CN113022600A - Shuttle vehicle differential control method and device based on current and vehicle - Google Patents
Shuttle vehicle differential control method and device based on current and vehicle Download PDFInfo
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- CN113022600A CN113022600A CN202110257184.XA CN202110257184A CN113022600A CN 113022600 A CN113022600 A CN 113022600A CN 202110257184 A CN202110257184 A CN 202110257184A CN 113022600 A CN113022600 A CN 113022600A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C9/00—Locomotives or motor railcars characterised by the type of transmission system used; Transmission systems specially adapted for locomotives or motor railcars
- B61C9/38—Transmission systems in or for locomotives or motor railcars with electric motor propulsion
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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
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
- B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
- B61C17/12—Control gear; Arrangements for controlling locomotives from remote points in the train or when operating in multiple units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D11/00—Mine cars
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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
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Abstract
The invention discloses a current-based shuttle vehicle differential control method and device, wherein the method comprises the following steps: obtaining the current of a left traction motor of the shuttle car and the current of a right traction motor of the shuttle car; judging the running state of the shuttle car according to the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car; under the condition that the running state of the shuttle car is a steering state, judging whether the steering of the shuttle car is to be steered to the left side or to the right side according to the current of the left side traction motor of the shuttle car and the current of the right side traction motor of the shuttle car; and under the condition that the shuttle car turns to the left side or the right side, correspondingly and dynamically adjusting the output rotating speed of the left traction motor of the shuttle car or the output rotating speed of the right traction motor of the shuttle car according to the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car. Therefore, the method does not depend on a sensor, simplifies the hardware structure of the shuttle car traction system, reduces possible fault points of the traction system, and improves the reliability of the operation of the traction system.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a current-based shuttle vehicle differential control method, a current-based shuttle vehicle differential control device and a vehicle.
Background
The shuttle car is one of indispensable equipment in the shortwall mining equipment, and the shuttle car moves between a continuous miner and a feed crusher and plays an important role in quickly, efficiently and short-distance coal transportation. Almost all shuttle car traction systems in the market at present adopt an alternating-current variable-frequency speed regulation system, the system has the advantages of large starting torque, strong climbing capability, low maintenance cost, safety, high efficiency, cleanness and the like, however, the shuttle car works on a short-wall mining working face, the working condition is extremely bad, the shuttle car is often a hollow uneven ground or a curved and fluctuant tunnel, and therefore the shuttle car is required to have a free and reliable steering system, however, the steering of the shuttle car is realized by depending on the differential speed of driving motors on two sides of the shuttle car due to the special driving structures respectively driven by the motors on two sides of the shuttle car.
The existing shuttle vehicle differential speed realization method mainly comprises two modes of a steering sensor and an equal torque, wherein the first mode needs to be provided with the steering sensor for measuring a steering angle, but the use of the steering sensor increases the fault point of the system in terms of a hardware structure and reduces the reliability of the system operation; the second mode needs to be provided with a rotating speed encoder for measuring the rotating speed of the motor, and for the mining motor, because the rotating speed encoder of the mining motor needs to be installed in an explosion-proof shell of the motor due to the requirement of coal mine explosion prevention, if the encoder is damaged, the motor needs to be integrally replaced, so that the requirement of the mining shuttle car differential speed control method with equal torque on the reliability of the rotating speed encoder of the motor is higher, and therefore, the mode also increases system fault points on a hardware structure and reduces the reliability of system operation.
Therefore, how to improve the reliability of system operation on the basis of not depending on a sensor is a problem to be solved urgently at present.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, a first object of the present invention is to provide a current-based shuttle differential control method, which is capable of simplifying a hardware structure of a shuttle traction system, reducing possible fault points of the traction system, and improving reliability of the operation of the traction system, without depending on a sensor.
A second object of the present invention is to provide a current-based shuttle differential control apparatus.
A third object of the invention is to propose a vehicle.
A fourth object of the invention is to propose a computer device.
A fifth object of the invention is to propose a non-transitory computer-readable storage medium.
A sixth object of the invention is to propose a computer program product.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a current-based shuttle differential control method, including the steps of: obtaining the current of a left traction motor of the shuttle car and the current of a right traction motor of the shuttle car; judging the running state of the shuttle car according to the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car; under the condition that the running state of the shuttle car is a steering state, judging whether the steering of the shuttle car is to be steered towards the left side or the right side according to the current of the left side traction motor of the shuttle car and the current of the right side traction motor of the shuttle car; and under the condition that the shuttle car turns to the left side or the right side, correspondingly and dynamically adjusting the output rotating speed of the left side traction motor of the shuttle car or the output rotating speed of the right side traction motor of the shuttle car according to the current of the left side traction motor of the shuttle car and the current of the right side traction motor of the shuttle car.
