CN105172617A - Loader structure with independently-driven front and rear axles and dynamic torque distributing method - Google Patents

Loader structure with independently-driven front and rear axles and dynamic torque distributing method Download PDF

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Publication number
CN105172617A
CN105172617A CN201510559655.7A CN201510559655A CN105172617A CN 105172617 A CN105172617 A CN 105172617A CN 201510559655 A CN201510559655 A CN 201510559655A CN 105172617 A CN105172617 A CN 105172617A
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torque
drive motor
wheel
controller
motor
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CN105172617B (en
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王继新
丛元英
韩云武
冯双诗
孔维康
文立阁
王树睿
毕良华
杨松
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Jilin University
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Jilin University
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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
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Abstract

The invention discloses a loader structure with independently-driven front and rear axles and a dynamic torque distributing method. The loader structure comprises an engine, a generator, a rectifier, a super capacitor, three driving motors, a hydraulic pump, a working device, a front drive axle, a rear drive axle, two front wheels, two rear wheels, a vehicle control unit, an engine controller, a super-capacitor, controllers of the three driving motors, a hydraulic pump controller, sensors of four wheels, a front drive axle sensor, a rear drive axle sensor and command codes. The method comprises the following steps: acquiring the command codes and the vehicle running state parameters; processing and calculating the acquired data; performing corresponding control strategies to control the vehicle according to the processed data; sending torque control command codes to corresponding driving motors according to the control strategies. With the adoption of the method, the torque of the front and rear axles can be reasonably distributed according to the variation of the loads of the front and rear axles, so that the energy utilization rate of the whole vehicle can be improved; meanwhile, the dynamic performance of the vehicle in an extreme working condition can be improved through the system, and the advantages of independent drive can be brought into full play.

Description

Front-rear axle individual drive loader structure and torque dynamic allocation method
Technical field
The present invention relates to a kind of front-rear axle individual drive loader structure and torque dynamic allocation method.
Background technology
Loader is in operation process, and the external load variation range acted on scraper bowl is very large, makes to act on axle load size on front-rear axle and also there occurs change.Time unloaded, propons axle load accounts for the 40%-45% of loader deadweight, and back axle axle load accounts for the 60%-55% of loader deadweight; At full load, propons axle load accounts for the 75%-80% of loader deadweight, and back axle axle load accounts for the 25%-20% of loader deadweight.But current patent or product seldom have in conjunction with front-rear axle load change to carry out torque distribution control, front-rear axle load change, the attachment moment of front and back wheel also can be changed thereupon, according to the attachment moment of front and back wheel, carry out each drive motor torque reasonable distribution, car load properties just can be made as more superior in dynamic property, economy and stability.
Summary of the invention
The object of this invention is to provide a kind of front-rear axle individual drive loader structure and torque dynamic allocation method.
The front-rear axle individual drive loader structure of the present invention is by driving engine, electrical generator, rectifier, super capacitor, first drive motor, second drive motor, 3rd drive motor, Hydraulic Pump, equipment, front driving axle, rear driving axle, two front-wheels, two trailing wheels, entire car controller, engine controller, super capacitor controller, first drive motor controller, second drive motor controller, 3rd drive motor controller, hydraulic pump control device, four wheel sensores, front driving axle sensor, rear driving axle sensor, operating instruction forms.
Described driving engine is connected with described generator mechanical, the alternating current that described electrical generator sends becomes direct current (DC) in parallel with the electricity that described super capacitor is released through rectifier, pass to described first drive motor, described second drive motor and described 3rd drive motor, described first drive motor and described front driving axle are mechanically connected, drive described two front-wheels, described second drive motor and described rear driving axle are mechanically connected, and drive described two trailing wheels; Power is passed to described equipment through described Hydraulic Pump by described 3rd drive motor;
Described operating instruction signal comprises acceleration pedal aperture, brake pedal aperture, the displacement of working equipment operation bar; The signal of described wheel sensor collection comprises vehicle wheel roll radius, angular speed of wheel, the speed of wheel center; The signal of front-rear axle sensor collection comprises front-rear axle axle load.
