retraction of the left; when the heavy four-wheel drive vehicle runs straight, the left steering oil cylinder and the right steering oil cylinder are kept parallel.
Furthermore, magnetostrictive displacement sensors are arranged in the left steering oil cylinder and the right steering oil cylinder and are used for measuring the real-time length of the steering oil cylinders.
Furthermore, the magnetostrictive displacement sensor comprises a signal cable, a guide rod and a magnetic ring which can slide on the guide rod, the steering oil cylinder comprises a cylinder body and a piston, the guide rod is fixed at the axis of the cylinder body, the piston rod is sleeved on the guide rod, the magnetic ring is fixed on the piston, and a channel for installing the signal cable is arranged on the cylinder body.
The device further comprises an inclination angle sensor, a vehicle speed sensor, a pressure sensor, a main controller, a first sub-controller, a second sub-controller, a first frequency converter, a second frequency converter, a third frequency converter, a fourth frequency converter and a first motor, wherein the inclination angle sensor is used for detecting a climbing angle, the pressure sensor is used for detecting a load on the shovel plate, and the vehicle speed sensor consists of encoders arranged in the first motor, the second motor and the fourth motor;
the magnetostrictive displacement sensor, the inclination angle sensor, the vehicle speed sensor and the pressure sensor are connected with the input end of the main controller, the main controller is respectively connected with the first sub-controller and the second sub-controller, the first sub-controller is used for controlling and communicating the first frequency converter and the second frequency converter, the second sub-controller is used for controlling and communicating the third frequency converter and the fourth frequency converter, the first frequency converter, the second frequency converter, the third frequency converter, the fourth frequency converter, the first motor, the fourth motor, the first motor, the second motor, the third motor, the fourth motor, the left front wheel, the right front wheel, the left rear wheel and the right rear wheel are sequentially driven by the first motor.
A control method of a mining heavy four-wheel drive vehicle is realized by adopting the mining heavy four-wheel drive vehicle, and comprises the following steps:
obtaining a steering angle by measuring the displacement of a piston in a steering oil cylinder; judging the load condition of the vehicle through a pressure sensor; a current sensor is arranged on the side of a storage battery bus to calculate the total input power; calculating a real-time travel speed by an encoder; judging the output torque of the vehicle through the communication data of the frequency converter;
the motors are all controlled by torque, and the power distribution principle is as follows:
in a straight-moving state: the left front wheel and the right front wheel always have the same given torque which is kT/2; the given torque of the left rear wheel and the right rear wheel is the same and is (1-k) T/2; in a steering state: output torque k (T/2-DeltaT) of the left front wheel, output torque k (T/2+ DeltaT) of the right front wheel, output torque (1-k) (T/2-DeltaT) of the left rear wheel, and output torque (1-k) (T/2+ DeltaT) of the right rear wheel;
wherein T is the total torque output, k is the front and rear power distribution coefficient, k is more than or equal to 0.3 and less than or equal to 0.7, and Delta T is the differential distribution torque, and is greater than 0 when the vehicle turns left and is less than 0 when the vehicle turns right.
Further comprising the steps of:
dividing the steering range of the vehicle into 90 equal parts, performing steering test at each equal-divided angle, and inputting each steering angle and the corresponding length value of the steering oil cylinder into a database;
when the vehicle turns, the length of the shortened steering oil cylinder is determined through the displacement of the piston, and a steering angle is obtained through database query;
and inquiring the length range of the extended steering oil cylinder in the database through the database by using the steering angle, and if the length of the extended steering oil cylinder determined by the piston displacement exceeds the length range in the database, determining that the steering angle is inaccurate.
Compared with the prior art, the invention has the following beneficial effects.
The invention adopts the magnetostrictive sensor to measure the length of the steering oil cylinder so as to obtain the steering angle, and compared with the traditional external sensor, the invention improves the measurement accuracy and reliability. The invention carries out the running control according to the whole vehicle power distribution principle, namely, carries out the moment distribution of the front wheels and the rear wheels in different running states, thereby improving the running stability of the vehicle.
Drawings
FIG. 1 is a schematic top view of the present invention.
Fig. 2 is a schematic structural view of the hinge bracket of the present invention.
