CN113173153B

CN113173153B - Control method and system for trackless rubber-tyred vehicle

Info

Publication number: CN113173153B
Application number: CN202110646115.8A
Authority: CN
Inventors: 王震坡; 韩冰; 孔凌志; 郭汾
Original assignee: Beijing Institute of Technology BIT
Current assignee: Beijing Institute of Technology BIT
Priority date: 2021-06-10
Filing date: 2021-06-10
Publication date: 2024-03-08
Anticipated expiration: 2041-06-10
Also published as: CN113173153A

Abstract

The invention relates to a control method and a control system for a trackless rubber-tyred vehicle. The method comprises the following steps: acquiring preset power and motor required power of the trackless rubber-tyred vehicle; determining the running condition of the trackless rubber-tyred vehicle according to the preset power and the motor required power; acquiring the braking strength, the charge state of the battery and the maximum power of the battery of the trackless rubber-tyred vehicle; and determining a braking mode and a whole vehicle power mode according to the braking strength, the charge state and the maximum power based on the determined running working condition. The control method and the control system for the trackless rubber-tyred vehicle can control the engine to work in an efficient and small-pollution zone while enabling the battery to be in a shallow-charge and shallow-discharge working zone for a long time.

Description

Control method and system for trackless rubber-tyred vehicle

Technical Field

The invention relates to the field of control of trackless rubber-tyred vehicles, in particular to a control method and a control system of a trackless rubber-tyred vehicle.

Background

The range extender is arranged on the basis of the pure electric vehicle. The electric vehicle with the extended range is mainly used for solving the anxiety problem of the continuous range of the electric vehicle, but the specific energy of a power battery of the electric vehicle with the extended range is smaller, and the volume and the weight are larger, so that the fuel consumption of the vehicle is higher. With the technical progress, the whole optimization of the power system of the extended-range electric automobile is mainly realized in the following steps: optimizing the energy of the engine; and optimizing the specific energy of the power battery pack.

The use of the extended range electric automobile can realize the pure electric running under partial working conditions on one hand, and is used for meeting the running requirements of people, and compared with the pure electric automobile, the battery capacity is smaller, so that the weight of the automobile is effectively reduced, and the cost of the whole automobile is reduced; when the battery electric quantity of the extended range electric automobile is reduced to a set minimum threshold value, the extended range device is automatically started, the endurance mileage is increased, and the service life of the power battery is prolonged; after the range extender is started, the range extender of the range extender electric automobile is adjusted to output power of the engine according to the required power of the driving working condition, so that the range extender electric automobile works in a high-efficiency and low-pollution emission range, and better economic performance is achieved and pollution is reduced. Extended range electric vehicles with numerous advantages have become an important research direction in the current automobile industry.

In the coal mine industry, the pure electric trackless rubber-tyred vehicle is applied in a standard mode, and the underground coal mine explosion-proof trackless rubber-tyred vehicle has the advantages of no pollution emission, simple structure, convenient maintenance and use, no need of a muffler device, low maintenance cost and the like. However, due to the limitation of explosion-proof requirements, the battery capacity is insufficient, and the whole vehicle endurance mileage is too small. Therefore, a pure electric trackless rubber-tyred vehicle with a composite power supply system is proposed, wherein the composite power supply system consists of a super capacitor, an explosion-proof lithium battery, an energy management module and a charging system. The explosion-proof lithium battery is used as a main energy source, the endurance mileage of the vehicle is ensured, the super capacitor is used as an auxiliary energy source, the lithium battery is charged when the electric quantity of the lithium battery is insufficient, the starting and stopping performance of the vehicle is optimized, the service life of the battery is prolonged, but the super capacitor is low in energy density, high in cost and the like, so that the application of the super capacitor in the whole vehicle is limited.

And the existing explosion-proof electric trackless rubber-tyred vehicle gradually presents the following problems in the use process: under the limitation of explosion-proof requirements, the structural design of the battery box is heavy, and in order to ensure the space for passengers and transported articles, the quantity of batteries can be reduced as much as possible, so that the driving range of the whole vehicle is insufficient, frequent charging is needed, and the scheduling difficulty is increased. In addition, because the driving mileage is insufficient, in order to meet the working requirement, the battery is often in a deep-charge and deep-discharge state, the service environment is further deteriorated, the service life of the battery is shortened, meanwhile, the consistency and the safety performance of the battery are reduced, and great potential safety hazards are directly brought to the safety production of a coal mine.

Therefore, how to control the engine to operate in a highly efficient and polluted area while the battery is in a shallow charge and shallow discharge operation area for a long period of time is a technical problem to be solved in the art.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides a control method and a control system of a trackless rubber-tyred vehicle.