Described engine controller is connected with described entire car controller, for controlling the mode of operation of described driving engine according to the control signal of the described entire car controller received;
Described super capacitor controller is connected with described entire car controller, for receiving the control signal of described entire car controller;
Described first drive motor controller is connected with described entire car controller, for controlling the mode of operation of described first drive motor according to the control signal of the described entire car controller received;
Described second drive motor controller is connected with described entire car controller, for controlling the mode of operation of described second drive motor according to the control signal of the described entire car controller received;
Described 3rd drive motor controller is connected with described entire car controller, for controlling the mode of operation of described 3rd drive motor according to the control signal of the described entire car controller received;
Described hydraulic pump control device is connected with described entire car controller, for controlling the mode of operation of described Hydraulic Pump according to the control signal of the described entire car controller received;
Described entire car controller gathers operating instruction signal by CAN, wheel sensor signal, front-rear axle sensor signal, engine controller signal, super capacitor controller signals, first drive motor controller signal, second drive motor controller signal, 3rd drive motor controller signal, hydraulic pump control device signal, wheel sensor signal, computation requirement torque also judges whether wheel occurs skidding, adopt corresponding control policy to described driving engine, described first drive motor, described second drive motor, the controller of described 3rd drive motor sends direct torque instruction and controls described driving engine, described first drive motor, described second drive motor, the running state of described 3rd drive motor, the running state that discharge capacity or Stress control instruction control described Hydraulic Pump is sent to the controller of described Hydraulic Pump.
The torque dynamic allocation method of the front-rear axle individual drive loader structure of the present invention comprises the following steps:
1 gathers operating instruction and vehicle running state parameter, carries out process calculate gathered data;
2, according to the data processed, adopt corresponding control policy to control, and send direct torque instruction according to control policy to each drive motor.
Described step 1) in gather data comprise acceleration pedal aperture, brake pedal aperture, the displacement of working equipment operation bar, front-rear axle load, vehicle wheel roll radius, angular speed of wheel, the speed of wheel center, acceleration/accel, front-rear axle axle load.
Described step 1) in data processing calculate be specially:
A calculates the torque of car load demand
Wherein, T req, T min_ α, T max_ α, α, M, Δ M, η t, g, i, C d, A, i gbe respectively demand torque, demand torque during the max speed, demand torque during maximum acceleration, load-carrying proportionality coefficient, unloaded car quality, heap(ed) capacity, driving efficiency, acceleration due to gravity, road grade, aerodynamic drag factor, wind area, motor is to wheel drive ratio, and 0.02 is the coefficient of rolling resistance on the grit road surface of compacting; α desirable 0 or 1, wherein gets 0 expression zero load, gets 1 expression and be fully loaded with.
B judges whether wheel occurs skidding
Δu i＝r·w i-u i
Wherein, Δ u i, r, w i, u ibe respectively actual vehicle speed and single vehicle wheel vehicle speeds velocity contrast, vehicle wheel roll radius, angular speed of wheel, the speed of wheel center, i=1,2,3,4 are respectively front revolver, front right wheel, rear revolver, rear right wheel;
Described step 2) be specially:
Setting constraint condition is as follows:
T down2＜T down1＜T up2＜T up1
T min_0＜T up2＜T min_1＜T up1
T max_0＜T up1+T up2
T max_1＜T lim1+T lim2
Wherein, T up1, T down1, T lim1be respectively the economic torque upper limit of propons motor, economic lower torque, maximum torque; T up2, T down2, T lim2be respectively the economic torque upper limit of back axle motor, economic lower torque, maximum torque.Different motor got by front-rear axle motor, and propons motor torque is greater than back axle motor torque; For meeting economy and the dynamic property of loader, during unloaded the max speed, demand torque is less than the economic torque upper limit of back axle motor, during fully loaded the max speed, demand torque is less than the economic torque upper limit of propons motor, during unloaded maximum acceleration, demand torque is less than the economic torque upper limit sum of front-rear axle motor, and during fully loaded maximum acceleration, demand torque is less than front-rear axle motor maximum torque sum.