According to the current-based shuttle car differential control method, the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car are obtained, the running state of the shuttle car is judged according to the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car, when the running state of the shuttle car is in a steering state, the steering of the shuttle car is judged to be steering to the left side or to the right side according to the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car, and when the shuttle car is steered to the left side or to the right side, the output rotating speed of the left traction motor of the shuttle car or the output rotating speed of the right traction motor of the shuttle car are correspondingly and dynamically adjusted according to the current of the left traction motor of the shuttle car and the current of the right traction motor of the. Therefore, the method does not depend on a sensor, simplifies the hardware structure of the shuttle car traction system, reduces possible fault points of the traction system, and improves the reliability of the operation of the traction system.
In addition, the current-based shuttle differential control method proposed according to the above-mentioned embodiment of the present invention may also have the following additional technical features:
according to an embodiment of the invention, the judging the running state of the shuttle car according to the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car comprises the following steps: calculating the absolute value of the current difference between the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car; under the condition that the absolute value of the current difference is larger than or equal to a preset current difference, judging that the running state of the shuttle car is a steering state; and under the condition that the absolute value of the current difference is smaller than a preset current difference, judging that the running state of the shuttle car is a straight running state.
According to one embodiment of the invention, when the running state of the shuttle car is a straight running state, the output rotating speed of the left traction motor of the shuttle car and the output rotating speed of the right traction motor of the shuttle car are controlled to be the given throttle rotating speed of the shuttle car.
According to an embodiment of the present invention, the determining whether the shuttle car is steered to the left or the right according to the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car when the operation state of the shuttle car is the steering state includes: under the condition that the running state of the shuttle car is a steering state and the current of the left traction motor of the shuttle car is greater than the current of the right traction motor of the shuttle car, judging that the steering of the shuttle car is to be steered to the left side; and under the condition that the running state of the shuttle car is a steering state and the current of the left traction motor of the shuttle car is smaller than the current of the right traction motor of the shuttle car, judging that the steering of the shuttle car is to be steered towards the right side.
According to an embodiment of the invention, in the case that the shuttle car turns to the left side, the dynamically adjusting the output rotation speed of the left side traction motor of the shuttle car according to the current of the left side traction motor of the shuttle car and the current of the right side traction motor of the shuttle car comprises: subtracting the current of the left traction motor of the shuttle car from the current of the right traction motor of the shuttle car to obtain a first current difference value; the first current difference value is regulated by PI (Proportional Integral) and then the reduction of the rotating speed output of the left traction motor of the shuttle car is output; and adding the reduction of the rotating speed output of the left traction motor of the shuttle car to the given rotating speed of the accelerator of the shuttle car to obtain the output rotating speed of the left traction motor of the shuttle car.
According to an embodiment of the invention, in the case that the shuttle car turns to the right side, the dynamically adjusting the output rotation speed of the left side traction motor of the shuttle car according to the current of the left side traction motor of the shuttle car and the current of the right side traction motor of the shuttle car comprises: subtracting the current of the shuttle car right side traction motor from the current of the shuttle car left side traction motor to obtain a second current difference value; outputting the reduction of the rotating speed output of the traction motor on the right side of the shuttle car after the second current difference value is subjected to PI regulation; and adding the reduction of the rotating speed output of the traction motor on the right side of the shuttle car with the given rotating speed of the accelerator of the shuttle car to obtain the output rotating speed of the traction motor on the right side of the shuttle car.
In order to achieve the above object, an embodiment of a second aspect of the present invention proposes a current-based shuttle differential control device including: the acquisition module is used for acquiring the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car; the first judgment module is used for judging the running state of the shuttle car according to the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car; the second judgment module is used for judging whether the steering of the shuttle car is left steering or right steering according to the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car under the condition that the running state of the shuttle car is the steering state; and the control module is used for correspondingly and dynamically adjusting the output rotating speed of the left traction motor of the shuttle car or the right traction motor of the shuttle car according to the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car under the condition that the shuttle car turns to the left side or the right side.
According to the current-based shuttle car differential control device provided by the embodiment of the invention, the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car are obtained through the obtaining module, the running state of the shuttle car is judged through the first judging module according to the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car, when the running state of the shuttle car is in a steering state, the steering of the shuttle car is judged to be left-side steering or right-side steering through the second judging module according to the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car, and when the shuttle car is steered to the left side or the right side, the control module correspondingly and dynamically adjusts the output rotating speed of the left traction motor of the shuttle car or the right traction motor of the shuttle car according to the current of the left traction motor of the shuttle car and the current of the right. Therefore, the device does not depend on a sensor, simplifies the hardware structure of the shuttle car traction system, reduces possible fault points of the traction system, and improves the reliability of the operation of the traction system.
