CN115402289A - Engine overspeed inhibition of mining dump truck and implementation method thereof - Google Patents
Engine overspeed inhibition of mining dump truck and implementation method thereof Download PDFInfo
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- 230000005764 inhibitory process Effects 0.000 title claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 239000007788 liquid Substances 0.000 claims abstract description 23
- 238000005303 weighing Methods 0.000 claims abstract description 15
- 230000003139 buffering effect Effects 0.000 claims description 6
- 230000001629 suppression Effects 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 230000002040 relaxant effect Effects 0.000 claims description 3
- 230000002401 inhibitory effect Effects 0.000 claims 4
- 206010063385 Intellectualisation Diseases 0.000 abstract description 3
- 230000000007 visual effect Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18136—Engine braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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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
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
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- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)
Abstract
The invention discloses an engine overspeed inhibition of a mining dump truck and an implementation method thereof; the system comprises an engine, an engine controller ECU, an engine speed sensor, a vehicle speed sensor, an exhaust brake mechanism, a liquid buffer controller RCU, a vehicle control unit ACU, an inclination angle sensor, a data recorder, an accelerator pedal and a weighing system; the engine controller ECU, the hydraulic buffer controller RCU, the vehicle control unit ACU, the data recorder and the weighing system are connected to the same bus; the inclination angle sensor is connected to the vehicle control unit ACU, and the inclination angle sensor is installed on the mining dump truck; the invention can effectively prevent the overspeed phenomenon of the engine caused by the mismatching of the gear and the vehicle speed, and ensure the safety, the intellectualization and the convenience of the brake system of the mining dump truck; the mining dump truck is safer and more intelligent when heavy load continuously descends.
Description
Technical Field
The invention relates to engine overspeed inhibition for a mining dump truck and an implementation method thereof, and belongs to the technical field of vehicle engine overspeed protection.
Background
The mining dump truck is under complicated operating condition: under the working conditions of long downhill braking, heavy-load downhill braking and the like, the strength of main braking can be greatly increased during driving, for example, the brake is accelerated to wear, the brake disc is accelerated to decline, and the rotating speed of an engine is not matched with a gear, so that the engine is in failure. If the degree is serious, the main brake fails, and traffic accidents are caused.
The characteristic of the vehicle main braking system is that large braking energy can be generated in a short time, the longer the main braking time is, the heat load of the brake can be continuously increased, if the heat generated during the vehicle braking can not be consumed in time by the surrounding environment, the brake disc can be continuously heated, and the braking capacity of the braking system is continuously reduced. Therefore, the main brake of the mining dump truck cannot meet the requirement of long-time continuous brake when the mining dump truck is in heavy load continuous downhill. In fact, when the mining dump truck brakes under heavy-load downhill working conditions or long downhill working conditions, the braking is performed by a vehicle auxiliary braking system (exhaust braking and retarder braking combined braking). Compared with main braking, the auxiliary braking system can absorb smaller power in a short time, and the absorbed power can be basically kept unchanged for a long time, so that the auxiliary braking system can meet the braking requirement of the mining dump truck when the mining dump truck is in heavy load continuous downhill. In addition, when the mining dump truck brakes in heavy load downhill and long downhill, the phenomenon of overspeed of the engine can be caused frequently due to mismatching of gears and the speed of the vehicle, the engine can be damaged, and potential safety hazards exist when a driver drives the vehicle. Therefore, the auxiliary braking system can enable the engine to exit from an overspeed state under the condition of not influencing the normal operation of the engine, thereby avoiding the damage of the engine and ensuring the personal safety of a driver.