A is as Δ u i=0 and T req≤ T up1+ T up2time, be target with economy, be specially:
Setup control objective function is: m i n η = k η 1 ( T 1 , n 1 ) + 1 - k η 2 ( T 2 , n 2 ) ,
Wherein, k, n 1, η 1for propons motor torque value accounts for the ratio of current car load aggregate demand torque, rotating speed, the efficiency under current torque and rotating speed, k=0 ~ 1; n 2, η 2for back axle motor speed, the efficiency under current torque and rotating speed;
Setting constraint condition is as follows:
T req＝T 1+T 2
T 1＝k·T req
T 2＝(1-k)·T req
Wherein, T 1, T 2be respectively as propons motor sends torque, back axle motor sends torque;
A1) T is worked as req≤ T wp2time, control policy is that car load adopts back axle individual drive mode, is specially:
T 2＝T req
T 1＝0
A2) T is worked as up2< T req≤ T up1control policy is that car load adopts propons individual drive mode, is specially:
T 1＝T req
T 2＝0
A3) T is worked as req> T up1time, control policy is that car load adopts front-rear axle type of drive simultaneously, is specially:
T down1＜T 1＜T up1
T down2＜T 2＜T up2
According to the torque that Controlling object function and constraint condition calculating front-rear axle drive motor distribute;
B is as Δ u i=0 and T req> T up1+ T up2time, take dynamic property as target, control policy is that car load adopts front-rear axle type of drive simultaneously, is specially:
T 1＝T lim1
T 2＝T req-T lim1
C is as Δ u iwhen ≠ 0, namely occurring phenomenon of trackslipping, take dynamic property as target, and setting constraint condition is as follows:
T req＝T 1+T 2
T 2i＝μ iF 2iri g
T 1≤min(2T z1，2T z2)
T 2≤min(2T z2，2T z4)
Wherein, T zi, μ i, F zibe respectively wheel maximum adhesion moment, the adhesion value between wheel and road surface, the vertical load of wheel;
C1) occur phenomenon of trackslipping during zero load, the preferential back axle motor that adopts drives, and is specially:
T 2＝min(2T z3，2T z4，T req)
T 1＝T req-T 2
C2) there is phenomenon of trackslipping at full load, and the preferential propons motor that adopts drives, and is specially:
T 1＝min(2T z1，2T z2，T ceq)
T 2＝T req-T 1
According to the torque that constraint condition calculating front-rear axle drive motor distributes.
Compared with prior art, the present invention has the following advantages:
1, adopt the driving pattern of electric motor driven vehicle axle, remain the drive axle of conventional load machine, make the structural change of car load little.
2, the present invention adopts front-rear axle to drive separately, compared to traditional vehicle and the motor-driven efficiency of serial mixed power list high, good economy performance.
3, the present invention reasonably can carry out front-rear axle torque distribution according to front-rear axle load change, and improve the capacity usage ratio of car load, meanwhile, this system can also improve the dynamic property of vehicle at limiting condition, gives full play to the advantage of individual drive.
4, the present invention adopts two different motors, carries out multiple more rationally actv. dynamics Controlling, achieve the integrated control system of multi-object and multimission, improve engineering truck highly effective and safe engineering truck.
Accompanying drawing explanation
Fig. 1 front-rear axle individual drive hybrid power loader constructional drawing.
Fig. 2 front-rear axle individual drive hybrid power loader Control system architecture figure.
Fig. 3 front-rear axle individual drive hybrid power loader drives diagram of circuit.
Specific embodiments
Refer to shown in Fig. 1 and Fig. 2, the front-rear axle individual drive loader structure of the present invention is by driving engine (4), electrical generator (5), rectifier (6), super capacitor (7), first drive motor (1), second drive motor (2), 3rd drive motor (3), Hydraulic Pump (8), equipment (9), front driving axle (FDA), rear driving axle (RDA), front-wheel (11), trailing wheel (12), entire car controller (VCU), engine controller (ECU), super capacitor controller (CCU), first drive motor controller (MCU1), second drive motor controller (MCU2), 3rd drive motor controller (MCU3), hydraulic pump control device (PCU), wheel sensor, front driving axle sensor, rear driving axle sensor, operating instruction (10) forms,
Described driving engine (4) is connected with described Generator (5) tool, the alternating current that described electrical generator (5) sends becomes direct current (DC) in parallel with the electricity that described super capacitor (7) is released through rectifier (6), pass to described first drive motor (1), described first drive motor (2) and described 3rd drive motor (3), described first drive motor (1) and described front driving axle are mechanically connected, drive described front-wheel (11), described first drive motor (2) and described rear driving axle are mechanically connected, drive described trailing wheel (12), power is passed to described equipment (9) through described Hydraulic Pump (8) by described 3rd drive motor (3),
Described operating instruction (10) comprises acceleration pedal aperture, brake pedal aperture, the displacement of working equipment operation bar; The signal of described wheel sensor collection comprises vehicle wheel roll radius, angular speed of wheel, the speed of wheel center; The signal of front-rear axle sensor collection comprises front-rear axle axle load.
