CN102717801A - Automatic backward skating preventing system of electric wheel non-road dumper in slope-starting - Google Patents
Automatic backward skating preventing system of electric wheel non-road dumper in slope-starting Download PDFInfo
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- CN102717801A CN102717801A CN2012101905736A CN201210190573A CN102717801A CN 102717801 A CN102717801 A CN 102717801A CN 2012101905736 A CN2012101905736 A CN 2012101905736A CN 201210190573 A CN201210190573 A CN 201210190573A CN 102717801 A CN102717801 A CN 102717801A
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Abstract
The invention relates to an automatic backward skating preventing system of an electric wheel non-road dumper in slope-starting, and in particular relates to a system capable of preventing backward skating automatically when an electric wheel non-road dumper is in a slope-starting state, which belongs to the field of intelligent control of non-road dumpers. The automatic backward skating preventing system comprises an accelerator pedal plate, a gear shifting selector, a wheel motor drive system, a brake system, a weighing system and an inclinometer. The automatic backward skating preventing system acquires a ramp slope value from the inclinometer and a load capacity of an electric wheel mining truck from the weighing system, then a safety moment F0 ensuring that the electric wheel mining truck is not subjected to backward skating under the condition of release of a brake is figured out, further a torque controller is controlled to continuously add a torque F applied to a wheel motor, and when F is more than F0, the brake is released to realize he stable slope-starting. By virtue of the automatic backward skating preventing system, a driver only directly uses the accelerator pedal plate to realize the automatic backward skating preventing starting of the electric wheel mining truck on the slope without a working braking pedal plate.
Description
Technical field
The present invention relates to realize anti-back skating system automatically when automatically anti-back skating system, particularly electric drive wheel non-highway dumping car uphill starting is played on the non-highway dumping car of a kind of electric drive wheel slope, belong to non-highway dumping car field of intelligent control.
Background technology
The non-highway dumping car of electric drive wheel is a kind of large-scale transportation device, has that load carrying ability is big, efficient is high, traffic cost is low and characteristics such as long service life, is designated hereinafter simply as " electric drive wheel mine truck ".Along with open cast mine to large scale development, the mine user is more and more, also increasingly high to the operation requirements of electric drive wheel mine truck simultaneously to the demand of Large Electric wheel mine truck.Especially, chaufeur when going up a slope will run into the back skating phenomenon because the brake of certain factor is stopped when starting to walk once more.And this operating mode is very general; Because the recovery process of surface mine just determines that roping each time all is that heavy duty is gone up a slope; The electric drive wheel mine truck heavy duty weight of using on the mine at present is breakneck all more than 400 tons if the back skating phenomenon takes place on the slope large-tonnage electric drive wheel mine truck like this.Under situation, chaufeur generally all is to realize that through the cooperating brake pedal uphill starting prevents back skating.This method is operating difficulties not only, has increased the driver-operated fatigue strength to a great extent, and also very serious, of paramount importance or unreliable, dangerous to the damage of the drg of truck, still the back skating scene can occur, causes major accident.So the mine user is requiring main engine plants to solve a slope back skating problem consumingly.
Summary of the invention
The object of the present invention is to provide the non-highway dumping car of a kind of electric drive wheel slope to play automatically anti-back skating system; This system realizes automatic guidance to electric drive wheel mine truck uphill starting process; The drag torque of automatic guidance wheel motor motor; Back skating phenomenon when uphill starting is avoided in strictness realizes electric drive wheel mine truck automatically anti-back skating gentle start on the ramp.
Technical solution:
The present invention includes: Das Gaspedal, gear shift selector also comprise: wheel motor drive system, brake system, weighing system, dip compass; Wherein:
The wheel motor drive system comprises: speed sensor, torque sensor and wheel motor motor, wheel motor motor output end are connected with the torque sensor input end with speed sensor respectively;
Brake system comprises: moment comparator, torque controller, throttle comparator, acceleration/accel comparator, direction comparator, forward controller; The mouth of said moment comparator, acceleration/accel comparator, throttle comparator, direction comparator is connected with the input end of forward controller respectively; The mouth of forward controller is connected with the torque controller input end, and the mouth of torque controller is connected to the input end of wheel motor motor;
Speed sensor mouth in the wheel motor drive system is connected with acceleration/accel comparator, direction comparator input terminal respectively, and the mouth of torque sensor is connected with the input end of moment comparator;
The input end of throttle comparator is connected with the mouth of Das Gaspedal, and the input end of direction comparator also is connected with the mouth of gear shift selector;
The weighing system mouth is connected with the input end of forward controller;
The dip compass mouth is connected with the input end of forward controller.