In order to achieve the above object, the present invention provides the following solutions:

a control method of a trackless rubber-tyred vehicle comprises the following steps:

acquiring preset power and motor required power of the trackless rubber-tyred vehicle;

Determining the running condition of the trackless rubber-tyred vehicle according to the preset power and the motor required power; the driving conditions include: the working conditions of the secondary tunnel section, the working conditions of the transportation lower mountain road section of the exit mining area, the working conditions of the transportation main roadway section, the working conditions of the working face transportation gate way, the working conditions of the exit secondary tunnel section and the working conditions of the transportation lower mountain road section of the entry mining area are entered;

acquiring the braking strength, the charge state of the battery and the maximum power of the battery of the trackless rubber-tyred vehicle;

determining a braking mode and a whole vehicle power mode according to the braking strength, the state of charge and the maximum power based on the determined running working condition; the braking mode includes: hybrid braking mode, motor braking mode, mechanical braking mode; the whole vehicle power mode comprises the following steps: the first range-extending mode, the second range-extending mode and the pure electric mode.

Preferably, the determining the running condition of the trackless rubber-tyred vehicle according to the preset power and the motor required power specifically includes:

judging whether the preset power is smaller than the motor required power or not to obtain a first judging result;

when the first judging result is that the preset power is smaller than the power required by the motor, judging that the driving working condition is a working condition of entering a secondary footrill section or a working condition of exiting a mining area transportation downhill section;

When the first judgment result is that the preset power is greater than or equal to the motor required power, judging whether the preset power is equal to the motor required power or not, and obtaining a second judgment result;

when the second judging result is that the preset power is equal to the motor required power, judging that the driving working condition is a transportation roadway section working condition or a working surface transportation gateway working condition;

and when the second judging result is that the preset power is not equal to the power required by the motor, judging that the driving working condition is a working condition of a secondary footrill section or a working condition of a mountain section under the transportation of a mining area.

Preferably, the determining, based on the determined driving condition, a braking mode and a vehicle power mode according to the braking strength, the state of charge and the maximum power specifically includes:

acquiring a first charge state preset value, a second charge state preset value, a third charge state preset value and a braking strength preset value;

when the driving working condition is a working condition of entering a secondary footrill section or a working condition of exiting a mountain road section under the transportation of a mining area, judging whether the charge state is smaller than or equal to the first charge state preset value, and obtaining a third judging result;

When the third judging result is that the charge state is smaller than or equal to the first charge state preset value, judging whether the automatic strength is smaller than or equal to the braking strength preset value, and obtaining a fourth judging result;

when the fourth judgment result is that the automatic strength is smaller than or equal to the preset braking strength value, determining that the braking mode of the trackless rubber-tyred vehicle is a motor braking mode;

when the fourth judging result is that the automatic strength is larger than the braking strength preset value, determining that the braking mode of the trackless rubber-tyred vehicle is a hybrid braking mode;

when the third judging result is that the charge state is larger than the first charge state preset value, determining that the braking mode of the trackless rubber-tyred vehicle is a mechanical braking mode;

when the driving working condition is a transportation roadway section working condition or a working surface transportation gateway working condition, judging whether the charge state is smaller than or equal to the second charge state preset value or not, and obtaining a fifth judging result;

when the fifth judging result is that the charge state is smaller than or equal to the second charge state preset value, judging whether the charge state is smaller than or equal to the third charge state preset value, and obtaining a sixth judging result;

When the sixth judging result is that the charge state is smaller than or equal to the third charge state preset value, determining that the whole vehicle power mode of the trackless rubber-tyred vehicle is a second range-extending mode;

when the sixth judging result is that the charge state is larger than the third charge state preset value, determining that the whole vehicle power mode of the trackless rubber-tyred vehicle is a first range-extending mode;

when the fifth judging result is that the charge state is larger than the second charge state preset value, determining that the whole vehicle power mode of the trackless rubber-tyred vehicle is a pure electric mode;

when the driving working condition is a working condition of driving out of a secondary footrill section or a working condition of driving into a mountain road section under mining area transportation, judging whether the required power of the motor is greater than or equal to the maximum power of the battery, and obtaining a seventh judging result;

when the seventh judgment result is that the required power of the motor is larger than or equal to the maximum power of the battery, judging whether the charge state is smaller than or equal to the second charge state preset value, and obtaining an eighth judgment result;

when the eighth judging result is that the charge state is smaller than or equal to the second charge state preset value, determining that the whole vehicle power mode of the trackless rubber-tyred vehicle is a first range-extending mode;

When the eighth judging result is that the charge state is larger than the second charge state preset value, determining that the whole vehicle power mode of the trackless rubber-tyred vehicle is a pure electric mode;

when the seventh judgment result is that the motor required power is smaller than the maximum power of the battery, judging whether the charge state is smaller than the third charge state preset value or not, and obtaining a ninth judgment result;

when the ninth judging result is that the charge state is smaller than the third charge state preset value, determining that the whole vehicle power mode of the trackless rubber-tyred vehicle is a second range-extending mode;

and when the ninth judging result is that the charge state is larger than or equal to the third charge state preset value, determining that the whole vehicle power mode of the trackless rubber-tyred vehicle is a first range-extending mode.