Described engine controller (ECU) is connected with described entire car controller (VCU), for controlling the mode of operation of described driving engine (4) according to the control signal of the described entire car controller (VCU) received;
Described super capacitor controller (CCU) is connected with described entire car controller (VCU), for receiving the control signal of described entire car controller (VCU);
Described first drive motor controller (MCU1) is connected with described entire car controller (VCU), for controlling the mode of operation of described first drive motor (1) according to the control signal of the described entire car controller (VCU) received;
Described second drive motor controller (MCU2) is connected with described entire car controller (VCU), for controlling the mode of operation of described first drive motor (2) according to the control signal of the described entire car controller (VCU) received;
Described 3rd drive motor controller (MCU3) is connected with described entire car controller (VCU), for controlling the mode of operation of described 3rd drive motor (3) according to the control signal of the described entire car controller (VCU) received;
Described hydraulic pump control device (PCU) is connected with described entire car controller (VCU), for controlling the mode of operation of described Hydraulic Pump (8) according to the control signal of the described entire car controller (VCU) received;
Described entire car controller (VCU) gathers operating instruction signal by CAN, wheel sensor signal, front-rear axle sensor signal, engine controller (ECU) signal, super capacitor controller (CCU) signal, first drive motor controller (MCU1) signal, second drive motor controller (MCU2) signal, 3rd drive motor controller (MCU3) signal, hydraulic pump control device (PCU) signal, computation requirement torque also judges whether wheel occurs skidding, adopt corresponding control policy to described driving engine, described first drive motor, described second drive motor, the controller of described 3rd drive motor sends direct torque instruction and controls described driving engine, described first drive motor (1), described first drive motor (2), the running state of described 3rd drive motor (3), the running state that discharge capacity or Stress control instruction control described Hydraulic Pump is sent to the controller of described Hydraulic Pump.
The torque dynamic allocation method of the front-rear axle individual drive loader structure of the present invention comprises the following steps:
Refer to shown in Fig. 3, entire car controller is according to signal, and by driving torque reasonable distribution in front-rear axle two motors, control policy is respectively: propons individual drive, and back axle individual drive, front-rear axle drives simultaneously.Concrete control method is:
A calculates the torque of car load demand
Wherein, T req, T min_ α, T max_ α, α, M, Δ M, η t, g, i, C d, A, i gbe respectively demand torque, demand torque during the max speed, demand torque during maximum acceleration, load-carrying proportionality coefficient, unloaded car quality, heap(ed) capacity, driving efficiency, acceleration due to gravity, road grade, aerodynamic drag factor, wind area, motor is to wheel drive ratio, and 0.02 is the coefficient of rolling resistance on the grit road surface of compacting; α desirable 0 or 1, wherein gets 0 expression zero load, gets 1 expression and be fully loaded with.
B judges whether wheel occurs skidding
Δu i＝r·w i-u i
Wherein, Δ u i, r, w i, u ibe respectively actual vehicle speed and single vehicle wheel vehicle speeds velocity contrast, vehicle wheel roll radius, angular speed of wheel, the speed of wheel center, i=1,2,3,4 are respectively front revolver, front right wheel, rear revolver, rear right wheel;
C torque distribution
Setting constraint condition is as follows:
T down2＜T down1＜T up2＜T up1
T min_0＜T up2＜T min_1＜T up1
T max_0＜T up1+T up2
T max_1＜T lim1+T lim2
Wherein, T up1, T down1, T lim1be respectively the economic torque upper limit of propons motor, economic lower torque, maximum torque; T up2, T down2, T lim2be respectively the economic torque upper limit of back axle motor, economic lower torque, maximum torque.Different motor got by front-rear axle motor, and propons motor torque is greater than back axle motor torque; For meeting economy and the dynamic property of loader, during unloaded the max speed, demand torque is less than the economic torque upper limit of back axle motor, during fully loaded the max speed, demand torque is less than the economic torque upper limit of propons motor, during unloaded maximum acceleration, demand torque is less than the economic torque upper limit sum of front-rear axle motor, and during fully loaded maximum acceleration, demand torque is less than front-rear axle motor maximum torque sum.
