CN111483329B - Impact suppression method, device and system for electric loader - Google Patents

Impact suppression method, device and system for electric loader Download PDF

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Publication number
CN111483329B
CN111483329B CN202010359497.1A CN202010359497A CN111483329B CN 111483329 B CN111483329 B CN 111483329B CN 202010359497 A CN202010359497 A CN 202010359497A CN 111483329 B CN111483329 B CN 111483329B
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electric loader
vehicle speed
impact
preset
target
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CN111483329A (en
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杨智宇
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Chongqing Technology and Business University
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Chongqing Technology and Business University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention discloses an impact suppression method, device and system of an electric loader, and aims to consider that when impact is generated due to impact of materials during impact, a target vehicle speed after process prediction time (from sampling a current vehicle speed to driving the motor to respond to the target torque) is calculated, a preset closed-loop algorithm is adopted to calculate the target torque corresponding to the target vehicle speed, and then the driving motor is controlled to respond to the target torque.

Description

Impact suppression method, device and system for electric loader
Technical Field
The invention relates to the field of electric loaders, in particular to an impact suppression method of an electric loader, and further relates to an impact suppression device and system of the electric loader.
Background
The electric loader can be used for transferring materials, such as gravel, and the like, when a driver of the electric loader shovels materials such as gravel, the driver usually shovels the materials and collects the materials, namely, the driver drives the electric loader forward to shovel the materials into the bucket, and controls the bucket to rotate upwards to complete the bucket collecting action.
Therefore, how to provide a solution to the above technical problems is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide an impact suppression method of an electric loader, which prolongs the service life of a power system and a transmission system and improves the comfort of a driver; another object of the present invention is to provide a shock-suppressing device and system for an electric loader, which can prolong the life of a power system and a transmission system and improve the comfort of a driver.
In order to solve the above technical problem, the present invention provides a method for suppressing an impact of an electric loader, including:
presetting process prediction time from sampling the current vehicle speed to driving a motor to respond to a target torque;
when the electric loader is impacted in the bucket collecting process, acquiring the current speed of the electric loader;
determining the target speed of the electric loader after the process prediction time according to the current speed;
calculating a target torque corresponding to the target vehicle speed by adopting a preset closed-loop algorithm;
controlling the driving motor to respond to the target torque.
Preferably, when the electric loader is subjected to impact in a bucket-in process, acquiring the current vehicle speed of the electric loader specifically includes:
when the electric loader meets the preset enabling conditions, judging that the electric loader is in a bucket collecting process in a shoveling stage;
when the electric loader in the bucket collecting process in the shoveling stage meets a preset impact condition, judging that the electric loader is impacted;
acquiring the current vehicle speed of the electric loader.
Preferably, the impact suppression method of the electric loader further includes, after the determination that the electric loader has been subjected to a collision impact and before the current vehicle speed of the electric loader is acquired:
judging whether the driving torque of the driving motor is larger than a preset proportion of the peak torque or not and the opening of an accelerator pedal is larger than the preset proportion;
and if so, executing the step of acquiring the current vehicle speed of the electric loader.
Preferably, after the target torque corresponding to the target vehicle speed is calculated by using a preset closed-loop algorithm, the method for suppressing shock of the electric loader further includes:
judging whether the electric loader meets a preset impact suppression exit condition or not;
if so, recovering the default driving torque control mechanism of the electric loader;
wherein the preset impact suppression exit condition is specifically:
the method comprises the steps that the duration time that the vehicle speed is zero is longer than a first preset threshold value, the driving torque corresponding to the current accelerator pedal opening degree is smaller than the target torque, the longitudinal impact degree is smaller than a second preset threshold value, and the gear is not any one of the forward gears.
Preferably, the preset enabling condition comprises:
the vehicle speed is lower than a third preset threshold value, the gear is a forward gear, the bucket has a bucket retracting characteristic, and the position of the lifting cylinder is lower than a preset position threshold value.
Preferably, the preset impact conditions are specifically:
the longitudinal backward acceleration is greater than a fourth preset threshold and the longitudinal shock degree is greater than a fifth preset threshold.
Preferably, the preset process predicted time from sampling the current vehicle speed to the response of the driving motor to the target torque is specifically:
and taking the sum of the vehicle speed signal sampling period, the VCU algorithm scheduling period of the vehicle controller, the torque command signal sampling period, the MCU algorithm scheduling period of the motor controller and the response period of the driving motor as the process prediction time from the sampling of the current vehicle speed to the response target torque of the driving motor.