Fig. 3 is a sectional view of the steering cylinder.
FIG. 4 is a block diagram of a control circuit of the present invention.
FIG. 5 is a schematic diagram showing the correspondence between the steering angle and the length of the left steering cylinder during left-hand turning according to the present invention.
In the figure, 1-shovel plate, 2-cab, 3-hinged frame, 4-control box, 5-battery frame, 6-rear frame, 7-front frame, 8-front wheel, 9-rear frame, 31-left steering oil cylinder, 32-right steering oil cylinder, 311-cylinder body, 312-piston, 313-guide rod, 314-magnetic ring and 315-signal cable.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1-3, the heavy four-wheel drive vehicle for mining of the invention comprises a shovel plate 1, a front frame 7, a middle frame 6, a rear frame 9 and a battery frame 5, wherein the shovel plate 1 is arranged in front of the front frame 7, the front frame 7 is connected with the middle frame 6 through a hinge part 3, the rear end of the middle frame 6 is connected with the rear frame 9, the rear end of the rear frame 9 is connected with the battery frame 5, and the left side and the right side of the hinge part 3 are respectively provided with a left steering oil cylinder 31 and a right steering oil cylinder 32 which are connected with the middle frame 6 and the rear frame 9, and the heavy four-wheel drive vehicle for mining: when the heavy four-wheel drive vehicle travels straight or turns, the angle of the front wheels 8 relative to the front frame 7 is kept unchanged, the angle of the rear wheels relative to the rear frame 9 is kept unchanged, and turning is realized by stretching of the left steering oil cylinder 31 and the right steering oil cylinder 32; when the heavy four-wheel drive vehicle runs straight, the left steering cylinder 31 and the right steering cylinder 32 are kept parallel. The vehicle is loaded by the shovel plate 1 to perform the load carrying work.
Magnetostrictive displacement sensors are arranged in the left steering oil cylinder 31 and the right steering oil cylinder 32 for measuring the real-time length of the steering oil cylinders. The magnetostrictive displacement sensor comprises a signal cable 315, a guide rod 313 and a magnetic ring 314 which can slide on the guide rod 313, the steering oil cylinder comprises a cylinder body 311 and a piston 312, the guide rod 313 is fixed at the axis of the cylinder body 311, the piston rod is sleeved on the guide rod 313, the magnetic ring 314 is fixed on the piston 312, and a channel for installing the signal cable 315 is arranged on the cylinder body 311. The magnetic ring 314 translates along the guide rod 313, and different positions of the magnetic ring 314 relative to the guide rod 313 correspond to different voltage signals, and the voltage signals are transmitted to the controller through the signal cable 315, so that the real-time length of the steering cylinder is calculated. Because the magnetic ring 314 and the guide rod 313 are arranged in the magnetic sensor, the accuracy and the reliability of measurement are ensured.
As shown in fig. 4, the heavy four-wheel drive vehicle further comprises an inclination angle sensor, a vehicle speed sensor, a pressure sensor, a main controller, a first sub-controller, a second sub-controller, a first frequency converter, a second frequency converter, a first motor, a second motor, a third frequency converter, a fourth frequency converter, a first motor, a second motor, a third motor, a fourth motor, a fifth motor, a sixth motor, a seventh motor.
The magnetostrictive displacement sensor, the inclination angle sensor, the vehicle speed sensor and the pressure sensor are all connected with the input end of the main controller, the main controller is respectively connected with the first sub-controller and the second sub-controller, the first sub-controller is used for controlling and communicating the first frequency converter and the second frequency converter, and the second sub-controller is used for controlling and communicating the third frequency converter and the fourth frequency converter. CANOPEN communication signals are adopted between the main controller and the first sub-controller and between the main controller and the second sub-controller for information interaction. The first to fourth frequency converters are connected with first to fourth motors in sequence, and the first to fourth motors drive the left front wheel, the right front wheel, the left rear wheel and the right rear wheel in sequence. Therefore, when any sub-controller or frequency converter fails, the vehicle can also run in a front-driving or rear-driving mode, and the reliability of the vehicle is improved. The vehicle adopts four-wheel-side motor driving structure, each wheel drives the speed reducer with an independent motor, the motors are explosion-proof three-phase alternating current asynchronous motors, and the four motors are respectively controlled by four frequency converters. The output shaft of each motor is connected to a speed reduction mechanism having a speed reduction ratio of 72, and transmits power to the speed reduction mechanism, and each speed reduction mechanism transmits power to the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel, respectively.