Preferably, when the sixth determination result is that the charge state is less than or equal to the third charge state preset value, determining that the whole vehicle power mode of the trackless rubber-tyred vehicle is the second range-extending mode, and then further includes:

judging whether the charge state is larger than or equal to the second charge state preset value in real time to obtain a tenth judgment result;

when the tenth judging result is that the charge state is larger than or equal to the second charge state preset value, switching the whole vehicle power mode of the trackless rubber-tyred vehicle into a pure electric mode;

And when the tenth judging result is that the charge state is smaller than the second charge state preset value, keeping the whole vehicle power mode of the trackless rubber-tyred vehicle to be a second range-extending mode.

According to the specific embodiment provided by the invention, the invention discloses the following technical effects:

according to the control method of the trackless rubber-tyred vehicle, after the running working condition of the trackless rubber-tyred vehicle is determined by adopting the obtained preset power and the motor required power, the braking mode and the whole vehicle power mode are determined according to the obtained braking strength, the charge state and the maximum power based on the determined running working condition, so that the battery can be in a shallow charging and shallow discharging working interval for a long time, and the engine can be controlled to work in an efficient and small pollution interval.

Corresponding to the control method of the trackless rubber-tyred vehicle, the invention also provides the following scheme:

a control system for a trackless rubber-tyred vehicle, comprising:

the first acquisition module is used for acquiring preset power and motor required power of the trackless rubber-tyred vehicle;

the driving condition determining module is used for determining the driving condition of the trackless rubber-tyred vehicle according to the preset power and the motor required power; the driving conditions include: the working conditions of the secondary tunnel section, the working conditions of the transportation lower mountain road section of the exit mining area, the working conditions of the transportation main roadway section, the working conditions of the working face transportation gate way, the working conditions of the exit secondary tunnel section and the working conditions of the transportation lower mountain road section of the entry mining area are entered;

The second acquisition module is used for acquiring the braking strength of the trackless rubber-tyred vehicle, the charge state of the battery and the maximum power of the battery;

the braking mode determining module is used for determining a braking mode and a whole vehicle power mode according to the braking strength, the charge state and the maximum power based on the determined running working condition; the braking mode includes: hybrid braking mode, motor braking mode, mechanical braking mode; the whole vehicle power mode comprises the following steps: the first range-extending mode, the second range-extending mode and the pure electric mode.

Preferably, the driving condition determining module includes:

the first judging unit is used for judging whether the preset power is smaller than the motor required power or not to obtain a first judging result;

the first driving condition determining unit is used for determining that the driving condition is a secondary footrill section entering condition or a mountain section entering condition when the first judging result is that the preset power is smaller than the motor required power;

the second judging unit is used for judging whether the preset power is equal to or greater than the motor required power or not when the first judging result is that the preset power is greater than or equal to the motor required power, and obtaining a second judging result;

The second driving condition determining unit is used for determining that the driving condition is a road section condition of a transportation roadway or a working face transportation gateway condition when the second judging result is that the preset power is equal to the required power of the motor;

and the third driving condition determining unit is used for determining that the driving condition is a condition of exiting the auxiliary footrill section or a condition of entering the mining area transportation downhill section when the second judging result is that the preset power is not equal to the required power of the motor.

Preferably, the braking mode determining module includes:

the device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring a first charge state preset value, a second charge state preset value, a third charge state preset value and a braking intensity preset value;

the third judging unit is used for judging whether the charge state is smaller than or equal to the first charge state preset value or not when the driving working condition is a working condition of entering a secondary footrill section or a working condition of exiting a mining area transportation lower mountain section, so as to obtain a third judging result;

a fourth judging unit, configured to judge whether the automatic strength is less than or equal to the braking strength preset value when the third judging result is that the charge state is less than or equal to the first charge state preset value, so as to obtain a fourth judging result;

The first braking mode determining unit is used for determining that the braking mode of the trackless rubber-tyred vehicle is a motor braking mode when the fourth judging result is that the automatic strength is smaller than or equal to the braking strength preset value;

the second braking mode determining unit is used for determining that the braking mode of the trackless rubber-tyred vehicle is a hybrid braking mode when the fourth judging result is that the automatic strength is larger than the braking strength preset value;

a third braking mode determining unit, configured to determine that a braking mode of the trackless rubber-tyred vehicle is a mechanical braking mode when the third determination result indicates that the charge state is greater than the first charge state preset value;

the fifth judging unit is used for judging whether the charge state is smaller than or equal to the second charge state preset value or not when the driving working condition is a transportation roadway section working condition or a working surface transportation gateway working condition, so as to obtain a fifth judging result;

a sixth judging unit, configured to judge whether the charge state is less than or equal to the third charge state preset value when the fifth judging result is that the charge state is less than or equal to the second charge state preset value, so as to obtain a sixth judging result;

a fourth braking mode determining unit, configured to determine that a whole vehicle power mode of the trackless rubber-tyred vehicle is a second range-extending mode when the sixth determination result is that the charge state is less than or equal to the third charge state preset value;