The auxiliary braking system includes exhaust braking, hydraulic slow running braking and the like. The exhaust brake power is limited, and the brake torque of the exhaust brake power can be greatly reduced along with the increase of the gear of the gearbox. Therefore, if only the exhaust braking function is applied, the braking requirement of the mining dump truck for heavy load continuous downhill cannot be met. The retarder brake can realize the constant speed and the graded brake function of the vehicle, and can effectively reduce the pressure of the main brake. Compared with engine braking and eddy current retarder braking, retarder braking has the characteristics of stable braking, large braking torque, small noise, small volume, long service life and the like. Therefore, the continuous braking mode of the combined action of the retarder braking and the exhaust braking can meet the requirement of continuous braking when the mining dump truck realizes continuous downhill running on a slope with constantly changing gradient, and simultaneously, the speed of the mining dump truck is controlled within the speed range of normal running of the vehicle. A reasonable solution is provided for protecting the engine from overspeed when the mining dump truck runs on a slope.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the overspeed inhibition of the engine of the mining dump truck and the implementation method thereof, which can effectively prevent the overspeed phenomenon of the engine caused by the mismatching of the gear and the vehicle speed, and ensure the safety, the intellectualization and the convenience of the braking system of the mining dump truck; the mining dump truck is safer and more intelligent when heavy load continuously descends.
In order to achieve the purpose, the invention adopts the technical scheme that:
an engine overspeed inhibition and realization method of a mining dump truck comprise an engine, an engine controller ECU, an engine speed sensor, a vehicle speed sensor, an exhaust brake mechanism, a hydraulic buffer controller RCU, a vehicle control unit ACU, an inclination angle sensor, a data recorder, an accelerator pedal and a weighing system;
the engine controller ECU, the hydraulic buffer controller RCU, the vehicle control unit ACU, the data recorder and the weighing system are connected to the same bus;
the inclination angle sensor is connected to the whole vehicle controller ACU, and the inclination angle sensor is installed on the mining dump truck;
the engine overspeed inhibition method specifically comprises the following steps:
s1, after a vehicle is started, firstly judging the opening of an engine throttle, if the opening is smaller than 2%, performing a step S2, and if the opening is larger than 2%, not performing any action;
s2, judging whether the engine rotating speed N is greater than a preset rotating speed N1: if so, opening an exhaust brake mechanism, enabling the liquid to slowly apply 100% braking force and executing the step S6; if not, executing step S3;
s3, judging whether the engine rotating speed N is greater than a preset rotating speed N2: if yes, opening an exhaust brake mechanism, enabling the liquid to slowly apply 75% braking force and executing the step S6; if not, executing step S4;
s4, judging whether the engine rotating speed N is greater than a preset rotating speed N3: if so, opening an exhaust brake mechanism, enabling the liquid to slowly apply 50% braking force and executing the step S6; if not, executing step S5;
s5, judging whether the engine rotating speed N is greater than a preset rotating speed N4: if yes, the exhaust brake mechanism is opened, 25% braking force is slowly exerted on the brake mechanism, and step S6 is executed; if not, executing step S7;
s6, judging whether the vehicle speed V is greater than a preset vehicle speed V: if yes, outputting a vehicle speed overspeed alarm; if not, executing step S7;
s7, judging whether the engine rotating speed N is less than a preset rotating speed N5: if yes, closing the liquid relaxing exhaust brake mechanism; if not, executing step S8;
s8, judging the opening degree of an engine accelerator, and if the opening degree of the engine accelerator is more than 5%, closing the liquid-moderated exhaust braking mechanism; if the value is not more than 5%, the step S1 is returned, and the process is circulated.
Preferably, the auxiliary brake is automatically activated to control the engine speed, and the preset engine speed N1> N2> N3> N4>1500 is suppressed within a predetermined range (N1, N2, N3, N4 are determined by a brake test).
Preferably, the inclination angle sensor is connected to a vehicle controller ACU, the vehicle controller ACU sends the inclination value to a CAN bus, the vehicle load capacity is collected through a weighing system, and the opening degree of an accelerator pedal and the engine speed are collected by an engine controller ECU and sent to the CAN bus;
and the vehicle controller ACU judges whether the vehicle is in a downhill anti-dragging state or not according to the combination of the opening degree of the accelerator pedal and the rotating speed.
Preferably, the exhaust brake mechanism is controlled to send a request (in a bus form) by the vehicle control unit ACU;
and after responding, the engine controller ECU opens the electromagnetic valve of the exhaust brake mechanism and applies exhaust brake.