A control method of a mining heavy four-wheel drive vehicle is realized by adopting the mining heavy four-wheel drive vehicle, and comprises the following steps:
the steering angle is obtained by measuring the displacement of the piston 312 in the steering cylinder; judging the load condition of the vehicle through a pressure sensor; a current sensor is arranged on the side of a storage battery bus to calculate the total input power; calculating a real-time travel speed by an encoder; and judging the output torque of the vehicle through the communication data with the frequency converter.
The motors are all controlled by torque, and the power distribution principle is as follows:
in a straight-moving state: the left front wheel and the right front wheel always have the same given torque which is kT/2; the given torque of the left rear wheel and the right rear wheel is the same and is (1-k) T/2; in a steering state: output torque k (T/2-DeltaT) of the left front wheel, output torque k (T/2+ DeltaT) of the right front wheel, output torque (1-k) (T/2-DeltaT) of the left rear wheel, and output torque (1-k) (T/2+ DeltaT) of the right rear wheel;
wherein T is the total torque output, k is the front and rear power distribution coefficient, k is more than or equal to 0.3 and less than or equal to 0.7, and Delta T is the differential distribution torque and is greater than 0 when the vehicle turns left; delta T <0 when the vehicle turns right. In order to ensure the accuracy of vehicle differential control, the actual speed ratio of the left wheel and the right wheel and the theoretical calculated speed ratio are combined for verification, and the delta T is adjusted in real time for compensation control.
The control method further comprises the following steps:
dividing the steering range of the vehicle into 90 equal divisions, performing steering test at each equal division angle, and inputting each steering angle and the corresponding length value of the steering oil cylinder into a database. Taking the left steering cylinder as an example, as shown in fig. 5, point O is a junction point of the hinge parts, point a is the front end of the left steering cylinder when the vehicle travels straight, point B is the rear end of the left steering cylinder when the vehicle travels straight, a connecting line of the three points forms a triangle, the vertex angle of the triangle is 140 degrees, when the vehicle turns left at 22.5 degrees, the left steering cylinder shortens, and the front end of the left steering cylinder moves to point a 1; when the vehicle turns 45 degrees to the left, the front end of the left steering cylinder moves to point a 2. If L1 is equal to the length of AO side, L2 is equal to the length of OB side, the steering angle is a, and the length of the left steering cylinder is L, then according to the relation of three sides of the triangle, it can be obtained,
. The calculation method of the length of the right steering oil cylinder is the same as the above.
When the vehicle turns, the length of the shortened steering oil cylinder is determined through the displacement of the piston 312, and the steering angle is obtained through database query.
The length range of the extended steering cylinder in the database is searched out through the database by using the steering angle, and if the length of the extended steering cylinder determined through the displacement of the piston 312 exceeds the length range in the database, the steering angle is considered to be inaccurate.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (2)
1. A control method of a mining heavy four-wheel drive vehicle is characterized by comprising the following steps: based on the completion of a mining heavy four-wheel drive vehicle, the mining heavy four-wheel drive vehicle comprises a shovel plate (1), a front frame (7), a middle frame (6), a rear frame (9), a battery frame (5) and a vehicle speed sensor, the shovel plate (1) is arranged in front of a front rack (7), the front rack (7) is connected with a middle rack (6) through a hinged part (3), the rear end of the middle rack (6) is connected with a rear rack (9), the rear end of the rear rack (9) is connected with a battery rack (5), the left side and the right side of the hinged part (3) are respectively provided with a left steering oil cylinder (31) and a right steering oil cylinder (32) which are connected with the middle rack (6) and the rear rack (9), and magnetostrictive displacement sensors are arranged in the left steering oil cylinder (31) and the right steering oil cylinder (32) and used for measuring the real-time length of the steering oil cylinders; the vehicle speed sensor consists of encoders arranged in first to fourth