A fifth braking mode determining unit, configured to determine that a whole vehicle power mode of the trackless rubber-tyred vehicle is a first range-extending mode when the sixth determination result indicates that the charge state is greater than the third charge state preset value;

a sixth braking mode determining unit, configured to determine that a whole vehicle power mode of the trackless rubber-tyred vehicle is a pure electric mode when the fifth determination result indicates that the charge state is greater than the second charge state preset value;

the seventh judging unit is used for judging whether the required power of the motor is greater than or equal to the maximum power of the battery when the driving working condition is the working condition of the secondary footrill section or the working condition of the mountain section under the transportation of the mining area, so as to obtain a seventh judging result;

an eighth judging unit, configured to judge whether the state of charge is less than or equal to the second state of charge preset value when the seventh judging result is that the required power of the motor is greater than or equal to the maximum power of the battery, to obtain an eighth judging result;

a seventh braking mode determining unit, configured to determine that a whole vehicle power mode of the trackless rubber-tyred vehicle is a first range-extending mode when the eighth determination result is that the charge state is less than or equal to the second charge state preset value;

An eighth braking mode determining unit, configured to determine that a whole vehicle power mode of the trackless rubber-tyred vehicle is a pure electric mode when the eighth determination result indicates that the charge state is greater than the second charge state preset value;

a ninth judging unit, configured to judge whether the state of charge is smaller than the third state of charge preset value when the seventh judging result is that the required power of the motor is smaller than the maximum power of the battery, so as to obtain a ninth judging result;

a tenth braking mode determining unit, configured to determine that a whole vehicle power mode of the trackless rubber-tyred vehicle is a second range-extending mode when the ninth determination result is that the charge state is smaller than the third charge state preset value;

and the eleventh braking mode determining unit is used for determining that the whole vehicle power mode of the trackless rubber-tyred vehicle is a first range-extending mode when the ninth judging result is that the charge state is larger than or equal to the third charge state preset value.

Preferably, the braking mode determining module further includes:

a tenth judging unit, configured to judge in real time whether the state of charge is greater than or equal to the second state of charge preset value, to obtain a tenth judging result;

the braking mode switching unit is used for switching the whole vehicle power mode of the trackless rubber-tyred vehicle into a pure electric mode when the tenth judging result is that the charge state is larger than or equal to the second charge state preset value;

And the braking mode maintaining unit is used for maintaining the whole vehicle power mode of the trackless rubber-tyred vehicle to be a second range-extending mode when the tenth judging result is that the charge state is smaller than the second charge state preset value.

The technical effects achieved by the control system of the trackless rubber-tyred vehicle are the same as those achieved by the control method of the trackless rubber-tyred vehicle, so that the technical effects are not repeated here.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a control method of a trackless rubber-tyred vehicle provided by the invention;

FIG. 2 is a working route diagram of the trackless rubber-tyred vehicle provided by the embodiment of the invention;

FIG. 3 is a driving condition diagram of the trackless rubber-tyred vehicle provided by the embodiment of the invention;

FIG. 4 is a flowchart of a specific embodiment of a control method for a trackless rubber-tyred vehicle according to one embodiment of the present invention;

Fig. 5 is a schematic structural diagram of a control system of a trackless rubber-tyred vehicle provided by the invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The invention aims to provide a control method and a control system for a trackless rubber-tyred vehicle, which can control an engine to work in an efficient and polluted area while a battery is in a shallow charging and shallow discharging working area for a long time.

In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.

As shown in fig. 1, the control method of the trackless rubber-tyred vehicle provided by the invention comprises the following steps:

step 100: and acquiring preset power and motor required power of the trackless rubber-tyred vehicle.

Step 101: and determining the running working condition of the trackless rubber-tyred vehicle according to the preset power and the motor required power. The driving conditions include: the working conditions of the secondary tunnel section, the working conditions of the transportation lower mountain road section of the exit mining area, the working conditions of the transportation main roadway section, the working conditions of the working face transportation gate way, the working conditions of the exit secondary tunnel section and the working conditions of the transportation lower mountain road section of the entrance mining area are entered.

Step 102: and acquiring the braking strength, the charge state of the battery and the maximum power of the battery of the trackless rubber-tyred vehicle.