Preferably, the impact suppression method of the electric loader further includes:
according to vehicle speed change sampling data of the electric loader subjected to impact for multiple times, fitting a vehicle speed change curve of the electric loader subjected to impact by adopting a preset regression algorithm;
the target vehicle speed of the electric loader after the process prediction time is determined according to the current vehicle speed is specifically:
and determining the target speed of the electric loader after the process prediction time according to the current speed and the speed change curve.
In order to solve the above technical problem, the present invention also provides an impact suppression device for an electric loader, including:
the preset module is used for presetting process prediction time from sampling the current vehicle speed to the response target torque of the driving motor;
the acquisition module is used for acquiring the current speed of the electric loader when the electric loader is impacted in the bucket collecting process;
the determining module is used for determining the target speed of the electric loader after the process prediction time according to the current speed;
the calculation module is used for calculating a target torque corresponding to the target vehicle speed by adopting a preset closed-loop algorithm;
and the control module is used for controlling the driving motor to respond to the target torque.
In order to solve the above technical problem, the present invention further provides an impact suppression system for an electric loader, including:
a memory for storing a computer program;
a processor for implementing the steps of the impact suppression method for an electric loader as described in any one of the above when the computer program is executed.
The invention provides an impact suppression method of an electric loader, which considers that when impact is generated due to impact of materials during impact, a target vehicle speed after process prediction time (from sampling the current vehicle speed to the response target torque of a driving motor) can be calculated, a preset closed-loop algorithm is adopted to calculate the target torque corresponding to the target vehicle speed, and then the driving motor is controlled to respond to the target torque.
The invention also provides an impact suppression device and system of the electric loader, and the impact suppression device and system have the same beneficial effects as the impact suppression method of the electric loader.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic flow chart of a shock suppression method for an electric loader according to the present invention;
fig. 2 is a schematic structural view of an impact suppression device of an electric loader according to the present invention;
fig. 3 is a schematic structural diagram of an impact suppression system of an electric loader according to the present invention.
Detailed Description
The core of the invention is to provide an impact suppression method of the electric loader, which prolongs the service life of a power system and a transmission system and improves the comfort of a driver; another core of the present invention is to provide an impact suppression device and system for an electric loader, which can prolong the life of a power system and a transmission system and improve the comfort of a driver.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a method for suppressing shock of an electric loader according to the present invention, the method for suppressing shock of the electric loader includes:
step S1: presetting process prediction time from sampling the current vehicle speed to the response target torque of the driving motor;
specifically, considering that in the subsequent step, the current vehicle speed of the electric loader is sampled when the electric loader suffers impact in the bucket-in process, then the target vehicle speed after the process prediction time is calculated according to the current vehicle speed, and finally the driving motor is controlled to respond to the target torque corresponding to the target vehicle speed, namely, the period of time of 'process prediction time' needs to pass from the sampling of the current vehicle speed to the response of the driving motor to the target torque, so that the target torque is corresponding to the target vehicle speed after the process prediction time.
The "preset" is usually set only once before the method is started, unless the preset content needs to be modified.
Step S2: acquiring the current speed of the electric loader when the electric loader is impacted in the bucket collecting process;
specifically, the current vehicle speed acquired in the present application may be used as a data basis for a subsequent step, and the step of collecting the current vehicle speed is to control the torque reduction of the driving motor to be a target torque giving a response based on the vehicle speed reduction, and meanwhile, since there is time from the calculation of the target torque until the driving motor responds to the target torque, the target vehicle speed when the driving motor actually responds to the target torque needs to be calculated, and the calculation of the target vehicle speed must depend on the current vehicle speed.
The method for acquiring the current vehicle speed of the electric loader may be multiple, for example, the current vehicle speed may be acquired through an original vehicle speed sensor on the electric loader, and the embodiment of the invention is not limited herein.
And step S3: determining a target speed of the electric loader after the process prediction time according to the current speed;
specifically, according to the current vehicle speed obtained in the previous step, the target vehicle speed of the electric loader after the process prediction time can be estimated through a preset method, and the target vehicle speed can be used as a data basis for processing in the subsequent steps.
