CN113696725A - Self-adaptive safety speed-limiting protection system and method for electric transmission mining dump truck - Google Patents
Self-adaptive safety speed-limiting protection system and method for electric transmission mining dump truck Download PDFInfo
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- CN113696725A CN113696725A CN202111017922.XA CN202111017922A CN113696725A CN 113696725 A CN113696725 A CN 113696725A CN 202111017922 A CN202111017922 A CN 202111017922A CN 113696725 A CN113696725 A CN 113696725A
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- 238000005065 mining Methods 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims description 14
- 230000005540 biological transmission Effects 0.000 title abstract description 5
- 238000005303 weighing Methods 0.000 claims abstract description 19
- 238000001914 filtration Methods 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000019771 cognition Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/18—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including a device to audibly, visibly, or otherwise signal the existence of unusual or unintended speed to the driver of the vehicle
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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
- B60L7/00—Electrodynamic brake systems for vehicles in general
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K2031/0091—Speed limiters or speed cutters
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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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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The self-adaptive safety speed-limiting protection system of the electric drive mining dump truck comprises a vehicle control unit VCU, wherein the input end of the vehicle control unit VCU is connected with a weighing sensor, an inclination angle sensor, a temperature sensor, a rotating speed sensor, an electric brake pedal and an accelerator pedal, and the output end of the vehicle control unit VCU is connected with a display terminal and a brake mechanism. The invention has the beneficial effects that: the device can automatically match the current state of the electric transmission mine car with the safety speed limit protection, particularly carry out self-adaptive safety speed limit on the vehicle under the downhill working condition, avoid the overspeed running of the vehicle and improve the running safety and the transportation efficiency of the vehicle.
Description
Technical Field
The invention relates to the technical field of control of mining dump trucks, in particular to a self-adaptive safety speed-limiting protection system of an electric drive mining dump truck.
Background
The electric drive mining dump truck has absolute advantages in the field of surface mining, the driving system is simple, and the engine can be operated on an optimal characteristic curve, so the electric drive mining dump truck has inherent advantages in the aspects of energy conservation and environmental protection. The largest engineering machinery manufacturers in the world are invested with great financial resources to research and develop the electric drive mining dump trucks. Compared with a mechanical transmission dump truck, the electric transmission mining dump truck has the advantages of simple structure, convenience in maintenance, greatly reduced operation cost and improved production efficiency.
When the electric drive dumper runs in a working environment, fixed value speed limiting is generally adopted at present, road conditions and load conditions are not considered in the speed limiting mode, so that the fixed speed limiting value is not an optimal value, vehicles and operators have great potential safety hazards under overload or downhill conditions, particularly under the condition of a large-slope downhill, the safe running speed of the vehicles is far lower than the fixed speed limiting value, drivers often control the vehicle speed according to own driving experience, the vehicles cannot run at the optimal speed, even the vehicles are out of control due to deviation of slope cognition, the risk of vehicle running is increased, and the transportation efficiency of the vehicles is influenced.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a self-adaptive safety speed-limiting protection system and method for an electric drive mining dump truck.
The technical scheme adopted by the invention is as follows: the self-adaptive safety speed-limiting protection system of the electric drive mining dump truck comprises a vehicle control unit VCU, wherein the input end of the vehicle control unit VCU is connected with a weighing sensor, an inclination angle sensor, a temperature sensor, a rotating speed sensor, an electric brake pedal and an accelerator pedal, and the output end of the vehicle control unit VCU is connected with a display terminal and a brake mechanism.
Preferably, the weighing sensors comprise a left front weighing sensor, a right front weighing sensor, a left rear weighing sensor and a right rear weighing sensor.
Preferably, the temperature sensor includes a left wheel motor temperature sensor and a right wheel motor temperature sensor, and the rotation speed sensor includes a left wheel rotation speed sensor and a right wheel rotation speed sensor.
Preferably, the braking mechanism adopts a frequency converter.