Preferably, the liquid buffering brake control is controlled by a bus, the vehicle control unit ACU sends a TSC control command, and the liquid buffering brake applies a certain braking force according to the bus command.
Preferably, if the vehicle speed exceeds the preset vehicle speed V in the braking process, a vehicle speed overspeed alarm is output to remind a driver of automatic braking failure and need to step on a main brake, so that potential safety hazards are avoided.
Preferably, all control commands are sent by vehicle controller ACU via the CAN bus, and vehicle controller ACU determines when to apply or release the brakes.
Preferably, a data recorder is adopted to record the running parameters of the whole vehicle, and the braking effect is calculated and analyzed according to the running parameters.
Preferably, the tilt sensor, the weighing system and the data recorder are mainly used for verifying the algorithm and can be removed after the algorithm is mature.
Preferably, all the instructions are sent out through a CAN bus, and only the ACU program and the RCU program of the liquid buffer controller need to be updated after the algorithm is mature.
The invention has the beneficial effects that:
the invention realizes the combined braking of exhaust braking and retarder braking by the integrated control of a power system and an electric system of the mining dump truck; the control is mainly carried out by the ACU of the whole vehicle controller, and the commands are sent out by the CAN bus, so that the control is efficient and quick; the satisfied conditions are automatically applied under the heavy-load downhill working condition, so that the operation of a driver is reduced;
after the algorithm is mature, the method can be realized only by updating the ACU program and the RCU program of the liquid buffer controller, and the field reconstruction is convenient; the overspeed phenomenon of the engine caused by mismatching of gears and vehicle speed can be effectively prevented, and the safety, the intellectualization and the convenience of the brake system of the mining dump truck are ensured; the mining dump truck is safer and more intelligent when heavy loads continuously descend.
Drawings
FIG. 1 is a schematic flow chart of a method for combined braking of retarder braking and exhaust braking according to the present invention;
FIG. 2 is a communication schematic diagram of the retarder braking and exhaust braking combined braking control of the present invention;
FIG. 3 is a graph showing the external relaxation behavior of the present invention;
FIG. 4 is a graph of exhaust braking power according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention.
As shown in fig. 1-4, the engine overspeed suppression and implementation method for the mining dump truck comprises an engine, an engine controller ECU2, an engine speed sensor, a vehicle speed sensor 6, an exhaust brake mechanism, a hydraulic buffer controller RCU3, a vehicle controller ACU1, an inclination angle sensor 7, a data recorder 5, an accelerator pedal 9 and a weighing system 8;
the engine controller ECU2, the hydraulic buffer controller RCU3, the vehicle control unit ACU1, the data recorder 5 and the weighing system 8 are connected to the same bus;
the inclination angle sensor 7 is connected to the vehicle control unit ACU1, and the inclination angle sensor 7 is installed on the mining dump truck;
the engine overspeed inhibition method specifically comprises the following steps:
s1, after a vehicle is started, firstly judging the opening of an engine throttle, if the opening is smaller than 2%, performing a step S2, and if the opening is larger than 2%, not performing any action;
s2, judging whether the engine rotating speed N is greater than a preset rotating speed N1: if so, opening an exhaust brake mechanism, enabling the liquid to slowly apply 100% braking force and executing the step S6; if not, executing step S3;
s3, judging whether the engine rotating speed N is greater than a preset rotating speed N2: if yes, the exhaust brake mechanism is opened, 75% braking force is slowly exerted on the brake mechanism, and step S6 is executed; if not, executing step S4;
s4, judging whether the engine rotating speed N is greater than a preset rotating speed N3: if so, opening an exhaust brake mechanism, enabling the liquid to slowly apply 50% braking force and executing the step S6; if not, executing step S5;
s5, judging whether the engine rotating speed N is greater than a preset rotating speed N4: if yes, the exhaust brake mechanism is opened, 25% braking force is slowly exerted on the brake mechanism, and step S6 is executed; if not, executing step S7;
s6, judging whether the vehicle speed V is greater than a preset vehicle speed V: if yes, outputting a vehicle speed overspeed alarm; if not, executing step S7;
s7, judging whether the engine rotating speed N is less than a preset rotating speed N5: if yes, closing the liquid relaxing exhaust brake mechanism; if not, executing step S8;
s8, judging the opening degree of an engine accelerator, and if the opening degree of the engine accelerator is more than 5%, closing the liquid-moderated exhaust braking mechanism; if it is not more than 5%, returning to step S1, and circulating.