Step 103: and determining a braking mode and a whole vehicle power mode according to the braking strength, the charge state and the maximum power based on the determined running working condition. The braking mode includes: hybrid braking mode, electric motor braking mode, mechanical braking mode. The whole vehicle power mode comprises the following steps: the first range-extending mode, the second range-extending mode and the pure electric mode.

In order to accurately divide the driving conditions, the process of determining the driving conditions of the trackless rubber-tyred vehicle according to the preset power and the motor required power in the step 101 specifically includes:

and judging whether the preset power is smaller than the motor required power or not to obtain a first judging result.

And when the first judgment result is that the preset power is smaller than the required power of the motor, judging that the driving working condition is the working condition of entering the auxiliary footrill section or the working condition of exiting the transportation downhill section of the mining area.

And when the first judgment result is that the preset power is greater than or equal to the motor required power, judging whether the preset power is equal to the motor required power or not, and obtaining a second judgment result.

And when the second judgment result is that the preset power is equal to the required power of the motor, judging that the driving working condition is a road section working condition of a transportation main road or a working surface transportation crossheading working condition.

And when the second judgment result is that the preset power is not equal to the required power of the motor, judging that the driving working condition is the working condition of the outgoing auxiliary footrill section or the working condition of the incoming mining area transportation downhill section.

Further, in order to control the engine to operate in a high-efficiency and low-pollution zone while the battery is in a shallow charge and shallow discharge working zone for a long period of time, the step 103 is based on the determined driving condition, and the process of determining the braking mode and the vehicle power mode according to the braking strength, the state of charge and the maximum power specifically includes:

the method comprises the steps of obtaining a first charge state preset value, a second charge state preset value, a third charge state preset value and a braking strength preset value.

And when the driving working condition is the working condition of entering the secondary footrill section or the working condition of exiting the mining area transportation downhill section, judging whether the charge state is smaller than or equal to a first charge state preset value, and obtaining a third judging result.

And when the third judging result is that the charge state is smaller than or equal to the first charge state preset value, judging whether the automatic strength is smaller than or equal to the brake strength preset value, and obtaining a fourth judging result.

And when the fourth judgment result is that the automatic strength is smaller than or equal to the preset braking strength value, determining that the braking mode of the trackless rubber-tyred vehicle is a motor braking mode.

And when the fourth judgment result is that the automatic strength is larger than the preset braking strength value, determining that the braking mode of the trackless rubber-tyred vehicle is a hybrid braking mode.

And when the third judging result is that the charge state is larger than the first charge state preset value, determining that the braking mode of the trackless rubber-tyred vehicle is a mechanical braking mode.

And when the driving working condition is a transportation roadway section working condition or a working surface transportation gateway working condition, judging whether the charge state is smaller than or equal to a second charge state preset value, and obtaining a fifth judging result.

And when the fifth judging result is that the charge state is smaller than or equal to the second charge state preset value, judging whether the charge state is smaller than or equal to the third charge state preset value, and obtaining a sixth judging result.

And when the sixth judging result is that the charge state is smaller than or equal to a third charge state preset value, determining that the whole vehicle power mode of the trackless rubber-tyred vehicle is a second range-extending mode.

And when the sixth judging result is that the charge state is larger than the third charge state preset value, determining that the whole vehicle power mode of the trackless rubber-tyred vehicle is the first range-extending mode.

And when the fifth judging result is that the charge state is larger than the second charge state preset value, determining that the whole vehicle power mode of the trackless rubber-tyred vehicle is a pure electric mode.

And when the driving working condition is the working condition of the secondary footrill section or the working condition of the mountain road section under the transportation of the mining area, judging whether the required power of the motor is more than or equal to the maximum power of the battery, and obtaining a seventh judging result.

And when the seventh judgment result is that the motor required power is greater than or equal to the maximum power of the battery, judging whether the charge state is less than or equal to a second charge state preset value, and obtaining an eighth judgment result.

And when the eighth judging result is that the charge state is smaller than or equal to the second charge state preset value, determining that the whole vehicle power mode of the trackless rubber-tyred vehicle is the first range-extending mode.

And when the eighth judging result is that the charge state is larger than the second charge state preset value, determining that the whole vehicle power mode of the trackless rubber-tyred vehicle is a pure electric mode.

And when the seventh judgment result is that the motor required power is smaller than the maximum power of the battery, judging whether the charge state is smaller than a third charge state preset value, and obtaining a ninth judgment result.

And when the ninth judging result is that the charge state is smaller than the third charge state preset value, determining that the whole vehicle power mode of the trackless rubber-tyred vehicle is a second range-extending mode.

And when the ninth judging result is that the charge state is larger than or equal to a third charge state preset value, determining that the whole vehicle power mode of the trackless rubber-tyred vehicle is a first range-extending mode.