C1 is as Δ u i=0 and T req≤ T up1+ T up2time, be target with economy, be specially:
Setup control objective function is: min &eta; = k &eta; 1 ( T 1 , n 1 ) + 1 - k &eta; 2 ( T 2 , n 2 ) ,
Wherein, k, n 1, η 1for propons motor torque value accounts for the ratio of current car load aggregate demand torque, rotating speed, the efficiency under current torque and rotating speed, k=0 ~ 1; n 2, η 2for back axle motor speed, the efficiency under current torque and rotating speed;
Setting constraint condition is as follows:
T req＝T 1+T 2
T 1＝k·T req
T 2＝(1-k)·T req
Wherein, T 1, T 2be respectively as propons motor sends torque, back axle motor sends torque;
C11) T is worked as req≤ T wp2time, control policy is pattern 1, and car load adopts back axle individual drive mode, is specially:
T 2＝T req
T 1＝0
C12) T is worked as up2< T req≤ T up1control policy is pattern 2, and car load adopts propons individual drive mode, is specially:
T 1＝T req
T 2＝0
C13) T is worked as req> T up1time, control policy is mode 3, and car load adopts front-rear axle type of drive simultaneously, is specially:
T down1＜T 1＜T up1
T down2＜T 2＜T up2
According to the torque that Controlling object function and constraint condition calculating front-rear axle drive motor distribute;
C2 is as Δ u i=0 and T req> T up1+ T up2time, take dynamic property as target, control policy is pattern 6, and car load adopts front-rear axle type of drive simultaneously, is specially:
T 1＝T lim1
T 2＝T req-T lim1
C3 is as Δ u iwhen ≠ 0, namely occurring phenomenon of trackslipping, take dynamic property as target, and setting constraint condition is as follows:
T req＝T 1+T 2
T 2i＝μ iF 2iri g
T 1≤min(2T z1，2T z2)
T 2≤min(2T z3，2T z4)
Wherein, T zi, μ i, F zibe respectively wheel maximum adhesion moment, the adhesion value between wheel and road surface, the vertical load of wheel;
C31) occur phenomenon of trackslipping during zero load, control policy is pattern 5, and the preferential back axle motor that adopts drives, and is specially:
T 2＝min(2T z3，2T z4，T req)
T 1＝T req-T 2
C32) there is phenomenon of trackslipping at full load, and control policy is pattern 4, and the preferential propons motor that adopts drives, and is specially:
T 1＝min(2T z1，2T z2，T ceq)
T 2＝T req-T 1
According to the torque that constraint condition calculating front-rear axle drive motor distributes.

Claims (6)

1. a front-rear axle individual drive loader structure, it is characterized in that: front-rear axle individual drive structure is by driving engine (4), electrical generator (5), rectifier (6), super capacitor (7), first drive motor (1), second drive motor (2), 3rd drive motor (3), Hydraulic Pump (8), equipment (9), front driving axle (FDA), rear driving axle (RDA), front-wheel (11), trailing wheel (12), entire car controller (VCU), engine controller (ECU), super capacitor controller (CCU), first drive motor controller (MCU1), second drive motor controller (MCU2), 3rd drive motor controller (MCU3), hydraulic pump control device (PCU), wheel sensor, front driving axle sensor, rear driving axle sensor, operating instruction (10) forms,
Described driving engine (4) and described Generator (5) are mechanically connected, the alternating current that described electrical generator (5) sends becomes direct current (DC) in parallel with the electricity that described super capacitor (7) is released through rectifier (6), pass to described first drive motor (1), described first drive motor (2) and described 3rd drive motor (3), described first drive motor (1) and described front driving axle are mechanically connected, drive described front-wheel (11), described first drive motor (2) and described rear driving axle are mechanically connected, drive described trailing wheel (12), power is passed to described equipment (9) through described Hydraulic Pump (8) by described 3rd drive motor (3),
Described engine controller (ECU), first drive motor controller (MCU1), second drive motor controller (MCU2), 3rd drive motor controller (MCU3), hydraulic pump control device (PCU) is connected with described entire car controller (VCU), be respectively used to control described driving engine (4) according to the control signal of the described entire car controller (VCU) received, super capacitor (7), first drive motor (1), first drive motor (2), the mode of operation of the 3rd drive motor (3) Hydraulic Pump (8), and each mode of operation is fed back to described entire car controller (VCU), super capacitor controller (CCU) is connected with described entire car controller (VCU), mode of operation is fed back to described entire car controller (VCU),
Described entire car controller (VCU) gathers operating instruction signal by CAN, wheel sensor signal, front-rear axle sensor signal, engine controller (ECU) signal, super capacitor controller (CCU) signal, first drive motor controller (MCU1) signal, second drive motor controller (MCU2) signal, 3rd drive motor controller (MCU3) signal, hydraulic pump control device (PCU) signal, computation requirement torque also judges whether wheel occurs skidding, adopt corresponding control policy to described driving engine, described first drive motor, described second drive motor, the controller of described 3rd drive motor sends direct torque instruction and controls described driving engine, described first drive motor (1), described first drive motor (2), the running state of described 3rd drive motor (3), the running state that discharge capacity or Stress control instruction control described Hydraulic Pump is sent to the controller of described Hydraulic Pump.