Preferably, the auxiliary brake is automatically activated to control the engine speed, and the preset engine speed N1> N2> N3> N4>1500 is suppressed within a predetermined range (N1, N2, N3, N4 are determined by a brake test).
Preferably, the inclination angle sensor 7 is connected to a vehicle control unit ACU1, the vehicle control unit ACU1 sends the inclination angle value to a CAN bus, the vehicle load capacity is collected through a weighing system 8, and the opening degree of an accelerator pedal 9 and the engine speed are collected by an engine controller ECU2 and sent to the CAN bus;
the vehicle control unit ACU1 judges whether the vehicle is in a downhill and anti-dragging state according to the combination of the opening degree and the rotating speed of the accelerator pedal 9.
Preferably, the exhaust brake mechanism is controlled to send a request (in a bus form) by the vehicle control unit ACU 1;
the engine controller ECU2 opens the exhaust brake mechanism solenoid valve and applies exhaust brake after responding.
Preferably, the liquid buffering brake control is controlled by a bus, the vehicle control unit ACU1 sends a TSC control command, and the liquid buffering applies a certain braking force according to the bus command.
Preferably, if the vehicle speed exceeds the preset vehicle speed V in the braking process, an overspeed alarm is output to remind a driver of automatic braking failure and need to step on a main brake, so that potential safety hazards are avoided.
Preferably, all control commands are sent by the vehicle control unit ACU1 via the CAN bus, and the vehicle control unit ACU1 determines when to apply or release the brakes.
Preferably, a data recorder 5 is adopted to record the running parameters of the whole vehicle, and the braking effect is calculated and analyzed according to the running parameters.
Preferably, the tilt sensor 7, the weighing system 8 and the data recorder 5 are mainly used for verifying the algorithm, and can be removed after the algorithm is mature.
Preferably, all the instructions are sent out through a CAN bus, and only the ACU program and the liquid buffer controller RCU3 program need to be updated after the algorithm is mature.
The specific embodiment 1 has the steps as shown in fig. 2, and comprises the following steps:
and collecting signals including accelerator opening, engine speed, vehicle speed signals and gradient signals through a hardware circuit signal port and a CAN bus. When the vehicle continuously descends, in order to prevent the engine from overspeed caused by mismatching of the engine gear and the vehicle speed, the vehicle control unit ACU1 intelligently starts hydraulic slow running and exhaust braking according to the engine speed and the vehicle speed.
As a further aspect of this embodiment: after the system is started, the ACU firstly detects whether the accelerator opening is less than 2%: if not, no operation is executed; if yes, executing the next step.
As a further aspect of this embodiment: vehicle control unit ACU1 detects whether engine speed is greater than N1: if yes, the vehicle control unit ACU1 sends braking requests to the engine control unit ECU2 and the hydraulic buffer control unit RCU3 through the CAN bus respectively. The engine controller ECU2 opens the exhaust brake solenoid valve upon receiving the request, and applies the exhaust brake. Upon request, the damping controller RCU3 opens the damping electric control valve and applies 100% braking torque. After the above operations are executed, the next step is automatically carried out. If not, executing the next step.
As a further aspect of this embodiment: the vehicle control unit ACU1 detects whether the vehicle speed is greater than a preset vehicle speed V: if yes, the display 4 displays that the vehicle speed is over-speed and sends out an audible and visual alarm signal to remind a driver that the automatic brake fails, a main brake needs to be stepped on, potential safety hazards are avoided, and the next step is carried out; if not, executing the next step.