In addition, in order to further improve the determination effect on the braking mode of the trackless rubber-tyred vehicle, after determining that the whole vehicle power mode of the trackless rubber-tyred vehicle is the second range-extending mode when the sixth determination result is that the charge state is less than or equal to the third charge state preset value, the control method of the trackless rubber-tyred vehicle provided by the invention further preferably comprises the following steps:

and judging whether the charge state is larger than or equal to a second charge state preset value in real time to obtain a tenth judgment result.

And when the tenth judging result is that the charge state is larger than or equal to the second charge state preset value, switching the whole vehicle power mode of the trackless rubber-tyred vehicle into a pure electric mode.

And when the tenth judging result is that the charge state is smaller than the second charge state preset value, keeping the whole vehicle power mode of the trackless rubber-tyred vehicle to be the second range-extending mode.

The specific implementation of the control method provided by the invention is described below by taking an underground extended range type electric explosion-proof trackless rubber-tyred vehicle as an example, and in the practical application process, the control method provided by the invention is also suitable for other types of mixed-motion trackless rubber-tyred vehicles.

As shown in fig. 2, the daily working route of the underground extended range electric explosion-proof trackless rubber-tyred vehicle is as follows: the auxiliary tunnel with the slope angle of-5 degrees enters the mining area transportation road section with the slope angle of +15 degrees through the smooth transportation roadway, the slope of the road section is steeper, the power required by the trackless rubber-tyred vehicle is higher, and finally the auxiliary tunnel reaches the working face transportation gate, and the original road returns after personnel or equipment are assembled and disassembled.

According to the working route of the trackless rubber-tyred vehicle in fig. 2, a running working condition diagram of the range-extended electric explosion-proof trackless rubber-tyred vehicle shown in fig. 3 is designed. Because the weight of the extended-range electric explosion-proof trackless rubber-tyred vehicle is too large, the running speed of the vehicle in the pit is limited to be 40km/h at maximum. The speed of 40km/h is kept at the auxiliary tunnel section and the transportation main roadway, the auxiliary tunnel section and the transportation main roadway travel to the mining area transportation mountain section, the gradient is steeper, the climbing speed of 10km/h is kept, the auxiliary tunnel section and the transportation main roadway continue to travel at the speed of 20km/h after the auxiliary tunnel section and the transportation main roadway reach the working face transportation main roadway, the speed of 20km/h is kept after the auxiliary tunnel section and the transportation main roadway complete the loading and unloading tasks, the climbing speed of 30km/h is kept after the auxiliary tunnel section and the transportation main roadway reach the auxiliary tunnel, and a driving working condition is completed. For such a working condition, a specific flow of implementing the control method is shown in fig. 4, so as to achieve the control target.

First, explanation is made on some modules and parameters in fig. 4:

pure electric mode: in this mode, the power battery pack is used as the only means for driving the vehicle to travel, and the extended range is in the off state in this state and does not operate.

First range-extending mode (range-extending mode 1 in fig. 4): in the mode, the power battery pack and the range extender simultaneously provide electric energy for the driving motor, and the range extender works in a specific high-efficiency interval.

Second range-extending mode (range-extending mode 2 in fig. 4): in this mode, the battery pack has too low an amount of electricity, and the battery can be damaged by continued discharge of the battery, which affects the service life of the battery. The range extender is mainly used for providing power for the driving motor and simultaneously charging the power battery pack.

Mechanical braking: the whole vehicle demand braking power is provided by mechanical braking power, and the motor regenerative braking power is zero.

And (3) motor braking: the whole vehicle demand braking power is provided by the motor regenerative braking power, and the mechanical braking power is zero.

Hybrid braking: the braking power required by the whole vehicle is partially provided by mechanical braking power and partially provided by regenerative braking power of the motor.

Battery SOC: the state of charge of a battery is defined numerically as the ratio of the remaining battery capacity to the battery capacity.

Z: braking strength, the maximum braking strength of the driving motor is assumed to be 0.2 in the invention.

P _batt : and the maximum power of the power battery pack.

P _req : the motor requires power.

P _A : automobile on slopeMotor power required by a motor when the road surface with the degree of 0 runs at a constant speed of 40km/h, P _A ＝[P _A1 ,P _A2 ]，P _A1 Is the power at no-load, P _A2 Is full power.

The control method is mainly designed according to the actual running working conditions of the extended-range electric explosion-proof trackless rubber-tyred vehicle and is mainly divided into three parts according to different working conditions: auxiliary footrill (in) or mining area transportation mountain (out), transportation main roadway or working face transportation gate, auxiliary footrill (out) or mining area transportation mountain (in). The control method divides the whole vehicle braking mode (or power system mode) into: pure electric mode, first range-extending mode, second range-extending mode, mechanical braking, electric motor braking, and hybrid braking.

Based on the above settings, as shown in fig. 4, the steps for implementing the control method specifically are:

step 1: obtaining motor demand power P _req And judging the working condition interval.