And step S4: calculating a target torque corresponding to a target vehicle speed by adopting a preset closed-loop algorithm;
specifically, the calculation of the target torque corresponding to the target vehicle speed is performed in consideration of that a large impact force is generated at the moment of occurrence of the impact, if the driving torque of the driving motor is small, the driving system and the transmission system will not bear too much pressure, but if the driving torque of the driving motor is still large (due to the driver still pressing the accelerator pedal down to a deep stroke), the entire driving system and the transmission system will bear great pressure, and the service life of the driving system and the transmission system is affected.
Specifically, based on the above theory, the applicant considers that the vehicle speed of the electric loader shows a slowing tendency itself when the impact shock is applied, so that the drive system and the transmission system can be protected by generating a corresponding target torque according to the vehicle speed when the impact shock is applied and controlling the drive motor to respond to the target torque.
The closed-loop algorithm has the advantages of high accuracy, high calculation speed and the like.
Of course, other types of methods may be used for calculation besides the preset closed-loop algorithm, and the embodiment of the present invention is not limited herein.
Specifically, the preset closed-loop algorithm may be of various types, for example, PID (Proportional-Integral-Derivative Control), PD (Proportional-Derivative Control), or the like, and the embodiment of the present invention is not limited herein.
It should be noted that the target torque may be set to an upper limit and a lower limit, for example, the torque of the driving motor at the moment when the electric loader is determined to be subjected to the impact shock may be set to an upper limit, and 50% of the peak torque of the motor may be set to a lower limit, etc., wherein the target torque may theoretically not exceed the torque of the driving motor at the moment when the electric loader is subjected to the impact shock because the means for limiting the stress of the driving system and the transmission system of the present application is to reduce the driving torque, and the lower limit of the target torque may be set to 50% of the peak torque of the motor in order to ensure that the present application does not affect the normal operation of the electric loader, which is not limited herein.
Of course, the lower limit of the target torque may be other proportion of the peak torque of the motor, for example, 49%, and the embodiment of the present invention is not limited herein.
Step S5: the drive motor is controlled to respond to the target torque.
Specifically, after the target torque is calculated, the driving motor can be controlled to respond to the target torque, so that the driving system and the transmission system of the electric loader are prevented from being damaged due to excessive pressure in a mode of reducing the torque of the driving motor.
The invention provides an impact suppression method of an electric loader, which considers that a power system and a transmission system are subjected to larger impact when a driving motor is continuously controlled to output high torque during impact, can calculate a target vehicle speed (between the current vehicle speed sampled and the target torque responded by the driving motor) after process prediction time when impact is generated due to impact on materials during the bucket collecting process of the electric loader, calculates the target torque corresponding to the target vehicle speed by adopting a preset closed-loop algorithm, and then controls the driving motor to respond to the target torque.
On the basis of the above-described embodiment:
as a preferred embodiment, when the electric loader is subjected to impact during bucket-in, acquiring the current vehicle speed of the electric loader specifically includes:
when the electric loader meets the preset enabling conditions, judging that the electric loader is in a bucket collecting process in a shoveling stage;
when the electric loader in the bucket collecting process in the shoveling stage meets the preset impact condition, judging that the electric loader is impacted;
the current vehicle speed of the electric loader is acquired.
Specifically, according to the embodiment of the invention, when the electric loader meets the preset enabling conditions, the electric loader is judged to be in the bucket collecting process of the shoveling process, so that the subsequent steps are enabled, and the electric loader can successfully judge and calculate the target torque when suffering impact shock.
Specifically, after the preset enabling condition is met, the embodiment of the invention can also determine whether the electric loader is subjected to impact, that is, after the enabling condition is met, the step of calculating the subsequent target torque is performed only when the electric loader is subjected to impact, and the like, so that the electric loader is further ensured not to malfunction.
As a preferred embodiment, the impact suppression method of the electric loader further includes, after determining that the electric loader has been subjected to the impact of the collision, before acquiring the current vehicle speed of the electric loader:
judging whether the driving torque of the driving motor is larger than the preset proportion of the peak torque or not and the opening of the accelerator pedal is larger than the preset proportion;
and if so, executing the step of acquiring the current vehicle speed of the electric loader.