As a further aspect of this embodiment: vehicle control unit ACU1 detects whether engine speed is greater than N2: if yes, the vehicle control unit ACU1 sends braking requests to the engine control unit ECU2 and the hydraulic buffer control unit RCU3 through the CAN bus respectively. The engine controller ECU2 continues to apply the exhaust brake and the hydraulic slow controller RCU3, upon receiving the request, opens the hydraulic slow electrically controlled valve and applies 75% brake torque. After the above operations are executed, the next step is automatically carried out. If not, executing the next step.
As a further aspect of this embodiment: the vehicle control unit ACU1 detects whether the vehicle speed is greater than a preset vehicle speed V: if yes, the display 4 displays that the vehicle speed is over speed and sends out an audible and visual alarm signal to remind a driver that the automatic brake fails and the main brake needs to be stepped on, so that potential safety hazards are avoided and the next step is carried out; if not, executing the next step.
As a further aspect of this embodiment: vehicle control unit ACU1 detects whether engine speed is greater than N3: if yes, the vehicle control unit ACU1 sends braking requests to the engine control unit ECU2 and the hydraulic buffer control unit RCU3 through the CAN bus respectively. The engine controller ECU2 continues to apply the exhaust brake and the creep controller RCU3 opens the creep control valve and applies 50% brake torque after receiving the request. After the above operations are executed, the next step is automatically carried out. If not, executing the next step.
As a further aspect of this embodiment: vehicle control unit ACU1 detects the speed of a motor vehicle and whether is greater than preset speed of a motor vehicle V: if yes, the display 4 displays that the vehicle speed is over speed and sends out an audible and visual alarm signal to remind a driver that the automatic brake fails and the main brake needs to be stepped on, so that potential safety hazards are avoided and the next step is carried out; if not, executing the next step.
As a further aspect of this embodiment: vehicle control unit ACU1 detects whether engine speed is greater than N4: if yes, the vehicle control unit ACU1 sends braking requests to the engine control unit ECU2 and the hydraulic buffer control unit RCU3 through the CAN bus respectively. The engine controller ECU2 continues to apply the exhaust brake and the hydraulic slow controller RCU3, upon receiving the request, opens the hydraulic slow electrically controlled valve and applies 25% brake torque. After the above operations are executed, the next step is automatically carried out. If not, executing the next step.
As a further aspect of this embodiment: the vehicle control unit ACU1 detects whether the vehicle speed is greater than a preset vehicle speed V: if yes, the display 4 displays that the vehicle speed is over-speed and sends out an audible and visual alarm signal to remind a driver that the automatic brake fails, a main brake needs to be stepped on, potential safety hazards are avoided, and the next step is carried out; if not, executing the next step.
As a further aspect of this embodiment: vehicle control unit ACU1 detects whether engine speed is less than N5: if so, stopping the exhaust braking request, closing the exhaust braking, issuing a stop slow braking instruction, closing the slow brake, finishing the cycle after the operations and returning to the first step of the embodiment. If not, continuing to apply the exhaust brake and the liquid-slow 25% brake torque and returning to execute the step again, and circulating the steps.
When the mining dump truck is in a combined braking state of exhaust braking and retarder braking, the exhaust braking starting icon and the retarder braking torque percentage are displayed on the display 4, a driver can clearly know the current braking mode, misoperation is prevented, and the safety factor of use is improved.
As a further aspect of this embodiment: the data recorder 5 is used for recording the automatic application data of the continuous heavy-load downhill braking of the mining dump truck, wherein the automatic application data comprises information such as the rotating speed of an engine, the real-time gradient, the real-time speed, the braking torque of the engine, the braking torque of a liquid buffer and the like.
The specific embodiment 2 has the steps shown in fig. 3 to 4, and includes the following steps:
the braking test in the present invention evaluates the braking effect by calculating the total braking force when automatically applied. Wherein the braking force respectively has: the retarder braking force, the exhaust braking force, the wind resistance braking force and the road resistance are then superposed to form a total braking force, the total braking force is divided by the total mass m to be converted into deceleration, and the braking effect of the vehicle can be evaluated.