And if the working condition road section is judged to be in the auxiliary footrill or is transported to go down the hill (go out), jumping to the step 2. If the working condition road section is judged to be in the transportation roadway or the working face transportation gateway, the step 3 is skipped. If the working condition road section is judged to be in the auxiliary footrill (out) or the transportation is adopted to go down the mountain (in), the step 4 is skipped.

The specific judging process comprises the following steps: if P _req <P _A Judging the downhill working condition of the automobile, and judging the working condition section of the trackless rubber-tyred vehicle in the auxiliary footrill (in) or the mining area transportation and mountain climbing (out). If P _req ＝P _A And judging that the automobile runs on the zero-gradient road surface, and judging that the trackless rubber-tyred vehicle runs on a working condition section of a transportation roadway or a working surface transportation gate way. If P _req >P _A Judging the climbing working condition of the automobile, and judging the working condition section of the trackless rubber-tyred vehicle in the auxiliary footrill (out) or the mining area transportation mountain (in).

Step 2: and acquiring the SOC and the braking intensity Z of the real-time battery to judge the braking mode of the whole vehicle.

And (3) judging working condition sections of the whole vehicle in auxiliary footrill (in) or mining area transportation and mountain climbing (out), acquiring a real-time battery SOC value and a braking intensity Z, comparing the real-time battery SOC value with a set SOC limit value and a set motor maximum braking intensity value, determining a braking mode of the whole vehicle, and outputting the braking mode of the whole vehicle.

The specific judging process comprises the following steps: this process sets the SOC limit maximum value to 0.9 (i.e., the first state of charge preset value). If SOC > 0.9, the battery power is enough, and the energy recovery is not needed at this time, and the mechanical braking mode is switched. If SOC is less than or equal to 0.9 and Z is less than or equal to 0.2 (namely, the preset braking strength value), the battery can be charged, and the braking strength of the motor is enough to meet the whole vehicle requirement, and the motor is switched to a motor braking mode under the condition. If SOC is less than or equal to 0.9 and Z is more than 0.2, the battery can be charged, but the braking strength of the motor is insufficient to meet the requirement of the whole vehicle, at the moment, the motor is required to recover energy to charge the power battery, and the braking requirement of the whole vehicle is insufficient to meet the braking requirement of the whole vehicle by only relying on the motor, so that the hybrid braking mode is switched.

Step 3: and acquiring the SOC of the real-time battery and judging the power mode of the whole vehicle.

And (3) judging the working condition section of the whole vehicle in a transportation roadway or a working face transportation gateway by the step (1), acquiring a real-time battery SOC value, comparing the acquired SOC value with a set SOC limit value, determining a power mode of the whole vehicle, and outputting the power mode of the whole vehicle.

The specific judging process comprises the following steps: this process sets the SOC limit value to 0.5 (second state of charge preset value) and 0.3 (third state of charge preset value). If SOC is more than 0.5, the power battery is enough, and the power mode of the trackless rubber-tyred vehicle is switched to the pure electric mode. If SOC is more than or equal to 0.3 and less than or equal to 0.5, the power battery is stopped and does not need to be charged although the electric quantity of the power battery is insufficient, and the range extender provides the power required by the motor and is switched to the range extending mode 1. If the SOC is less than 0.3, the electric quantity of the battery is smaller than the minimum limiting value, and the range extender is required to provide the power required by the motor and charge the power battery at the same time, the power battery is switched to the range extending mode 2, and the power battery is switched to the pure electric mode when the power battery is charged to meet the condition that the SOC of the battery is more than or equal to 0.5.

Step 4: and acquiring the SOC of the real-time battery and the power Preq required by the motor to judge the power mode of the whole vehicle.

Step 1, judging working condition sections of the whole vehicle in a secondary tunnel (out) or a mining area transportation mountain (in) to obtain a real-time battery SOC value and motor required power P _req Comparing the real-time battery SOC with a set SOC limit value, and the motor required power P _req Maximum power P of power battery _batt And comparing, determining the power mode of the whole vehicle, and outputting the power mode of the whole vehicle.

The specific judging process comprises the following steps: this process sets the SOC limit values to 0.5 and 0.3. If P _batt ≥P _req And SOC is more than 0.5, the battery power is enough to provide the power required by the trackless rubber-tyred vehicle under the climbing working condition, and the battery power is enough, so that the power mode of the trackless rubber-tyred vehicle is switched to the pure electric mode. If P _batt ≥P _req And SOC is less than or equal to 0.5, the maximum power that the demonstration battery can provide can satisfy the motor demand power under this climbing operating mode, but battery electric quantity is not enough, consequently needs the journey-increasing ware to provide motor demand power, and need not to charge for power battery, and trackless rubber-tyred car power mode switches over to journey-increasing mode 1. If P _batt ＜P _req And SOC is more than or equal to 0.3, the maximum power that the battery can provide is not enough to satisfy the motor demand power under this climbing operating mode, but battery electric quantity is greater than minimum limit value, consequently needs the journey extender to provide motor demand power, and need not to charge for power battery, and trackless rubber-tyred car power mode switches over to journey-extending mode 1. If P _batt ＜P _req And SOC is less than 0.3, the maximum power that the demonstration battery can provide is insufficient to satisfy the motor demand power under this climbing operating mode, and battery electric quantity is less than the minimum of settlement, consequently needs to increase journey ware and charges for power battery when providing motor demand power, and trackless rubber-tyred car power mode switches over to increase journey mode 2.