In addition, the current-based shuttle differential control device proposed according to the above-described embodiment of the present invention may also have the following additional technical features:
according to an embodiment of the present invention, the first determining module is specifically configured to: calculating the absolute value of the current difference between the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car; under the condition that the absolute value of the current difference is larger than or equal to a preset current difference, judging that the running state of the shuttle car is a steering state; and under the condition that the absolute value of the current difference is smaller than a preset current difference, judging that the running state of the shuttle car is a straight running state.
According to one embodiment of the invention, when the running state of the shuttle car is a straight running state, the output rotating speed of the left traction motor of the shuttle car and the output rotating speed of the right traction motor of the shuttle car are controlled to be the given throttle rotating speed of the shuttle car.
According to an embodiment of the present invention, the second determining module is specifically configured to: under the condition that the running state of the shuttle car is a steering state and the current of the left traction motor of the shuttle car is greater than the current of the right traction motor of the shuttle car, judging that the steering of the shuttle car is to be steered to the left side; and under the condition that the running state of the shuttle car is a steering state and the current of the left traction motor of the shuttle car is smaller than the current of the right traction motor of the shuttle car, judging that the steering of the shuttle car is to be steered towards the right side.
According to an embodiment of the present invention, in a case where the shuttle car turns to the left side, the control module is specifically configured to: subtracting the current of the left traction motor of the shuttle car from the current of the right traction motor of the shuttle car to obtain a first current difference value; outputting the reduction of the rotating speed output of the left traction motor of the shuttle car after the first current difference value is subjected to PI regulation; and adding the reduction of the rotating speed output of the left traction motor of the shuttle car to the given rotating speed of the accelerator of the shuttle car to obtain the output rotating speed of the left traction motor of the shuttle car.
According to an embodiment of the present invention, in a case where the shuttle car turns to the right side, the control module is specifically configured to: subtracting the current of the shuttle car right side traction motor from the current of the shuttle car left side traction motor to obtain a second current difference value; outputting the reduction of the rotating speed output of the traction motor on the right side of the shuttle car after the second current difference value is subjected to PI regulation; and adding the reduction of the rotating speed output of the traction motor on the right side of the shuttle car with the given rotating speed of the accelerator of the shuttle car to obtain the output rotating speed of the traction motor on the right side of the shuttle car.
In order to achieve the above object, an embodiment of a third aspect of the invention proposes a vehicle including the above current-based shuttle differential control apparatus.
According to the vehicle provided by the embodiment of the invention, through the shuttle vehicle differential control device based on the current, the hardware structure of the shuttle vehicle traction system is simplified, possible fault points of the traction system are reduced, and the running reliability of the traction system is improved.
In order to achieve the above object, a fourth aspect of the present invention provides a computer device, including: a processor and a memory; wherein the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory for implementing the current-based shuttle differential control method described above.
According to the computer equipment provided by the embodiment of the invention, by realizing the current-based shuttle car differential speed control method, the hardware structure of the shuttle car traction system is simplified, possible fault points of the traction system are reduced, and the running reliability of the traction system is improved.
In order to achieve the above object, a fifth aspect embodiment of the present invention proposes a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described current-based shuttle differential control method.
According to the non-transitory computer readable storage medium provided by the embodiment of the invention, by implementing the current-based shuttle vehicle differential speed control method, the hardware structure of the shuttle vehicle traction system is simplified, possible fault points of the traction system are reduced, and the running reliability of the traction system is improved.
In order to achieve the above object, a sixth aspect of the present invention provides a computer program product comprising a computer program, which when executed by a processor implements the above current-based shuttle differential control method.
According to the computer program product of the embodiment of the invention, by implementing the current-based shuttle car differential speed control method, the hardware structure of the shuttle car traction system is simplified, possible fault points of the traction system are reduced, and the running reliability of the traction system is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of a current-based shuttle differential control system according to one embodiment of the present invention;
FIG. 2 is a flow chart of a method of current based shuttle differential control according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of the output rotational speed of the right traction motor of the shuttle when the shuttle is in a turned condition and turned in a left direction in accordance with one embodiment of the present invention;
FIG. 4 is a schematic illustration of the output rotational speed of the left side traction motor of the shuttle when the shuttle is in a turned condition and turned in a left direction in accordance with one embodiment of the present invention;
FIG. 5 is a schematic illustration of the output rotational speed of the left traction motor of the shuttle when the shuttle is in a turned condition and turning in a right direction in accordance with one embodiment of the present invention;
FIG. 6 is a schematic illustration of the output rotational speed of the right traction motor of the shuttle when the shuttle is in a turned condition and turning in a right direction in accordance with one embodiment of the present invention;
FIG. 7 is a flow chart of a method of current based shuttle differential control according to an exemplary embodiment of the present invention;
fig. 8 is a block schematic diagram of a current-based shuttle differential control apparatus according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a current-based shuttle differential control method and apparatus according to an embodiment of the present invention with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of a current-based shuttle differential control system according to one embodiment of the present invention. As shown in fig. 1, the current-based shuttle differential control system according to the embodiment of the present invention includes: the system comprises an accelerator sensor, a vehicle control unit, a left traction frequency converter, a left traction motor, a right traction frequency converter and a right traction motor.