As a further aspect of this embodiment: liquid slow braking force: according to the radius of the tire, the speed ratio of the axle and the vehicle speed, the rotating speed of the transmission shaft is obtained, the braking torque of the retarder is obtained according to the rotating speed of the transmission shaft based on an external characteristic curve of the retarder as shown in figure 3, and finally the braking force of the retarder is obtained according to the braking torque of the retarder, the speed ratio of the axle and the radius of the tire.
As a further aspect of this embodiment: exhaust braking force: based on the exhaust braking power curve, as shown in fig. 4, the exhaust braking power is obtained according to the engine speed, the exhaust braking torque is calculated, and finally the exhaust braking force is obtained through the exhaust braking torque, the axle speed ratio and the tire radius.
As a further aspect of this embodiment: wind resistance braking force: and obtaining the wind resistance braking force according to the air resistance coefficient, the windward area and the vehicle speed.
As a further aspect of this embodiment: in the actual driving process of the mining dump truck, the wind resistance is related to the air resistance coefficient, the windward area and the vehicle speed, and according to the formula:
F C ＝S×L×V 2 /21.5
in the formula, F C Is the wind resistance braking force (N), and S is the frontal area (m) of the vehicle 2 ) L is an air resistance coefficient, and V is a vehicle speed (Km/h). Generally, the air resistance coefficient is an empirical value, and for a specific mining dump truck, the windward area is also a fixed value, so that the air resistance coefficient and the windward area of the vehicle are calibrated values.
As a further aspect of this embodiment: road resistance braking force: the road drag braking force is obtained from the gradient, the vehicle weight, and the coefficient of friction resistance.
As a further aspect of this embodiment: when the mining dump truck goes downhill, road resistance is reflected as component force of gravity along the slope direction and rolling friction force, a tilt angle sensor 7 is used for collecting real-time gradient, the percentage gradient is converted into a sine value of an angle, or the percentage gradient is converted into a cosine value of the angle, and road resistance braking force is as follows:
in the formula, m is the vehicle weight (kg) and is obtained by adding the no-load mass to the real-time vehicle load provided by the whole vehicle weighing system 8; g is gravity acceleration (m/s) 2 ) (ii) a Mu is a rolling friction coefficient; i is the percent slope.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. The engine overspeed inhibition and realization method of the mining dump truck is characterized by comprising an engine, an engine controller ECU, an engine speed sensor, a vehicle speed sensor, an exhaust brake mechanism, a hydraulic buffer controller RCU, a vehicle control unit ACU, an inclination angle sensor, a data recorder, an accelerator pedal and a weighing system;
the engine controller ECU, the hydraulic buffer controller RCU, the vehicle control unit ACU, the data recorder and the weighing system are connected to the same bus;
the inclination angle sensor is connected to the whole vehicle controller ACU, and the inclination angle sensor is installed on the mining dump truck;
the engine overspeed inhibition method specifically comprises the following steps:
s1, after a vehicle is started, firstly judging the opening of an engine throttle, if the opening is less than 2%, performing a step S2, and if the opening is more than 2%, not performing any action;
s2, judging whether the engine rotating speed N is greater than a preset rotating speed N1: if so, opening an exhaust brake mechanism, enabling the liquid to slowly apply 100% braking force and executing the step S6; if not, executing step S3;
s3, judging whether the engine rotating speed N is greater than a preset rotating speed N2: if yes, the exhaust brake mechanism is opened, 75% braking force is slowly exerted on the brake mechanism, and step S6 is executed; if not, executing step S4;
s4, judging whether the engine rotating speed N is greater than a preset rotating speed N3: if so, opening an exhaust brake mechanism, enabling the liquid to slowly apply 50% braking force and executing the step S6; if not, executing step S5;
s5, judging whether the engine rotating speed N is greater than a preset rotating speed N4: if yes, the exhaust brake mechanism is opened, 25% braking force is slowly exerted on the brake mechanism, and step S6 is executed; if not, executing step S7;
s6, judging whether the vehicle speed V is greater than a preset vehicle speed V: if yes, outputting a vehicle speed overspeed alarm; if not, executing step S7;
s7, judging whether the engine rotating speed N is less than a preset rotating speed N5: if yes, closing the liquid relaxing exhaust braking mechanism; if not, executing step S8;
s8, judging the opening degree of an engine accelerator, and if the opening degree of the engine accelerator is more than 5%, closing the liquid-moderated exhaust braking mechanism; if it is not more than 5%, returning to step S1, and circulating.