Said dip compass is for being installed in electric drive wheel mine truck in-to-in obliquity sensor, and obliquity sensor is connected with forward controller through lead, is used to measure the ratio of slope in ramp, electric drive wheel mine truck place.
Said direction comparator is gathered the gear signal of gear shift selector and the speed signal of speed sensor in real time, and the direction of passage comparator compares, and guarantees when D Drive, and the velocity reversal of electric drive wheel mine truck must be forward.
Said weighing system is mounted on the platform of electric drive wheel mine truck, and weighing system is connected with forward controller through lead, is used to measure the load carrying ability of electric drive wheel mine truck.
The present invention has installed weighing system on electric drive wheel mine truck platform; Be used to measure the load carrying ability of electric drive wheel mine truck, and disposed forward controller, moment comparator, acceleration/accel comparator, throttle comparator, direction comparator and dip compass for control system.Said electric drive wheel mine truck forward controller is gathered in real time from the load carrying ability of weighing system with from the ramp value of dip compass, and calculates the safe moment values F that anti-back skating is played on the slope
0, then this value being sent to torque controller, the operation through the chaufeur open the throttle wide increases the drag torque that is applied on the wheel motor motor.When the value of feedback F of torque sensor greater than safety moment F
0The time, forward controller just removes control brake system release the brake, finally realizes the anti-back skating starting in ramp of electric drive wheel mine truck.
Description of drawings
Fig. 1 is a system schematic;
Fig. 2 is a systematic schematic diagram;
Fig. 3 is the control system diagram of circuit.
The specific embodiment
The present invention includes: electric drive wheel mine truck 1, Das Gaspedal 15, gear shift selector 16; Also comprise: wheel motor drive system 3, brake system 2, weighing system 14, dip compass 13, wherein:
Wheel motor drive system 3 comprises: speed sensor 5, torque sensor 6 and wheel motor motor 7, wheel motor motor 7 mouths are connected with the input end of speed sensor 5 with torque sensor 6 respectively;
Brake system 2 comprises: moment comparator 9, torque controller 8, throttle comparator 11, acceleration/accel comparator 10, direction comparator 17, forward controller 12; The mouth of said moment comparator 9, acceleration/accel comparator 10, throttle comparator 11, direction comparator 17 is connected with the input end of forward controller 12 respectively; The mouth of forward controller 12 is connected with the input end of torque controller 8, and the mouth of torque controller 8 is connected to the input end of wheel motor motor 7;
Speed sensor 5 mouths in the wheel motor drive system 3 are connected with acceleration/accel comparator 10, direction comparator 17 input ends respectively, and the mouth of torque sensor 6 is connected with the input end of moment comparator 9;
The input end of throttle comparator 11 is connected with the mouth of Das Gaspedal 15, and the input end of direction comparator 17 also is connected with the mouth of gear shift selector 16;
Weighing system 14 mouths are connected with the input end of forward controller 12;
Dip compass 13 mouths are connected with the input end of forward controller 12.
Forward controller 12 is gathered weighing system 14, dip compass 13 in real time and is transmitted the data of returning, and calculates electric drive wheel mine truck 1 under the situation by drg not, safe motor moment values F that can steadily anti-back skating is stopped in the ramp
0, use F
0The wheel motor moment values F that feeds back with moment comparator 9 compares; If value of feedback does not reach safety value; 12 Das Gaspedal ARC Acceleration Signal that collect through throttle comparator 11 of forward controller come the 8 continuation increases of control torque controller to be applied to the moment on the wheel motor motor 7; Up to value of feedback during greater than safety value, control brake system 2 release the brakes are just finally realized the gentle start of electric drive wheel mine truck.
Dip compass 13 is for being installed in electric drive wheel mine truck 1 in-to-in obliquity sensor, and obliquity sensor is connected with forward controller 12 through lead, is used to measure the ratio of slope in ramp, electric drive wheel mine truck 1 place.
Direction comparator 17 is gathered the gear signal of gear shift selector 16 and the speed signal of speed sensor 5 in real time, and direction of passage comparator 17 compares, and guarantees when D Drive, and the velocity reversal of electric drive wheel mine truck 1 must be forward.
Weighing system 14 is installed on the platform of electric drive wheel mine truck 1, and weighing system 14 is connected with forward controller 12 through lead, is used to measure the load carrying ability of electric drive wheel mine truck 1.Fig. 1 is a system schematic, and definition: G is electric drive wheel mine truck 1 total weight, G
TruckBe 1 deadweight of electric drive wheel mine truck, G
WeithtFor being ratio of slope, the F in ramp, electric drive wheel mine truck 1 place from electric drive wheel mine truck 1 load carrying ability of weighing system 14, coefficient of rolling friction, a that μ is the ramp
0For electric drive wheel mine truck 1 not by drg, can be the moment value of feedback that is applied on the wheel motor motor 7 at safe moment, the F of the wheel motor motor 7 that steadily stops on the ramp.