When a driver steps on the accelerator, the accelerator sensor transmits a sensed signal of the accelerator pedal to the vehicle control unit through a cable, and the vehicle control unit analyzes and judges and sends an instruction to the left traction frequency converter and the right traction frequency converter so as to correspondingly drive the left traction motor and the right traction motor.
Currently, as for the shuttle differential control method, there are mainly a differential control method based on a steering sensor and a differential control method of an equal torque. The differential control method based on the steering sensor comprises the steps that the steering sensor is adopted to measure the steering angle of the shuttle car during steering, then an Ackermann differential model is adopted, the rotating speed difference of left and right wheels required by the shuttle car during turning is calculated through parameters such as the steering angle, the wheel track of the shuttle car and the like, and finally the differential steering of the shuttle car is realized through correspondingly controlling the output rotating speed of left and right traction motors; the differential control method based on the equal torque is based on the principle of 'differential torque-proof' of a mechanical differential, the traction motors on two sides are guaranteed to have the same output torque at any time, and the differential steering of the shuttle car is realized by simulating the mechanical differential.
However, both the differential control method based on the steering sensor and the differential control method based on the equal torque have high dependence on the sensor in the system, the differential control method based on the steering sensor needs to configure the system with an angle sensor for measuring the steering angle, the use of the sensor increases the fault point of the system from the aspect of hardware structure, and reduces the reliability of the operation of the system from the aspect of reliability, and similarly, the differential control method based on the equal torque needs to configure a rotating speed encoder for measuring the rotating speed of the motor for realizing the torque control, for the mining motor, because of the requirement of coal mine explosion prevention, the rotating speed encoder of the mining motor needs to be installed in an explosion-proof shell of the motor, if the encoder is damaged, the motor needs to be replaced integrally, so the differential control method of the shuttle vehicle based on the equal torque has higher requirement on the reliability of the rotating speed encoder of the motor, therefore, the mining shuttle car differential control method with the same torque also has the defects that system fault points are added on a hardware structure, and the operation reliability of the system is reduced.
Compared with the traditional steering sensor and the equal torque differential control method, the current-based shuttle vehicle differential control method omits the steering sensor and the motor rotating speed encoder, simplifies the hardware structure of the system in terms of hardware structure, reduces possible fault points of the system and improves the reliability of the system operation in terms of reliability.
Fig. 2 is a flowchart of a current-based shuttle differential control method according to an embodiment of the present invention. As shown in fig. 2, the current-based shuttle differential control method according to the embodiment of the present invention includes the following steps:
and S1, acquiring the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car.
For example, the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car can be correspondingly obtained through a frequency converter for driving the left traction motor of the shuttle car and a frequency converter for driving the right traction motor of the shuttle car respectively.
And S2, judging the running state of the shuttle car according to the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car.
According to one embodiment of the invention, the judging the running state of the shuttle car according to the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car comprises the following steps: calculating the absolute value of the current difference between the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car; under the condition that the absolute value of the current difference is larger than or equal to the preset current difference, judging that the running state of the shuttle car is a steering state; and under the condition that the absolute value of the current difference is smaller than the preset current difference, judging that the running state of the shuttle car is a straight running state. The preset current difference value may be set according to actual conditions, and is not limited herein.
Specifically, the vehicle control unit can judge the running state of the shuttle vehicle according to the following formula (1):
wherein, ILFor the current of the left traction motor of the shuttle car, IRIs the current of the right traction motor of the shuttle car, IFIs a predetermined current difference. The vehicle control unit calculates the absolute value | I of the current difference between the currents of the left and right traction motorsL-IR| ≧ preset current difference IFWhen the current difference between the left and right traction motors is larger, the running state of the shuttle car is judged to be a steering state, a first judgment signal is output as 1, and the current difference is IL-IR|＜IFWhen the current difference between the left traction motor and the right traction motor is smaller, the running state of the shuttle car is judged to be a straight running state, and a second judgment signal is output to be 0.
And S3, when the running state of the shuttle car is the steering state, judging whether the steering of the shuttle car is to be steered to the left side or to the right side according to the current of the left side traction motor of the shuttle car and the current of the right side traction motor of the shuttle car.
According to an embodiment of the present invention, in a case where an operation state of a shuttle car is a steering state, determining whether steering of the shuttle car is to be left-side steering or right-side steering according to a current of a left-side traction motor of the shuttle car and a current of a right-side traction motor of the shuttle car includes: under the condition that the running state of the shuttle car is a steering state and the current of the left traction motor of the shuttle car is greater than the current of the right traction motor of the shuttle car, judging that the steering of the shuttle car is to be the left steering; and judging that the shuttle car is steered towards the right side when the running state of the shuttle car is a steering state and the current of the left traction motor of the shuttle car is smaller than the current of the right traction motor of the shuttle car.
