CN110834599B - 一种自卸车故障牵引方法 - Google Patents
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Abstract
一种自卸车故障牵引方法,控制系统通过CAN总线实现整车控制单元VCU、牵引控制单元DCU、发动机控制单元ECM、组合仪表、显示屏DDU之间的网络通信;当整车控制单元VCU和牵引控制单元DCU网络通讯故障后,整车控制单元VCU和牵引控制单元DCU通过硬线信号实现控制功能,通过故障牵引信号触发故障牵引模式,实现故障模式下的故障牵引控制,解决了当自卸车整车控制单元VCU和牵引控制单元DCU网络通讯故障时不能立即驶离故障现场的问题,降低了风险。
Description
技术领域
本发明涉及自卸车,尤其是一种自卸车故障牵引方法。
背景技术
传统自卸车当整车控制单元VCU与牵引控制单元DCU出现网络通讯故障后,需停车进行故障排查或等待牵引车救援,不能继续行驶车辆。故障排查、等待救援时间长,若停在矿区运输道路上将严重影响其他车辆正常通行,造成一定运营经济损失。若车辆故障停车时处于矿区地质疏松地带或悬崖危险地带,若不能及时驶离可能严重危及故障排查人员及司乘人员人身安全。为解决这一问题,需要设计一种合理的故障牵引方法。
发明内容
本发明所要解决的技术问题是提供一种自卸车故障牵引方法,解决当自卸车出现整车控制单元VCU和牵引控制单元DCU网络通讯故障后不能立即驶离故障现场的问题。
为解决上述技术问题,本发明的技术方案是:一种自卸车故障牵引方法,控制系统通过CAN总线实现整车控制单元VCU、牵引控制单元DCU、发动机控制单元ECM、组合仪表、显示屏DDU之间的网络通信;在CAN总线的基础上,牵引控制单元DCU还通过硬线接收故障牵引、励磁使能、方向手柄、制动踏板、驻车制动、装载制动以及制动缓解信号,并通过硬线输出PWM信号到发动机控制单元ECM;整车控制单元VCU还通过硬线接收方向手柄、油门踏板、制动踏板、驻车制动和装载制动信号,以及牵引控制单元DCU反馈的电制动失效、励磁应答、牵引系统故障的输出信号;
故障牵引控制方法:
当整车控制单元VCU和牵引控制单元DCU网络通讯故障后,整车控制单元VCU和牵引控制单元DCU通过硬线信号实现控制功能,通过故障牵引信号触发故障牵引模式,实现故障模式下的故障牵引控制;
故障牵引模式时,整车控制单元VCU控制柴油机启动,柴油机启动后处于怠速状态;
故障牵引模式下,牵引控制单元DCU检测到故障牵引信号有效:
牵引控制单元DCU检测到驻车制动、装载制动均未施加,且制动未缓解时,则禁止牵引;
牵引控制单元DCU检测到制动缓解有效,故障牵引信号有效、方向手柄处于向前/向后有效、励磁使能信号有效时,牵引控制单元DCU通过PWM硬线信号直接给到发动机控制单元ECM控制柴油机转速,并驱动车辆以5km/h的速度行驶;
当驻车制动施加或装载制动施加时,牵引控制单元DCU允许车辆加载,若牵引力给后持续3S车辆速度为0,则取消牵引力给定;具备半坡启动能力,但长时间未缓解驻车/装载制动则卸载;重新给励磁或方向回零后再打到向前/向后位时,允许再次加载;
车辆起步后通过采集制动踏板硬线信号控制车辆电制动停车。
作为改进,所述整车控制单元VCU、牵引控制单元DCU、发动机控制单元ECM、组合仪表和显示屏DDU挂接在CAN总线上。
本发明与现有技术相比所带来的有益效果是:
自卸车控制系统是基于总线通讯协议的微机网络控制系统,它应用总线技术把分布于各个车辆内部、独立完成特定功能的控制单元互连起来形成局域网,以实现资源共享、协同工作、分散检测和集中控制的目的。本故障牵引方法解决了当自卸车整车控制单元VCU和牵引控制单元DCU网络通讯故障时不能立即驶离故障现场的问题,降低了风险。
附图说明
图1为控制系统CAN网络拓扑图。
图2为牵引控制硬线接口图。
具体实施方式
下面结合说明书附图对本发明作进一步说明。
本发明自卸车控制系统是基于总线通讯协议的微机网络控制系统,它应用总线技术把分布于各个车辆内部、独立完成特定功能的控制单元互连起来形成局域网,以实现资源共享、协同工作、分散检测和集中控制的目的。如图1所示,控制系统通过CAN总线实现整车控制单元VCU、牵引控制单元DCU、发动机控制单元ECM、组合仪表、显示屏DDU之间的网络通信;所述整车控制单元VCU、牵引控制单元DCU、发动机控制单元ECM、组合仪表和显示屏DDU挂接在CAN总线上,CAN总线上还可以扩展其他结构或设备。如图2所示,在CAN总线的基础上,牵引控制单元DCU还通过硬线接收故障牵引、励磁使能、方向手柄、制动踏板、驻车制动、装载制动以及制动缓解信号,并通过硬线输出PWM信号到发动机控制单元ECM;整车控制单元VCU还通过硬线接收方向手柄、油门踏板、制动踏板、驻车制动和装载制动信号,以及牵引控制单元DCU反馈的电制动失效、励磁应答、牵引系统故障的输出信号。