Specifically, considering that when the driving torque of the driving motor is not very large when the impact is applied, the driving system and the transmission system do not bear too much stress, in this case, it is not necessary to perform the step of "obtaining the current vehicle speed of the electric loader" and the subsequent step, that is, the default torque control method is adopted, but once the driving torque of the driving motor is too large (in the embodiment of the present invention, the preset proportion is greater than the peak torque), the driving system and the transmission system bear more stress, in this case, the step of "obtaining the current vehicle speed of the electric loader" and the subsequent step may be performed, so as to actively reduce the torque of the driving motor to ensure the safety of the driving system and the transmission system.
In the embodiment of the present invention, if the driving torque of the driving motor is larger than the preset proportion of the peak torque, and at the same time, the opening degree of the accelerator pedal is larger than the preset proportion, it is sufficient to prove that the current driving torque is larger than the preset proportion of the peak torque under the double verification, and in this case, the subsequent steps are required to be performed so as to ensure the safety of the driving system and the transmission system.
The preset ratio may be set autonomously, for example, may be set to 70%, and the embodiment of the present invention is not limited herein.
As a preferred embodiment, after calculating a target torque corresponding to a target vehicle speed using a preset closed-loop algorithm, the method for suppressing shock of the electric loader further includes:
judging whether the electric loader meets a preset impact suppression exit condition or not;
if so, recovering the default driving torque control mechanism of the electric loader;
the preset impact suppression exit condition specifically comprises the following steps:
the method comprises the steps that the duration time that the vehicle speed is zero is longer than a first preset threshold value, the driving torque corresponding to the current accelerator pedal opening degree is smaller than a target torque, the longitudinal impact degree is smaller than a second preset threshold value, and the gear is not any one of the forward gears.
Specifically, the method for calculating the target torque and controlling the driving motor to respond to the target torque is only suitable for being used when the electric loader suffers from impact in the bucket-in process so as to limit the pressure borne by the driving system and the transmission system, so that when the method for calculating the target torque and controlling the driving motor to respond to the target torque is used, whether a default driving torque control mechanism can be recovered can be judged through a preset impact suppression exit condition, and the control right of the driving torque of the electric loader can be returned to a driver so as to recover the normal use of the electric loader.
Specifically, a duration of zero vehicle speed greater than a first predetermined threshold indicates that the electric loader has been stationary for a period of time after experiencing a collision impact, at which time the impact force is substantially absent; the driving torque corresponding to the current accelerator pedal opening is smaller than the target torque, which means that the driver actively controls the reduction of the driving torque by controlling the pedal, so that the driver can theoretically reduce the torque without assistance and give control right to the driver; the longitudinal impact degree is smaller than the second preset threshold value, so that the impact degree is small enough at the moment, and even if the driving motor outputs higher driving torque, too much pressure cannot be caused to a driving system and a transmission system; whereas a gear other than the forward gear means that the drive motor will not output forward drive torque, the drive system and the transmission system will not necessarily be subjected to a large stress.
The electric loader can be accurately judged to be in a state without auxiliary torque reduction through the preset impact suppression exit condition, and the electric loader can be controlled to safely exit the impact suppression mode and recover the default driving torque control mechanism.
Of course, the preset impact-suppression exit condition may be other types than the preset impact-suppression exit condition described above, and the embodiment of the present invention is not limited herein.
Specifically, both the first preset threshold and the second preset threshold may be set autonomously, for example, the first preset threshold may be 0.5s, and the second preset threshold may be 15m/s 3 And the embodiments of the present invention are not limited herein.
As a preferred embodiment, the preset enabling conditions include:
the vehicle speed is lower than a third preset threshold, the gear is a forward gear, the bucket has a bucket retracting characteristic, and the position of the lifting cylinder is lower than a preset position threshold.
Specifically, the vehicle speed is lower than the third preset threshold because the vehicle speed is generally lower in the bucket retracting process of the electric loader; the gear is a forward gear because the electric loader is usually in a state of shoveling forwards and collecting the bucket during the bucket collecting process; the bucket has a bucket-retracting characteristic, which is naturally needless to say, because the bucket can be subjected to impact only when being retracted; the reason why the position of the lifting cylinder is lower than the preset position threshold is that the shoveling work can be performed only when the lifting cylinder of the electric loader is low, and the bucket retracting action is performed at the stage when the bucket is nearly full.
The bucket having the bucket-receiving characteristics may be various, and may include: the driver operates the handle to be arranged at the bucket-collecting position (namely the driver has the bucket-collecting action); the bucket cylinder position is raised (i.e. the operator controls the bucket-up action); the bucket cylinder position is above a preset bucket position threshold (i.e., bucket approaching completion).