Specifically, the vehicle control unit can judge whether the steering of the shuttle vehicle is to the right or to the right according to the following formula (2):
after the shuttle car is judged to be in the steering state according to the formula (1), the shuttle car is judged to be in any steering state, namely whether the shuttle car is steered towards the left side or the right side, according to the formula (3), when the shuttle car is in the steering state and I isL＞IRWhen the shuttle car is in the turning state, the third judgment signal is output as 1R＞ILIn this case, it is judged that the shuttle car is steered to the right side, and a fourth judgment signal such as "0" is outputted.
And S4, correspondingly and dynamically adjusting the output rotating speed of the left traction motor of the shuttle car or the output rotating speed of the right traction motor of the shuttle car according to the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car under the condition that the shuttle car turns to the left side or the right side.
According to one embodiment of the invention, in the case that the shuttle car turns to the left side, the output rotating speed of the left side traction motor of the shuttle car is correspondingly and dynamically adjusted according to the current of the left side traction motor of the shuttle car and the current of the right side traction motor of the shuttle car, and the method comprises the following steps: subtracting the current of the left traction motor of the shuttle car from the current of the right traction motor of the shuttle car to obtain a first current difference value; outputting the reduction of the rotating speed output of the traction motor on the left side of the shuttle car after the first current difference value is subjected to PI regulation; and adding the reduction of the rotating speed output of the left traction motor of the shuttle car to the given rotating speed of the accelerator of the shuttle car to obtain the output rotating speed of the left traction motor of the shuttle car.
Specifically, when the vehicle controller determines that the shuttle vehicle is in a steering state and is steered in the left direction according to the above equations (1) and (2), the vehicle controller controls the output rotation speed of the right-side traction motor of the shuttle vehicle to be unchanged and equal to the given rotation speed of the accelerator pedal of the shuttle vehicle, as shown in fig. 3, and controls the output rotation speed of the left-side traction motor of the shuttle vehicle to be gradually reduced, wherein the reduced output rotation speed is obtained by calculating the difference value of the currents of the two-side traction motors through the PI regulator, and the output rotation speed of the left-side traction motor of the shuttle vehicle is equal to the vector sum of the given rotation speed of the accelerator of the shuttle vehicle and the reduction amount of the rotation speed output of the left-side traction motor of the shuttle vehicle output by the PI. Therefore, the output rotating speed of the left traction motor of the shuttle car and the output rotating speed of the right traction motor of the shuttle car can be obtained, and the formula (3) is shown below.
Wherein n isLIs the output rotating speed n of the left traction motor of the shuttle carRIs the output rotating speed of the traction motor at the right side of the shuttle car, n is the given rotating speed, kpAs proportional parameter of PI regulators, ILFor the current of the left traction motor of the shuttle car, IRIs the current of the right traction motor of the shuttle car, kiThe PI regulator integration parameter.
According to one embodiment of the invention, in the case that the shuttle car turns to the right side, the output rotating speed of the left traction motor of the shuttle car is correspondingly and dynamically adjusted according to the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car, and the method comprises the following steps: subtracting the current of the traction motor on the right side of the shuttle car from the current of the traction motor on the left side of the shuttle car to obtain a second current difference value; outputting the reduction of the rotating speed output of the traction motor on the right side of the shuttle car after the second current difference value is subjected to PI regulation; and adding the reduction of the rotating speed output of the traction motor on the right side of the shuttle car with the given rotating speed of the accelerator of the shuttle car to obtain the output rotating speed of the traction motor on the right side of the shuttle car.
Specifically, when the vehicle controller determines that the shuttle vehicle is in the turning state and turns to the right direction according to the above formulas (1) and (2), the vehicle controller controls the output rotation speed of the left traction motor of the shuttle vehicle to be unchanged and equal to the given rotation speed of the accelerator pedal of the shuttle vehicle, as shown in fig. 5, and controls the output rotation speed of the right traction motor of the shuttle vehicle to be gradually reduced, wherein the reduced output rotation speed is obtained by calculating the difference value of the currents of the traction motors at the two sides through the PI regulator, and the output rotation speed of the right traction motor of the shuttle vehicle is the vector sum of the given rotation speed of the accelerator of the shuttle vehicle and the reduction amount of the rotation speed output by the right traction motor of the shuttle vehicle, which is output by the PI regulator, as shown in fig.. Therefore, the output rotating speed of the left traction motor of the shuttle car and the output rotating speed of the right traction motor of the shuttle car can be obtained, and the formula (4) is shown below.