motors, the magnetostrictive displacement sensor, the vehicle speed sensor and the pressure sensor are all connected with the input end of a main controller, the main controller is respectively connected with a first sub-controller and a second sub-controller, the first sub-controller is used for controlling and communicating a first frequency converter and a second frequency converter, the second sub-controller is used for controlling and communicating a third frequency converter and a fourth frequency converter, the first to fourth frequency converters are sequentially connected with the first to fourth motors, and the first to fourth motors sequentially drive a left front wheel, a right front wheel, a left rear wheel and a right rear wheel;
the control method comprises the following steps:
obtaining a steering angle by measuring the displacement of a piston (312) in the steering oil cylinder; judging the load condition of the vehicle through a pressure sensor; a current sensor is arranged on the side of a storage battery bus to calculate the total input power; calculating a real-time travel speed by an encoder; judging the output torque of the vehicle through the communication data of the frequency converter;
the motors are all controlled by torque, and the power distribution principle is as follows:
in a straight-moving state: the left front wheel and the right front wheel always have the same given torque which is kT/2; the given torque of the left rear wheel and the right rear wheel is the same and is (1-k) T/2; in a steering state: output torque k (T/2-DeltaT) of the left front wheel, output torque k (T/2+ DeltaT) of the right front wheel, output torque (1-k) (T/2-DeltaT) of the left rear wheel, and output torque (1-k) (T/2+ DeltaT) of the right rear wheel;
wherein T is the total torque output, k is the front and rear power distribution coefficient, k is more than or equal to 0.3 and less than or equal to 0.7, and Delta T is the differential distribution torque and is greater than 0 when the vehicle turns left; delta T <0 when the vehicle turns right.
2. The control method of the mining heavy four-wheel drive vehicle according to claim 1, characterized by comprising the following steps: further comprising the steps of:
dividing the steering range of the vehicle into 90 equal parts, performing steering test at each equal-divided angle, and inputting each steering angle and the corresponding length value of the steering oil cylinder into a database;
when the vehicle steers, the length of the shortened steering oil cylinder is determined through the displacement of the piston (312), and a steering angle is obtained through database query;
the length range of the extended steering cylinder in the database is inquired through the database by using the steering angle, and if the length of the extended steering cylinder determined through the displacement of the piston (312) exceeds the length range in the database, the steering angle is considered to be inaccurate.
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| CN202010288380.9A CN111483522B (en) | 2020-04-14 | 2020-04-14 | Mining heavy four-wheel drive vehicle and control method thereof |
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| CN111483522B true CN111483522B (en) | 2021-05-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US12017699B2 (en) | 2021-02-19 | 2024-06-25 | Caterpillar Inc. | System for detecting failure of an Ackerman-type steering mechanism |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11745552B2 (en) | 2021-02-19 | 2023-09-05 | Caterpillar Inc. | System for detecting failure of an articulated steering mechanism |
| CN113428224A (en) * | 2021-07-05 | 2021-09-24 | 南京晨光森田环保科技有限公司 | Vehicle steering angle calibration device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2905723Y (en) * | 2006-04-14 | 2007-05-30 | 山东巨力股份有限公司 | Small size wheeled loader |
| CN102131670A (en) * | 2008-08-29 | 2011-07-20 | 沃尔沃建筑设备公司 | Frame-steered vehicle and a method for controlling a frame-steered vehicle |
| JP5498858B2 (en) * | 2010-05-27 | 2014-05-21 | 日立建機株式会社 | Wheel loader |
| CN102975772B (en) * | 2012-11-16 | 2015-05-13 | 中国煤炭科工集团太原研究院 | Underground coal mine four-wheel double-hinge-point swing type hinged frame structure |
| CN206243243U (en) * | 2016-11-18 | 2017-06-13 | 安徽合力股份有限公司宝鸡合力叉车厂 | Radial type offroad vehicle |
| WO2018119639A1 (en) * | 2016-12-27 | 2018-07-05 | 徐州重型机械有限公司 | Steering device, suspension cylinder, control system and method, and crane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US12017699B2 (en) | 2021-02-19 | 2024-06-25 | Caterpillar Inc. | System for detecting failure of an Ackerman-type steering mechanism |
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