A self-adaptive safety speed-limiting protection method for an electric drive mining dump truck comprises the following steps:
s1: the VCU of the vehicle control unit reads real-time vehicle state information, including an inclination angle alpha, vehicle weight, speed, an accelerator signal and a brake signal;
s2: judging whether the vehicle is in an uphill state, a flat state or a downhill state according to the inclination angle, the inclination duration, the accelerator signal and the electric brake signal state;
s3: if the vehicle is in a downhill state, the VCU calculates the braking torque T required to be applied by the current motor according to the current total weight and the inclination angle of the vehicle;
s4: if the vehicle is in a flat or uphill state, setting a speed limit value Vs and a maximum allowable vehicle speed Vm according to operation requirements;
s5: when the vehicle is in a flat or uphill state, if the vehicle speed exceeds a speed limit value Vs, the display terminal displays a speed limit sign and an overspeed alarm, applies electric braking, and records the allowed data of the current working condition;
s6: when the vehicle is in a flat or uphill state, if the vehicle speed exceeds the maximum allowable vehicle speed Vm, the display terminal reminds the driver to adopt hydraulic braking for speed reduction until the vehicle speed is lower than the maximum allowable vehicle speed Vm.
Preferably, the inclination angle is acquired by adopting a filtering mode, and specifically, N sampling values are continuously acquired by the inclination angle sensor to perform arithmetic mean operation.
Preferably, in step S3, the braking torque is set
The method comprises the steps that T is the minimum braking torque required to be added by a wheel-side motor, R is the rolling radius of a tire of the mining dump truck, eta is the efficiency of the motor, i is a reduction ratio, F is the resultant force of gravity component and friction force of the vehicle under the downhill working condition, F is (M1+ M2) g sin (-alpha) - (M1+ M2) g cos (-alpha), wherein M1 is the self weight of the vehicle, M2 is the real-time load of the vehicle, and mu is a friction factor.
Preferably, after the vehicle is overspeed, the VCU of the vehicle controller applies electric braking in different modes according to the current motor temperature and the vehicle speed; and if the current motor temperature is higher than the set temperature, applying the standard electric brake, otherwise, applying the maximum electric brake.
The invention has the beneficial effects that: the device can automatically match the current state of the electric transmission mine car with the safety speed limit protection, particularly carry out self-adaptive safety speed limit on the vehicle under the downhill working condition, avoid the overspeed running of the vehicle and improve the running safety and the transportation efficiency of the vehicle.
Drawings
FIG. 1 is a flow chart of a method of the present invention;
fig. 2 is an electrical schematic of the present invention.
Detailed Description
For further explanation of the technical details and advantages of the present invention, reference will now be made to the accompanying drawings and examples.
As shown in fig. 2, the self-adaptive safety speed-limiting protection system for the electric drive mining dump truck comprises a vehicle control unit VCU, wherein an input end of the vehicle control unit VCU is connected with a weighing sensor, an inclination angle sensor, a temperature sensor, a rotation speed sensor, an electric brake pedal and an accelerator pedal, and an output end of the vehicle control unit VCU is connected with a display terminal and a brake mechanism.
In this embodiment, the weighing sensors include a left front weighing sensor, a right front weighing sensor, a left rear weighing sensor, and a right rear weighing sensor. The temperature sensor comprises a left wheel motor temperature sensor and a right wheel motor temperature sensor, and the rotating speed sensor comprises a left wheel rotating speed sensor and a right wheel rotating speed sensor. The braking mechanism adopts a frequency converter.