As can be known from fig. 3-6 and formulas (3) and (4), the current-based shuttle car differential control method is based on the principle of 'controlling inside and outside without controlling outside', and the smooth differential steering of the shuttle car is realized by adjusting the currents of the traction motors on both sides to be consistent and indirectly controlling the output torques of the traction motors on both sides by dynamically adjusting the output rotating speeds of the traction motors. It should be noted that the inner in the "control of the inner and the outer" means the inner side, that is, the left side in the left-side steering or the right side in the right-side steering; the outer in "control inside not control outside" means the outer side, i.e., the right side in the case of left-side steering or the left side in the case of right-side steering.
According to one embodiment of the invention, under the condition that the running state of the shuttle car is a straight-ahead running state, the output rotating speed of the traction motor on the left side of the shuttle car and the output rotating speed of the traction motor on the right side of the shuttle car are both controlled to be the given throttle rotating speed of the shuttle car.
Specifically, when the vehicle control unit determines that the shuttle vehicle is in the straight-ahead state, the vehicle control unit controls the output rotation speed of the left traction motor of the shuttle vehicle and the output rotation speed of the right traction motor of the shuttle vehicle to be unchanged, so that the output rotation speed of the left traction motor of the shuttle vehicle and the output rotation speed of the right traction motor of the shuttle vehicle can be obtained, as shown in the following formula (5).
Therefore, the shuttle car differential control method based on current of the embodiment of the invention dynamically judges the running state (straight running state or steering state) of the shuttle car by utilizing the change rule of the current of the traction motors at two sides in the shuttle car frequency conversion traction system, and controls the current of the traction motor at the inner side and the current of the traction motor at the outer side to be consistent by dynamically adjusting the output rotating speed of the traction motor at the inner side in the steering direction of the shuttle car once the shuttle car is judged to be in the steering state, thereby controlling the output torques of the traction motors at the two sides to be equal, thereby realizing the differential steering of the shuttle car. The reliability of the operation of the traction system is improved.
To make the present invention more clear to those skilled in the art, fig. 7 is a flowchart of a current-based shuttle differential control method according to an embodiment of the present invention, as shown in fig. 7, the current-based shuttle differential control method comprising:
and S701, running the program.
S702, judging whether the shuttle car turns. If yes, go to step S705; if not, step S703 is performed.
And S703, enabling the shuttle car to move straight.
S704, acquiring the output rotating speed n of the left traction motor of the shuttle carLAnd the output rotating speed n of the right traction motor of the shuttle carR，
Wherein n is given throttle rotation speed.
And S705, steering the shuttle car and judging how the shuttle car steers. If the shuttle car turns to the left side, step S706 is executed; if the shuttle car turns to the right side, step S707 is executed.
S706, calculating the first current difference Δ I ═ IL-IR. Wherein, ILFor the current of the left traction motor of the shuttle car, IRIs the current of the traction motor at the right side of the shuttle car.
And S707, performing PI regulation on the first current difference value delta I.
S708, obtaining the reduction quantity delta n of the rotating speed output of the traction motor on the right side of the shuttle car after PI regulation, wherein the reduction quantity delta n is kp*ΔI-∑ki*ΔI。
S709, obtaining
S710, calculating the second current difference Δ I ═ IR-IL。
And S711, performing PI regulation on the second current difference value delta I.
S712, obtaining the reduction quantity delta n of the rotating speed output of the left traction motor of the shuttle car after PI regulation as kp*ΔI-∑ki*ΔI。
S713, obtaining
In summary, according to the shuttle vehicle differential speed control device based on current of the embodiment of the invention, the current of the left traction motor of the shuttle vehicle and the current of the right traction motor of the shuttle vehicle are obtained by the obtaining module, the running state of the shuttle car is judged through the first judging module according to the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car, under the condition that the running state of the shuttle car is the steering state, the second judging module judges whether the steering of the shuttle car is to be steered to the left side or the right side according to the current of the left side traction motor of the shuttle car and the current of the right side traction motor of the shuttle car, and under the condition that the shuttle car turns to the left side or the right side, the control module correspondingly and dynamically adjusts the output rotating speed of the left traction motor of the shuttle car or the right traction motor of the shuttle car according to the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car. Therefore, the device does not depend on a sensor, simplifies the hardware structure of the shuttle car traction system, reduces possible fault points of the traction system, and improves the reliability of the operation of the traction system.
In order to achieve the above object, an embodiment of the present invention provides a current-based shuttle differential control apparatus.
Fig. 8 is a block schematic diagram of a current-based shuttle differential control apparatus according to an embodiment of the present invention. As shown in fig. 8, the current-based shuttle differential control apparatus 800 according to the embodiment of the present invention includes: an obtaining module 801, a first judging module 802, a second judging module 803 and a control module 804.