2. the torque dynamic allocation method of a kind of front-rear axle individual drive loader structure according to claim 1, is characterized in that: described operating instruction (10) comprises acceleration pedal aperture, brake pedal aperture, the displacement of working equipment operation bar; The signal of described wheel sensor collection comprises vehicle wheel roll radius, angular speed of wheel, the speed of wheel center; The signal of front-rear axle sensor collection comprises front-rear axle axle load.
3. a torque dynamic allocation method for front-rear axle individual drive loader structure described in claim 1, the method comprises the following steps:
1), gather operating instruction and vehicle running state parameter, process is carried out to gathered data and calculates;
2), according to the data processed, adopt corresponding control policy to control, and send direct torque instruction according to control policy to each drive motor.
4. the torque dynamic allocation method of a kind of front-rear axle individual drive loader structure according to claim 3, it is characterized in that: described step 1) in gather data comprise acceleration pedal aperture, brake pedal aperture, the displacement of working equipment operation bar, front-rear axle load, vehicle wheel roll radius, angular speed of wheel, the speed of wheel center, acceleration/accel, front-rear axle axle load.
5. the torque dynamic allocation method of a kind of front-rear axle individual drive loader structure according to claim 3, is characterized in that: described step 1) in data processing calculate be specially:
A) torque of car load demand is calculated
Wherein, T req, T min_ α, T max_ α, α, M, Δ M, η t, g, i, C d, A, i gbe respectively demand torque, demand torque during the max speed, demand torque during maximum acceleration, load-carrying proportionality coefficient, unloaded car quality, heap(ed) capacity, driving efficiency, acceleration due to gravity, road grade, aerodynamic drag factor, wind area, motor is to wheel drive ratio, and 0.02 is the coefficient of rolling resistance on the grit road surface of compacting; α desirable 0 or 1, wherein gets 0 expression zero load, gets 1 expression and be fully loaded with.
B) judge whether wheel occurs skidding
Δu i＝r·w i-u i
Wherein, Δ u 1, r, w i, u 1be respectively actual vehicle speed and single vehicle wheel vehicle speeds velocity contrast, vehicle wheel roll radius, angular speed of wheel, the speed of wheel center, i=1,2,3,4 are respectively front revolver, front right wheel, rear revolver, rear right wheel.
6. the torque dynamic allocation method of a kind of front-rear axle individual drive loader structure according to claim 3, is characterized in that: described step 2) be specially:
Setting constraint condition is as follows:
T down2<T down1<T up2<T up1
T min_0<T up2<T min_1<T up1
T max_0<T up1+T up2
T max_1<T lim1+T lim2
Wherein, T up1, T down1, T lim1be respectively the economic torque upper limit of propons motor, economic lower torque, maximum torque; T up2, T down2, T lim2be respectively the economic torque upper limit of back axle motor, economic lower torque, maximum torque.Different motor got by front-rear axle motor, and propons motor torque is greater than back axle motor torque; For meeting economy and the dynamic property of loader, during unloaded the max speed, demand torque is less than the economic torque upper limit of back axle motor, during fully loaded the max speed, demand torque is less than the economic torque upper limit of propons motor, during unloaded maximum acceleration, demand torque is less than the economic torque upper limit sum of front-rear axle motor, and during fully loaded maximum acceleration, demand torque is less than front-rear axle motor maximum torque sum.