As shown in fig. 2, a self-adaptive safety speed-limiting protection method for an electric drive mining dump truck comprises the following steps:
s1: the VCU of the vehicle control unit reads real-time vehicle state information, including an inclination angle alpha, vehicle weight, speed, an accelerator signal and a brake signal;
s2: and judging whether the vehicle is in an uphill state, a flat state or a downhill state according to the inclination angle, the inclination duration, the accelerator signal and the electric brake signal. Setting an angle threshold α1＜α2＜0＜α3＜α4When alpha is less than or equal to alpha1Or alpha1＜α＜α2And an electric braking signal or a duration of the inclination exceeding a time threshold t1When the vehicle is in the downhill state, the system determines that the vehicle is in the downhill state. When alpha is more than or equal to alpha4Or alpha3＜α＜α4And when the throttle signal or the duration time exceeds the time threshold t2, the system judges that the vehicle is in an uphill state. Judging that the vehicle is in a flat state by the system except the two conditions;
s3: if the vehicle is in a downhill state, the VCU calculates the braking torque T required to be applied by the current motor according to the current total weight and the inclination angle of the vehicle;
s4: if the vehicle is in a flat or uphill state, setting a speed limit value Vs and a maximum allowable vehicle speed Vm according to operation requirements;
s5: when the vehicle is in a flat or uphill state, if the vehicle speed exceeds a speed limit value Vs, the display terminal displays a speed limit sign and an overspeed alarm, applies electric braking, and records the allowed data of the current working condition;
s6: when the vehicle is in a flat or uphill state, if the vehicle speed exceeds the maximum allowable vehicle speed Vm, the display terminal reminds the driver to adopt hydraulic braking for speed reduction until the vehicle speed is lower than the maximum allowable vehicle speed Vm.
In this embodiment, the tilt angle is acquired in a filtering manner, specifically, N sampling values are continuously acquired by the tilt angle sensor to perform arithmetic mean operation.
In step S3, braking torque
The method comprises the steps that T is the minimum braking torque required to be added by a wheel-side motor, R is the rolling radius of a tire of the mining dump truck, eta is the efficiency of the motor, i is a reduction ratio, F is the resultant force of gravity component and friction force of the vehicle under the downhill working condition, F is (M1+ M2) g sin (-alpha) - (M1+ M2) g cos (-alpha), wherein M1 is the self weight of the vehicle, M2 is the real-time load of the vehicle, and mu is a friction factor.
After the vehicle is overspeed, the VCU of the vehicle controller applies electric braking in different modes according to the current motor temperature and the vehicle speed; and if the current motor temperature is higher than the set temperature, applying the standard electric brake, otherwise, applying the maximum electric brake.
Claims (8)
1. The utility model provides an electric drive mining dump truck self-adaptation safety speed limit protection system, includes vehicle control unit VCU, its characterized in that: the input end of the VCU of the vehicle control unit is connected with the weighing sensor, the inclination angle sensor, the temperature sensor, the rotating speed sensor, the electric brake pedal and the accelerator pedal, and the output end of the VCU of the vehicle control unit is connected with the display terminal and the brake mechanism.
2. The electric drive mining dump truck self-adaptive safety speed limit protection system according to claim 1, characterized in that: the weighing sensors comprise a left front weighing sensor, a right front weighing sensor, a left rear weighing sensor and a right rear weighing sensor.
3. The electric drive mining dump truck self-adaptive safety speed limit protection system according to claim 1, characterized in that: the temperature sensor comprises a left wheel motor temperature sensor and a right wheel motor temperature sensor, and the rotating speed sensor comprises a left wheel rotating speed sensor and a right wheel rotating speed sensor.
4. The electric drive mining dump truck self-adaptive safety speed limit protection system according to claim 1, characterized in that: the braking mechanism adopts a frequency converter.
5. A self-adaptive safety speed limit protection method for an electric drive mining dump truck is characterized by comprising the following steps: the method comprises the following steps:
s1: the VCU of the vehicle control unit reads real-time vehicle state information, including an inclination angle alpha, vehicle weight, speed, an accelerator signal and a brake signal;
s2: judging whether the vehicle is in an uphill state, a flat state or a downhill state according to the inclination angle, the inclination duration, the accelerator signal and the electric brake signal state;
s3: if the vehicle is in a downhill state, the VCU calculates the braking torque T required to be applied by the current motor according to the current total weight and the inclination angle of the vehicle;
s4: if the vehicle is in a flat or uphill state, setting a speed limit value Vs and a maximum allowable vehicle speed Vm according to operation requirements;
s5: when the vehicle is in a flat or uphill state, if the vehicle speed exceeds a speed limit value Vs, the display terminal displays a speed limit sign and an overspeed alarm, applies electric braking, and records the allowed data of the current working condition;
s6: when the vehicle is in a flat or uphill state, if the vehicle speed exceeds the maximum allowable vehicle speed Vm, the display terminal reminds the driver to adopt hydraulic braking for speed reduction until the vehicle speed is lower than the maximum allowable vehicle speed Vm.