The obtaining module 801 is configured to obtain a current of a left traction motor of the shuttle car and a current of a right traction motor of the shuttle car. The first determining module 802 is configured to determine an operating state of the shuttle car according to a current of a left traction motor of the shuttle car and a current of a right traction motor of the shuttle car. The second determination module 803 is configured to determine whether the shuttle car is steered to the left or to the right based on the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car when the operating state of the shuttle car is the steered state. The control module 804 is configured to correspondingly and dynamically adjust the output rotation speed of the left traction motor of the shuttle car or the output rotation speed of the right traction motor of the shuttle car according to the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car when the shuttle car turns to the left or to the right.
According to an embodiment of the present invention, the first determining module 802 is specifically configured to: calculating the absolute value of the current difference between the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car; under the condition that the absolute value of the current difference is larger than or equal to the preset current difference, judging that the running state of the shuttle car is a steering state; and under the condition that the absolute value of the current difference is smaller than the preset current difference, judging that the running state of the shuttle car is a straight running state.
According to one embodiment of the invention, under the condition that the running state of the shuttle car is a straight-ahead running state, the output rotating speed of the traction motor on the left side of the shuttle car and the output rotating speed of the traction motor on the right side of the shuttle car are both controlled to be the given throttle rotating speed of the shuttle car.
According to an embodiment of the present invention, the second determining module 803 is specifically configured to: under the condition that the running state of the shuttle car is a steering state and the current of the left traction motor of the shuttle car is greater than the current of the right traction motor of the shuttle car, judging that the steering of the shuttle car is to be the left steering; and judging that the shuttle car is steered towards the right side when the running state of the shuttle car is a steering state and the current of the left traction motor of the shuttle car is smaller than the current of the right traction motor of the shuttle car.
In the case where the shuttle car is turning to the left, the control module 804 is specifically configured to: subtracting the current of the left traction motor of the shuttle car from the current of the right traction motor of the shuttle car to obtain a first current difference value; outputting the reduction of the rotating speed output of the traction motor on the left side of the shuttle car after the first current difference value is subjected to PI regulation; and adding the reduction of the rotating speed output of the left traction motor of the shuttle car to the given rotating speed of the accelerator of the shuttle car to obtain the output rotating speed of the left traction motor of the shuttle car.
In the case of a shuttle car turning to the right, the control module 804 is specifically configured to: subtracting the current of the traction motor on the right side of the shuttle car from the current of the traction motor on the left side of the shuttle car to obtain a second current difference value; outputting the reduction of the rotating speed output of the traction motor on the right side of the shuttle car after the second current difference value is subjected to PI regulation; and adding the reduction of the rotating speed output of the traction motor on the right side of the shuttle car with the given rotating speed of the accelerator of the shuttle car to obtain the output rotating speed of the traction motor on the right side of the shuttle car.
It should be noted that details not disclosed in the current-based shuttle differential control device according to the embodiment of the present invention refer to details disclosed in the current-based shuttle differential control method according to the embodiment of the present invention, and detailed descriptions thereof are omitted here.
According to the current-based shuttle car differential control device provided by the embodiment of the invention, the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car are obtained through the obtaining module, the running state of the shuttle car is judged through the first judging module according to the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car, when the running state of the shuttle car is in a steering state, the steering of the shuttle car is judged to be left-side steering or right-side steering through the second judging module according to the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car, and when the shuttle car is steered to the left side or the right side, the control module correspondingly and dynamically adjusts the output rotating speed of the left traction motor of the shuttle car or the right traction motor of the shuttle car according to the current of the left traction motor of the shuttle car and the current of the right. Therefore, the device does not depend on a sensor, simplifies the hardware structure of the shuttle car traction system, reduces possible fault points of the traction system, and improves the reliability of the operation of the traction system.
In order to achieve the above object, the present invention also proposes a vehicle including the above current-based shuttle differential control apparatus.
According to the vehicle provided by the embodiment of the invention, through the shuttle vehicle differential control device based on the current, the hardware structure of the shuttle vehicle traction system is simplified, possible fault points of the traction system are reduced, and the running reliability of the traction system is improved.
In order to achieve the above object, the present invention also provides a computer device, comprising: a processor and a memory; wherein the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory for implementing the current-based shuttle differential control method described above.
According to the computer equipment provided by the embodiment of the invention, by realizing the current-based shuttle car differential speed control method, the hardware structure of the shuttle car traction system is simplified, possible fault points of the traction system are reduced, and the running reliability of the traction system is improved.
In order to achieve the above object, the present invention also proposes a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above current-based shuttle differential control method.
According to the non-transitory computer readable storage medium provided by the embodiment of the invention, by implementing the current-based shuttle vehicle differential speed control method, the hardware structure of the shuttle vehicle traction system is simplified, possible fault points of the traction system are reduced, and the running reliability of the traction system is improved.
In order to achieve the above object, the present invention also proposes a computer program product comprising a computer program which, when executed by a processor, implements the above current-based shuttle differential control method.