The third preset threshold may be set autonomously, for example, may be set to 3kph, and the preset position threshold and the preset stowing position threshold may also be set autonomously, which is not limited herein in the embodiment of the present invention.
Of course, the preset enable condition may be of other types besides the preset enable condition, and the embodiment of the present invention is not limited herein.
As a preferred embodiment, the preset impact conditions are specifically:
the longitudinal backward acceleration is greater than a fourth preset threshold and the longitudinal shock degree is greater than a fifth preset threshold.
Specifically, the fact that the longitudinal backward acceleration is larger than the fourth preset threshold value indicates that the electric loader has a backward large acceleration, and the backward large acceleration suddenly generated in the bucket-retracting process (which should be slowly advanced) is likely to suffer from impact; a longitudinal shock greater than a fifth predetermined threshold value indicates that a crash shock is encountered which is relatively violent, and only then is it necessary to limit the drive torque.
The fourth preset threshold and the fifth preset threshold may both be set autonomously, for example, the fourth preset threshold may be 2m/s 2 The fifth preset threshold may be 20m/s 3 And the embodiments of the present invention are not limited herein.
As a preferred embodiment, the process predicted time from sampling the current vehicle speed to the drive motor responding to the target torque is preset as follows:
the sum of a Vehicle speed signal sampling period, a VCU (Vehicle Control Unit) algorithm scheduling period, a torque command signal sampling period, an MCU (motor controller) algorithm scheduling period and a drive motor response period is used as the process prediction time from the sampling of the current Vehicle speed to the drive motor response target torque.
Specifically, sampling of a vehicle speed signal needs a period of time, VCU schedules the time needed by a relevant algorithm of the VCU, VCU calculates the time needed by the target torque and sends the target torque to MCU, MCU schedules the time needed by an algorithm of the VCU, MCU controls the time needed by a driving motor according to the target torque and the time needed by the driving motor to respond to the target torque, and the process prediction time from sampling the current vehicle speed to responding to the target torque of the driving motor can be accurately represented by adding the above time, so that the torque responding to the vehicle speed can be accurately given according to the vehicle speed, and the pressure of a driving system and a transmission system when the vehicle speed is impacted is reduced.
As a preferred embodiment, the impact suppression method of the electric loader further includes:
according to vehicle speed change sampling data of the electric loader subjected to impact for multiple times, fitting a vehicle speed change curve of the electric loader subjected to impact by adopting a preset regression algorithm;
determining the target vehicle speed of the electric loader after the process prediction time according to the current vehicle speed as follows:
and determining the target speed of the electric loader after the process prediction time according to the current speed and the speed change curve.
Specifically, in order to accurately estimate the target vehicle speed after the process prediction time, the embodiment of the invention may fit a vehicle speed change curve of the electric loader subjected to the impact by using a preset regression algorithm according to vehicle speed change sampling data of the electric loader subjected to the impact multiple times in advance, and then accurately estimate the target vehicle speed after the process prediction time through the vehicle speed change curve.
The multiple times may be set autonomously, for example, 20 to 50 times, and the preset regression algorithm may be of various types, for example, the preset regression algorithm may be a linear regression algorithm, and the embodiment of the present invention is not limited herein.
Referring to fig. 2, fig. 2 is a schematic structural diagram of an impact suppression device of an electric loader according to the present invention, including:
the system comprises a presetting module 1, a driving motor and a control module, wherein the presetting module is used for presetting process prediction time from sampling of a current vehicle speed to response of the driving motor to a target torque;
the acquisition module 2 is used for acquiring the current speed of the electric loader when the electric loader is impacted in the bucket collecting process;
the determining module 3 is used for determining the target speed of the electric loader after the process prediction time according to the current speed;
the calculation module 4 is used for calculating a target torque corresponding to the target vehicle speed by adopting a preset closed-loop algorithm;
and the control module 5 is used for controlling the driving motor to respond to the target torque.
For the introduction of the impact suppression device of the electric loader provided in the embodiment of the present invention, please refer to the embodiment of the impact suppression method of the electric loader, and the embodiment of the present invention is not described herein again.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a shock suppression system of an electric loader according to the present invention, including:
a memory 6 for storing a computer program;
a processor 7 for implementing the steps of the impact-suppressing method of the electric loader as in the foregoing embodiments when executing the computer program.