6. The self-adaptive safety speed-limiting protection method of the electric drive mining dump truck according to claim 5, characterized in that: the inclination angle is acquired in a filtering mode, and specifically, N sampling values are continuously acquired through an inclination angle sensor to perform arithmetic mean operation.
7. The self-adaptive safety speed-limiting protection method of the electric drive mining dump truck according to claim 5, characterized in that: in step S3, braking torque
The method comprises the steps that T is the minimum braking torque required to be added by a wheel-side motor, R is the rolling radius of a tire of the mining dump truck, eta is the efficiency of the motor, i is a reduction ratio, F is the resultant force of gravity component and friction force of the vehicle under the downhill working condition, F is (M1+ M2) g sin (-alpha) - (M1+ M2) g cos (-alpha), wherein M1 is the self weight of the vehicle, M2 is the real-time load of the vehicle, and mu is a friction factor.
8. The self-adaptive safety speed-limiting protection method of the electric drive mining dump truck according to claim 5, characterized in that: after the vehicle is overspeed, the VCU of the vehicle controller applies electric braking in different modes according to the current motor temperature and the vehicle speed; and if the current motor temperature is higher than the set temperature, applying standard braking, otherwise, applying maximum braking.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111017922.XA CN113696725B (en) | 2021-08-31 | 2021-08-31 | Self-adaptive safety speed limiting protection system and method for electric transmission mining dump truck |
| PCT/CN2022/116000 WO2023030346A1 (en) | 2021-08-31 | 2022-08-30 | Self-adaptive safe speed-limitation protection system and method for electric transmission mining dumper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111017922.XA CN113696725B (en) | 2021-08-31 | 2021-08-31 | Self-adaptive safety speed limiting protection system and method for electric transmission mining dump truck |
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| Publication Number | Publication Date |
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| CN113696725A true CN113696725A (en) | 2021-11-26 |
| CN113696725B CN113696725B (en) | 2023-08-04 |
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| CN202111017922.XA Active CN113696725B (en) | 2021-08-31 | 2021-08-31 | Self-adaptive safety speed limiting protection system and method for electric transmission mining dump truck |
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| CN (1) | CN113696725B (en) |
| WO (1) | WO2023030346A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114407852A (en) * | 2022-03-31 | 2022-04-29 | 山西维度空间信息科技有限公司 | Mine car brake control method and device, mine car and storage medium |
| CN114834250A (en) * | 2022-03-25 | 2022-08-02 | 潍柴动力股份有限公司 | Vehicle self-adjusting speed limiting method, speed limiting system and vehicle |
| WO2023030346A1 (en) * | 2021-08-31 | 2023-03-09 | 徐州徐工矿业机械有限公司 | Self-adaptive safe speed-limitation protection system and method for electric transmission mining dumper |
| WO2024120260A1 (en) * | 2022-12-09 | 2024-06-13 | 中铁工程服务有限公司 | Control method and apparatus for automatic speed limitation of electric locomotive on ramp |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117774714B (en) * | 2024-02-23 | 2024-05-10 | 湘潭开元机电制造有限公司 | Self-adaptive control method for traction system of mining electric wheel dumper |
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| CN114407852A (en) * | 2022-03-31 | 2022-04-29 | 山西维度空间信息科技有限公司 | Mine car brake control method and device, mine car and storage medium |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2023030346A1 (en) | 2023-03-09 |
| CN113696725B (en) | 2023-08-04 |
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