According to the computer program product of the embodiment of the invention, by implementing the current-based shuttle car differential speed control method, the hardware structure of the shuttle car traction system is simplified, possible fault points of the traction system are reduced, and the running reliability of the traction system is improved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware associated with program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A shuttle vehicle differential control method based on current is characterized by comprising the following steps:
obtaining the current of a left traction motor of the shuttle car and the current of a right traction motor of the shuttle car;
judging the running state of the shuttle car according to the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car;
under the condition that the running state of the shuttle car is a steering state, judging whether the steering of the shuttle car is to be steered towards the left side or the right side according to the current of the left side traction motor of the shuttle car and the current of the right side traction motor of the shuttle car;
and under the condition that the shuttle car turns to the left side or the right side, correspondingly and dynamically adjusting the output rotating speed of the left side traction motor of the shuttle car or the output rotating speed of the right side traction motor of the shuttle car according to the current of the left side traction motor of the shuttle car and the current of the right side traction motor of the shuttle car.
2. The current-based shuttle differential control method of claim 1, wherein said determining the operating state of the shuttle car based on the current of the left side traction motor of the shuttle car and the current of the right side traction motor of the shuttle car comprises:
calculating the absolute value of the current difference between the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car;
under the condition that the absolute value of the current difference is larger than or equal to a preset current difference, judging that the running state of the shuttle car is a steering state;
and under the condition that the absolute value of the current difference is smaller than a preset current difference, judging that the running state of the shuttle car is a straight running state.
3. The current-based shuttle vehicle differential control method according to claim 1 or 2, wherein in a case where the running state of the shuttle vehicle is a straight running state, the output rotation speed of the left side traction motor of the shuttle vehicle and the output rotation speed of the right side traction motor of the shuttle vehicle are controlled to be both throttle given rotation speeds of the shuttle vehicle.
4. The current-based shuttle differential control method according to claim 1 or 2, wherein the determining whether the steering of the shuttle car is a left-side steering or a right-side steering based on the current of the left-side traction motor of the shuttle car and the current of the right-side traction motor of the shuttle car in the case where the running state of the shuttle car is a steering state comprises:
under the condition that the running state of the shuttle car is a steering state and the current of the left traction motor of the shuttle car is greater than the current of the right traction motor of the shuttle car, judging that the steering of the shuttle car is to be steered to the left side;
and under the condition that the running state of the shuttle car is a steering state and the current of the left traction motor of the shuttle car is smaller than the current of the right traction motor of the shuttle car, judging that the steering of the shuttle car is to be steered towards the right side.
5. The current-based shuttle differential control method of claim 4 wherein said dynamically adjusting the output speed of the left side traction motor of the shuttle based on the current of the left side traction motor of the shuttle and the current of the right side traction motor of the shuttle in the event that the shuttle is turning to the left comprises:
subtracting the current of the left traction motor of the shuttle car from the current of the right traction motor of the shuttle car to obtain a first current difference value;
outputting the reduction of the rotating speed output of the left traction motor of the shuttle car after the first current difference value is subjected to PI regulation;
and adding the reduction of the rotating speed output of the left traction motor of the shuttle car to the given rotating speed of the accelerator of the shuttle car to obtain the output rotating speed of the left traction motor of the shuttle car.
6. The current-based shuttle differential control method of claim 4 wherein said dynamically adjusting the output speed of the left shuttle traction motor based on the current of the left shuttle traction motor and the current of the right shuttle traction motor in response to the right shuttle steering comprises:
subtracting the current of the shuttle car right side traction motor from the current of the shuttle car left side traction motor to obtain a second current difference value;
outputting the reduction of the rotating speed output of the traction motor on the right side of the shuttle car after the second current difference value is subjected to PI regulation;
and adding the reduction of the rotating speed output of the traction motor on the right side of the shuttle car with the given rotating speed of the accelerator of the shuttle car to obtain the output rotating speed of the traction motor on the right side of the shuttle car.
7. A current-based shuttle differential control device, comprising:
the acquisition module is used for acquiring the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car;
the first judgment module is used for judging the running state of the shuttle car according to the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car;
the second judgment module is used for judging whether the steering of the shuttle car is left steering or right steering according to the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car under the condition that the running state of the shuttle car is the steering state;
and the control module is used for correspondingly and dynamically adjusting the output rotating speed of the left traction motor of the shuttle car or the right traction motor of the shuttle car according to the current of the left traction motor of the shuttle car and the current of the right traction motor of the shuttle car under the condition that the shuttle car turns to the left side or the right side.
8. A vehicle, characterized by comprising: the current-based shuttle differential control device of claim 7.
9. A computer device, comprising:
a processor and a memory;
wherein the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory for implementing the current-based shuttle differential control method according to any one of claims 1 to 6.
10. A non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the current-based shuttle differential control method of any of claims 1-6.
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