正常牵引控制方法:
正常牵引状态下,整车控制单元VCU采集司机操作指令,控制柴油机启动,并通过总线向牵引控制单元DCU发送励磁使能信号,牵引控制单元DCU同时检测到硬线和总线励磁使能信号时,输出励磁,并通过硬线反馈励磁应答信号;
整车控制单元VCU接收到励磁应答信号后,根据油门踏板及制动踏板开度,控制柴油机转速,并通过总线向DCU发送牵引/制动指令、方向及转矩信号,牵引控制单元DCU根据接收到的信号控制电机工作;
正常情况下的牵引制动,DCU对制动踏板硬线信号、方向手柄硬线信号仅做采集不做处理,当接收到的硬线和总线信号不一致时,输出报警信号;正常情况下的牵引制动,牵引控制单元DCU得电后持续输出PWM信号为115Hz,发动机控制单元ECM以接受到的CAN信号控制柴油机转速。
故障牵引控制方法:
当整车控制单元VCU和牵引控制单元DCU网络通讯故障后,整车控制单元VCU和牵引控制单元DCU通过硬线信号实现控制功能,通过故障牵引信号触发故障牵引模式,实现故障模式下的故障牵引控制;
故障牵引模式时,整车控制单元VCU控制柴油机启动,柴油机启动后处于怠速状态;
故障牵引模式下,牵引控制单元DCU检测到故障牵引信号有效:
牵引控制单元DCU检测到驻车制动、装载制动均未施加,且制动未缓解时,则禁止牵引;
牵引控制单元DCU检测到制动缓解有效,故障牵引信号有效、方向手柄处于向前/向后有效(硬线检测)、励磁使能信号有效时(硬线检测),牵引控制单元DCU通过PWM硬线信号直接给到发动机控制单元ECM控制柴油机转速,并驱动车辆以5km/h的速度行驶;
当驻车制动施加或装载制动施加时,牵引控制单元DCU允许车辆加载,若牵引力给后持续3S车辆速度为0,则取消牵引力给定;具备半坡启动能力,但长时间未缓解驻车/装载制动则卸载;重新给励磁或方向回零后再打到向前/向后位时,允许再次加载;
车辆起步后通过采集制动踏板硬线信号控制车辆电制动停车。
Claims (3)
1.一种自卸车故障牵引方法,其特征在于:控制系统通过CAN总线实现整车控制单元VCU、牵引控制单元DCU、发动机控制单元ECM、组合仪表、显示屏DDU之间的网络通信;在CAN总线的基础上,牵引控制单元DCU还通过硬线接收故障牵引、励磁使能、方向手柄、制动踏板、驻车制动、装载制动以及制动缓解信号,并通过硬线输出PWM信号到发动机控制单元ECM;整车控制单元VCU还通过硬线接收方向手柄、油门踏板、制动踏板、驻车制动和装载制动信号,以及牵引控制单元DCU反馈的电制动失效、励磁应答、牵引系统故障的输出信号;
故障牵引控制方法:
当整车控制单元VCU和牵引控制单元DCU网络通讯故障后,整车控制单元VCU和牵引控制单元DCU通过硬线信号实现控制功能,通过故障牵引信号触发故障牵引模式,实现故障模式下的故障牵引控制;
故障牵引模式时,整车控制单元VCU控制柴油机启动,柴油机启动后处于怠速状态;
故障牵引模式下,牵引控制单元DCU检测到故障牵引信号有效:
牵引控制单元DCU检测到驻车制动、装载制动均未施加,且制动未缓解时,则禁止牵引;
牵引控制单元DCU检测到制动缓解=1,故障牵引信号有效、方向手柄处于向前/向后有效、励磁使能信号有效时,牵引控制单元DCU通过PWM硬线信号直接给到发动机控制单元ECM控制柴油机转速,并驱动车辆以5km/h的速度行驶;
当驻车制动施加或装载制动施加时,牵引控制单元DCU允许车辆加载,若牵引力给后持续3S车辆速度为0,则取消牵引力给定;具备半坡启动能力,但长时间未缓解驻车/装载制动则卸载;重新给励磁或方向回零后再打到向前/向后位时,允许再次加载;
车辆起步后通过采集制动踏板硬线信号控制车辆电制动停车。
2.根据权利要求1所述的一种自卸车故障牵引方法,其特征在于:所述整车控制单元VCU、牵引控制单元DCU、发动机控制单元ECM、组合仪表和显示屏DDU通过三通连接器连接在CAN总线上。
3.根据权利要求1所述的一种自卸车故障牵引方法,其特征在于:自卸车控制系统是基于总线通讯协议的微机网络控制系统,它应用总线技术把分布于各个车辆内部、独立完成特定功能的控制单元互连起来形成局域网,以实现资源共享、协同工作、分散检测和集中控制的目的。
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