As shown in the figure, can get:
G＝G
truck+G
Weight G2＝Gcosa
G1＝Gsina f＝μGcosa
So safe moment F
0Computing formula following:
F
0＝G1+f
＝Gsina+μG2
=Gsina+ μ Gcosa formula (one)
＝G(sina+μcosa)
＝(G
truck+G
weight)(sina+μcosa)
As can be seen from Figure 1, the condition of the anti-back skating gentle start in ramp is:
F＞F
0=(G
Truck+ G
Weight) (sina+ μ cosa) formula (two)
Fig. 2 is a systematic schematic diagram; As shown in the figure: wheel motor motor 7 is the power element that electric drive wheel mine truck 1 advances; Speed sensor 5 has been installed on wheel motor drive system 3 has been used for monitoring in real time the speed of wheel motor motor 7, the moment values that torque sensor 6 is used for monitoring in real time wheel motor motor 7 has been installed; The weighing system 14 that is installed on electric drive wheel mine truck 1 platform is used to measure the current load carrying ability G of electric drive wheel mine truck
WeithtBe installed in the ratio of slope a that dip compass 13 on the electric drive wheel mine truck 1 is used to measure ramp, electric drive wheel mine truck 1 place; Forward controller 8 is the control center of this system; Its input end is connected with the mouth of weighing system 14, dip compass 13, moment comparator 9, acceleration/accel comparator 10, throttle comparator 11 and direction comparator 17 simultaneously; And receive the data that they send in real time; Its mouth then is connected with torque controller 8; And the data command of handling sent to torque controller 8, torque controller 8 then is the direct control unit of wheel motor motor 7, it according to the instruction of forward controller 12 in real time to wheel motor motor 7 applied moments; The input end of throttle comparator 11 is connected with Das Gaspedal 15, gathers the ARC Acceleration Signal of chaufeur through Das Gaspedal 15 in real time; The input end of direction comparator 17 then is connected with the mouth of gear shift selector 16 with speed sensor 5 respectively, and consistent with speed in order to guarantee direction, strictness prevents back skating.
Fig. 3 is the control system diagram of circuit; As shown in the figure; The signal of direction of passage comparator 17 and acceleration/accel comparator 10 picking rate sensors 5 and gear shift selector 16 at first, and its velocity reversal must be forward when guaranteeing that electric drive wheel mine truck 1 is hung D Drive on the ramp.Record the current load carrying ability G of electric drive wheel mine truck through the weighing system 14 that is installed on the electric drive wheel mine truck 1 then
Weitht, record the ratio of slope a in ramp, electric drive wheel mine truck 1 place through the dip compass 13 that is installed on the electric drive wheel mine truck, and the deadweight G of electric drive wheel mine truck 1
TruckBe known.So, forward controller 12 just can calculate the safe moment F of electric drive wheel mine truck 1 wheel motor motor 7 according to formula (one)
0Meanwhile; Chaufeur is sent to throttle comparator 11 through the signal that will speed up of Das Gaspedal 15; Throttle comparator 11 will be delivered to forward controller 12; Forward controller 12 calculates the drag torque value that is applied on the wheel motor motor 7, and through torque controller 8 this moment values is applied on the wheel motor motor 7, records the moment value of feedback F of wheel motor motor 7 again through torque sensor 6.According to formula (two), if F＜F
0, then the operation through chaufeur continuation open the throttle wide realizes increasing the moment values that is applied on the wheel motor motor 7, thereby increases the moment value of feedback F of wheel motor motor 7; If F＞F
0, progressively increase the moment values that is applied on the wheel motor motor 7 then through forward controller 12 control brake systems 2 release the brakes, and through the operation of the continuous open the throttle wide of chaufeur, realize electric drive wheel mine truck automatically anti-back skating gentle start on the ramp.
Claims (5)
1. automatically anti-back skating system is played on the non-highway dumping car of electric drive wheel slope, comprising: electric drive wheel mine truck (1), Das Gaspedal (15), gear shift selector (16); It is characterized in that, also comprise: wheel motor drive system (3), brake system (2), weighing system (14), dip compass (13), wherein:
Wheel motor drive system (3) comprising: speed sensor (5), torque sensor (6) and wheel motor motor (7), wheel motor motor (7) mouth are connected with the input end of speed sensor (5) with torque sensor (6) respectively;
Brake system (2) comprising: moment comparator (9), torque controller (8), throttle comparator (11), acceleration/accel comparator (10), direction comparator (17), forward controller (12); The mouth of said moment comparator (9), acceleration/accel comparator (10), throttle comparator (11), direction comparator (17) is connected with the input end of forward controller (12) respectively; The mouth of forward controller (12) is connected with the input end of torque controller (8), and the mouth of torque controller (8) is connected to the input end of wheel motor motor (7);
Speed sensor (5) mouth in the wheel motor drive system (3) is connected with acceleration/accel comparator (10), direction comparator (17) input end respectively, and the mouth of torque sensor (6) is connected with the input end of moment comparator (9);
The input end of throttle comparator (11) is connected with the mouth of Das Gaspedal (15), and the input end of direction comparator (17) also is connected with the mouth of gear shift selector (16);
Weighing system (14) mouth is connected with the input end of forward controller (12);
Dip compass (13) mouth is connected with the input end of forward controller (12).