A) as Δ u i=0 and T req≤ T up1+ T up2time, be target with economy, be specially:
Setup control objective function is:
Wherein, k, n 1, η 1for propons motor torque value accounts for the ratio of current car load aggregate demand torque, rotating speed, the efficiency under current torque and rotating speed, k=0 ~ 1; n 2, η 2for back axle motor speed, the efficiency under current torque and rotating speed;
Setting constraint condition is as follows:
T req＝T 1+T 2
T 1＝k·T req
T 2＝(1-k)·T req
Wherein, T 1, T 2be respectively as propons motor sends torque, back axle motor sends torque;
A1) T is worked as req≤ T up2time, control policy is that car load adopts back axle individual drive mode, is specially:
T 2＝T req
T 1＝0
A2) T is worked as up2<T req≤ T up1control policy is that car load adopts propons individual drive mode, is specially:
T 1＝T req
T 2＝0
A3) T is worked as req>T up1time, control policy is that car load adopts front-rear axle type of drive simultaneously, is specially:
T down1<T 1<T up1
T down2<T 2<T up2
According to the torque that Controlling object function and constraint condition calculating front-rear axle drive motor distribute;
B) as Δ u i=0 and T req>T up1+ T up2time, take dynamic property as target, control policy is that car load adopts front-rear axle type of drive simultaneously, is specially:
T 1＝T lim1
T 2＝T req-T lim1
C) as Δ u iwhen ≠ 0, namely occurring phenomenon of trackslipping, take dynamic property as target, and setting constraint condition is as follows:
T req＝T 1+T 2
T zi＝μ iF ziri g
T 1≤min(2T z1,2T z2)
T 2≤min(2T z3,2T z4)
Wherein, T zi, μ i, F zibe respectively wheel maximum adhesion moment, the adhesion value between wheel and road surface, the vertical load of wheel;
C1) occur phenomenon of trackslipping during zero load, the preferential back axle motor that adopts drives, and is specially:
T 2＝min(2T z3,2T z4,T req)
T 1＝T req-T 2
C2) there is phenomenon of trackslipping at full load, and the preferential propons motor that adopts drives, and is specially:
T 1＝min(2T z1,2T z2,T req)
T 2＝T req-T 1
According to the torque that constraint condition calculating front-rear axle drive motor distributes.
CN201510559655.7A 2015-09-07 2015-09-07 Front-rear axle independently drives loading machine structure and torque dynamic allocation method Active CN105172617B (en)

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CN108944404A (en) * 2018-07-18 2018-12-07 北京汽车研究总院有限公司 Vehicle chassis and vehicle with it
CN110549866A (en) * 2018-05-31 2019-12-10 长城汽车股份有限公司 Front and rear axle double-motor four-wheel drive control method and device
CN110843761A (en) * 2019-11-29 2020-02-28 江苏徐工工程机械研究院有限公司 Loader power system, control method thereof and loader
CN111251899A (en) * 2018-11-30 2020-06-09 比亚迪股份有限公司 Control method and control device for electric vehicle and electronic equipment

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CN104302847A (en) * 2012-05-14 2015-01-21 日立建机株式会社 Hybrid construction machinery
CN104385896A (en) * 2014-09-29 2015-03-04 太原理工大学 Loader with bimotored power system
CN204998368U (en) * 2015-09-07 2016-01-27 吉林大学 Front and back bridge individual drive loader structure

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JP2003009308A (en) * 2001-06-22 2003-01-10 Kobelco Contstruction Machinery Ltd Work machine
CN101999206A (en) * 2008-04-14 2011-03-30 迪尔公司 Traction control method and apparatus for a vehicle with independent drives
CN104302847A (en) * 2012-05-14 2015-01-21 日立建机株式会社 Hybrid construction machinery
CN104385896A (en) * 2014-09-29 2015-03-04 太原理工大学 Loader with bimotored power system
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Publication number Priority date Publication date Assignee Title
CN110549866A (en) * 2018-05-31 2019-12-10 长城汽车股份有限公司 Front and rear axle double-motor four-wheel drive control method and device
CN110549866B (en) * 2018-05-31 2021-01-12 长城汽车股份有限公司 Front and rear axle double-motor four-wheel drive control method and device
CN108944404A (en) * 2018-07-18 2018-12-07 北京汽车研究总院有限公司 Vehicle chassis and vehicle with it
CN111251899A (en) * 2018-11-30 2020-06-09 比亚迪股份有限公司 Control method and control device for electric vehicle and electronic equipment
CN110843761A (en) * 2019-11-29 2020-02-28 江苏徐工工程机械研究院有限公司 Loader power system, control method thereof and loader
CN110843761B (en) * 2019-11-29 2024-02-02 江苏徐工工程机械研究院有限公司 Loader power system, control method thereof and loader

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