For the introduction of the shock suppression system of the electric loader provided in the embodiment of the present invention, please refer to the embodiment of the shock suppression method of the electric loader, and the embodiment of the present invention is not described herein again.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It should also be noted that, in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one of 8230, and" comprising 8230does not exclude the presence of additional like elements in a process, method, article, or apparatus comprising the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. An impact suppression method for an electric loader, comprising:
presetting process prediction time from sampling the current vehicle speed to the response target torque of the driving motor;
when the electric loader is impacted in the bucket collecting process, acquiring the current speed of the electric loader;
determining the target speed of the electric loader after the process prediction time according to the current speed;
calculating a target torque corresponding to the target vehicle speed by adopting a preset closed-loop algorithm;
controlling the drive motor to respond to the target torque.
2. The impact suppression method of the electric loader according to claim 1, wherein when a collision impact is applied during the bucket-in process of the electric loader, the current vehicle speed of the electric loader is obtained by:
when the electric loader meets the preset enabling conditions, judging that the electric loader is in a bucket collecting process in a shoveling stage;
when the electric loader in the bucket collecting process in the shoveling stage meets a preset impact condition, judging that the electric loader is impacted;
acquiring the current vehicle speed of the electric loader.
3. The impact suppression method for the electric loader according to claim 2, wherein the impact suppression method for the electric loader further comprises, after determining that the electric loader has suffered a collision impact and before acquiring the current vehicle speed of the electric loader:
judging whether the driving torque of the driving motor is larger than a preset proportion of the peak torque or not and the opening of an accelerator pedal is larger than the preset proportion;
and if so, executing the step of acquiring the current vehicle speed of the electric loader.
4. The method of claim 3, wherein after calculating the target torque corresponding to the target vehicle speed using a predetermined closed-loop algorithm, the method further comprises:
judging whether the electric loader meets a preset impact suppression exit condition or not;
if so, restoring a default drive torque control mechanism of the electric loader;
the preset impact suppression exit condition is specifically as follows:
the duration that the vehicle speed is zero is longer than a first preset threshold, the driving torque corresponding to the current accelerator pedal opening is smaller than the target torque, the longitudinal impact degree is smaller than a second preset threshold, and the gear is not any one of the forward gears.
5. The impact suppression method for the electric loader according to claim 2, wherein the preset enabling condition includes:
the vehicle speed is lower than a third preset threshold, the gear is a forward gear, the bucket has a bucket retracting characteristic, and the position of the lifting cylinder is lower than a preset position threshold.
6. The impact suppression method of the electric loader according to claim 2, wherein the preset impact condition is specifically:
the longitudinal backward acceleration is greater than a fourth preset threshold and the longitudinal shock degree is greater than a fifth preset threshold.
7. The shock suppressing method of the electric loader according to claim 1, wherein the preset process predicted time from sampling the current vehicle speed to the drive motor response target torque is specifically:
and taking the sum of the vehicle speed signal sampling period, the VCU algorithm scheduling period of the vehicle controller, the torque command signal sampling period, the MCU algorithm scheduling period of the motor controller and the response period of the driving motor as the process prediction time from the sampling of the current vehicle speed to the response target torque of the driving motor.
8. The impact suppression method of the electric loader according to any one of claims 1 to 7, characterized by further comprising:
according to vehicle speed change sampling data of the electric loader subjected to impact for multiple times, fitting a vehicle speed change curve of the electric loader subjected to impact by adopting a preset regression algorithm;
the target vehicle speed of the electric loader after the process prediction time is determined according to the current vehicle speed is specifically:
and determining the target speed of the electric loader after the process prediction time according to the current speed and the speed change curve.
9. An impact suppression device for an electric loader, comprising:
the preset module is used for presetting process prediction time from sampling the current vehicle speed to the response target torque of the driving motor;
the acquisition module is used for acquiring the current speed of the electric loader when the electric loader suffers impact in a bucket collecting process;
the determining module is used for determining the target speed of the electric loader after the process prediction time according to the current speed;
the calculation module is used for calculating a target torque corresponding to the target vehicle speed by adopting a preset closed-loop algorithm;
and the control module is used for controlling the driving motor to respond to the target torque.
10. An impact suppression system for a power loader, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the impact-suppression method of the electric loader according to any one of claims 1-8 when executing the computer program.
CN202010359497.1A 2020-04-29 2020-04-29 Impact suppression method, device and system for electric loader Active CN111483329B (en)

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