2. automatically anti-back skating system is played on the non-highway dumping car of electric drive wheel according to claim 1 slope; It is characterized in that: system acquisition reaches the electric drive wheel mine truck load carrying ability from weighing system (14) from the ramp ratio of slope of dip compass (13); Forward controller (12) is gathered weighing system (14) in real time, dip compass (13) transmits the data of returning; And calculate electric drive wheel mine truck (1) under situation not, safe motor moment values F that can steadily anti-back skating is stopped in the ramp by drg
0, use F
0The wheel motor moment values F that feeds back with moment comparator (9) compares; If value of feedback does not reach safety value; The Das Gaspedal ARC Acceleration Signal that forward controller (12) then collects through throttle comparator (11) comes control torque controller (8) continuation increase to be applied to the moment on the wheel motor motor (7); Up to value of feedback during greater than safety value, control brake system (2) release the brake is realized the gentle start of electric drive wheel mine truck.
3. automatically anti-back skating system is played on the non-highway dumping car of electric drive wheel according to claim 1 slope; It is characterized in that: dip compass (13) is for being installed in electric drive wheel mine truck (1) in-to-in obliquity sensor; Obliquity sensor is connected with forward controller (12) through lead, is used to measure the ratio of slope in ramp, electric drive wheel mine truck (1) place.
4. automatically anti-back skating system is played on the non-highway dumping car of electric drive wheel according to claim 1 slope; It is characterized in that: direction comparator (17) is gathered the gear signal of gear shift selector (16) and the speed signal of speed sensor (5) in real time; Direction of passage comparator (17) compares; Guarantee that when D Drive the velocity reversal of electric drive wheel mine truck (1) must be forward.
5. automatically anti-back skating system is played on the non-highway dumping car of electric drive wheel according to claim 1 slope; It is characterized in that: weighing system (14) is installed on the platform of electric drive wheel mine truck (1); Weighing system (14) is connected with forward controller (12) through lead, is used to measure the load carrying ability of electric drive wheel mine truck (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210190573.6A CN102717801B (en) | 2012-06-01 | 2012-06-01 | Automatic backward skating preventing system of electric wheel non-road dumper in slope-starting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210190573.6A CN102717801B (en) | 2012-06-01 | 2012-06-01 | Automatic backward skating preventing system of electric wheel non-road dumper in slope-starting |
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| CN102717801A true CN102717801A (en) | 2012-10-10 |
| CN102717801B CN102717801B (en) | 2015-06-03 |
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|---|---|---|---|
| CN201210190573.6A Active CN102717801B (en) | 2012-06-01 | 2012-06-01 | Automatic backward skating preventing system of electric wheel non-road dumper in slope-starting |
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Cited By (5)
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| CN102874257A (en) * | 2012-10-23 | 2013-01-16 | 力帆实业(集团)股份有限公司 | Hill-start assist system for electric car and control method of hill-start assist system |
| CN103195922A (en) * | 2013-03-28 | 2013-07-10 | 长城汽车股份有限公司 | Vehicle and uphill control method and device thereof |
| CN103895531A (en) * | 2014-04-18 | 2014-07-02 | 清华大学苏州汽车研究院（吴江） | Ramp starting control method for pure electric vehicle |
| CN105711590A (en) * | 2016-05-03 | 2016-06-29 | 重庆长安汽车股份有限公司 | Hill-starting assisting control method and device |
| CN112248825A (en) * | 2020-11-11 | 2021-01-22 | 徐州徐工矿业机械有限公司 | Electric drive mining dump truck pre-torque control system and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105711590A (en) * | 2016-05-03 | 2016-06-29 | 重庆长安汽车股份有限公司 | Hill-starting assisting control method and device |
| CN112248825A (en) * | 2020-11-11 | 2021-01-22 | 徐州徐工矿业机械有限公司 | Electric drive mining dump truck pre-torque control system and control method |
| CN112248825B (en) * | 2020-11-11 | 2024-03-26 | 徐州徐工矿业机械有限公司 | Pre-torque control system and control method for electric transmission mining dump truck |
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