2. The mining dump truck engine overspeed suppression and realization method thereof according to claim 1, characterized in that: the auxiliary brake is automatically put into use by taking the engine speed as a control object, the engine speed is restrained within a certain range, and the preset speed N1> N2> N3> N4>1500 (N1, N2, N3 and N4 are determined by a brake test).
3. The overspeed inhibiting and realizing method for the engine of the mining dump truck according to claim 1 is characterized in that: the inclination angle sensor is connected to a vehicle controller ACU, the vehicle controller ACU sends a gradient value to a CAN bus, the load capacity of the whole vehicle is collected by a weighing system, and the opening degree of an accelerator pedal and the rotating speed of an engine are collected by an engine controller ECU and sent to the CAN bus;
and the vehicle controller ACU judges whether the vehicle is in a downhill anti-dragging state or not according to the combination of the opening degree of the accelerator pedal and the rotating speed.
4. The overspeed inhibiting and realizing method for the engine of the mining dump truck according to claim 1 is characterized in that: the exhaust brake mechanism is controlled to send a request (in a bus form) by a vehicle control unit ACU;
and after responding, the engine controller ECU opens the electromagnetic valve of the exhaust brake mechanism and applies exhaust brake.
5. The overspeed inhibiting and realizing method for the engine of the mining dump truck according to claim 1 is characterized in that: the control of the liquid buffering brake is controlled by a bus, the vehicle control unit ACU sends a TSC control instruction, and the liquid buffering brake applies a certain brake force according to the bus instruction.
6. The mining dump truck engine overspeed suppression and realization method thereof according to claim 1, characterized in that: if the speed of a vehicle exceeds a preset speed V in the braking process, outputting a speed overspeed alarm to remind a driver of automatic braking failure and need to step on a main brake, thereby avoiding potential safety hazards.
7. The mining dump truck engine overspeed suppression and realization method thereof according to claim 1, characterized in that: all control commands are sent by vehicle controller ACU via the CAN bus, and vehicle controller ACU determines when to apply or release the brakes.
8. The mining dump truck engine overspeed suppression and realization method thereof according to claim 1, characterized in that: and recording the running parameters of the whole vehicle by adopting a data recorder, and calculating and analyzing the braking effect according to the running parameters.
9. The mining dump truck engine overspeed suppression and realization method thereof according to claim 1, characterized in that: the tilt sensor, the weighing system and the data recorder are mainly used for verifying the algorithm and can be removed after the algorithm is mature.
10. The overspeed inhibiting and realizing method for the engine of the mining dump truck according to claim 1 is characterized in that: all the instructions are sent out through a CAN bus, and only the ACU program and the RCU program of the liquid buffer controller need to be updated after the algorithm is mature.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210820611.5A CN115402289A (en) | 2022-07-13 | 2022-07-13 | Engine overspeed inhibition of mining dump truck and implementation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210820611.5A CN115402289A (en) | 2022-07-13 | 2022-07-13 | Engine overspeed inhibition of mining dump truck and implementation method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115402289A true CN115402289A (en) | 2022-11-29 |
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ID=84158305
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210820611.5A Pending CN115402289A (en) | 2022-07-13 | 2022-07-13 | Engine overspeed inhibition of mining dump truck and implementation method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115402289A (en) |
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2022
- 2022-07-13 CN CN202210820611.5A patent/CN115402289A/en active Pending
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