Based on the specific implementation process, the control method of the trackless rubber-tyred vehicle provided by the invention has the following advantages compared with the prior art:

1. compared with a single energy management strategy of the traditional explosion-proof trackless rubber-tyred vehicle, the control method provided by the invention can control the engine in the range extender to work in a high-efficiency and low-emission interval, saves energy, greatly reduces pollution emission and optimizes the underground working environment.

2. Compared with the limitation of a single power source of a pure electric explosion-proof trackless rubber-tyred vehicle, the control method provided by the invention can control the shallow charging and discharging of the power battery pack, improve the life of the battery pack while improving the endurance mileage of the power battery pack, maintain the consistency and safety performance of the power battery pack, and avoid hidden danger to coal mine production due to the battery safety problem.

3. Compared with a multi-power-source energy management strategy of a pure electric explosion-proof trackless rubber-tyred vehicle with a composite power supply system, the control method provided by the invention has more pertinence and is more suitable for underground working conditions.

In addition, corresponding to the control method of the trackless rubber-tyred vehicle provided by the invention, the invention also provides a control system of the trackless rubber-tyred vehicle, as shown in fig. 5, the control system comprises: the first acquisition module 51, the driving condition determination module 52, the second acquisition module 53 and the braking mode determination module 54.

The first obtaining module 51 is configured to obtain a preset power and a motor required power of the trackless rubber-tyred vehicle.

The driving condition determining module 52 is configured to determine a driving condition of the trackless rubber-tyred vehicle according to the preset power and the motor required power. The driving conditions include: the working conditions of the secondary tunnel section, the working conditions of the transportation lower mountain road section of the exit mining area, the working conditions of the transportation main roadway section, the working conditions of the working face transportation gate way, the working conditions of the exit secondary tunnel section and the working conditions of the transportation lower mountain road section of the entrance mining area are entered.

The second acquisition module 53 is used for acquiring the braking strength of the trackless rubber-tyred vehicle, the charge state of the battery and the maximum power of the battery.

The braking mode determination module 54 is configured to determine a braking mode and a vehicle power mode based on the determined driving condition, based on the braking strength, the state of charge, and the maximum power. The braking mode includes: hybrid braking mode, electric motor braking mode, mechanical braking mode. The whole vehicle power mode comprises the following steps: the first range-extending mode, the second range-extending mode and the pure electric mode.

Further, the driving condition determining module 52 preferably includes: the system comprises a first judging unit, a first running condition determining unit, a second judging unit, a second running condition determining unit and a third running condition determining unit.

The first judging unit is used for judging whether the preset power is smaller than the motor required power or not, and a first judging result is obtained.

And the first driving condition determining unit is used for determining that the driving condition is a secondary footrill section entering condition or a mining area transportation downhill section exiting condition when the first judging result is that the preset power is smaller than the motor required power.

And the second judging unit is used for judging whether the preset power is equal to the motor required power or not when the first judging result is that the preset power is equal to or more than the motor required power, so as to obtain a second judging result.

And the second driving condition determining unit is used for determining that the driving condition is a road section condition of the transportation main road or a transportation crossheading condition of the working face when the second judging result is that the preset power is equal to the required power of the motor.

And the third driving condition determining unit is used for determining that the driving condition is the working condition of the section of the secondary footrill or the working condition of the section of the mountain under the transportation of the mining area when the second judging result is that the preset power is not equal to the required power of the motor.

Further, the braking mode determination module 54 preferably includes: an acquisition unit, a third judgment unit, a fourth judgment unit, a first braking mode determination unit, a second braking mode determination unit, a third braking mode determination unit, a fifth judgment unit, a sixth judgment unit, a fourth braking mode determination unit, a fifth braking mode determination unit, a sixth braking mode determination unit, a seventh judgment unit, an eighth judgment unit, a seventh braking mode determination unit, an eighth braking mode determination unit, a ninth judgment unit, a tenth braking mode determination unit, and an eleventh braking mode determination unit.

The acquisition unit is used for acquiring a first charge state preset value, a second charge state preset value, a third charge state preset value and a braking strength preset value.

And the third judging unit is used for judging whether the charge state is smaller than or equal to a first charge state preset value or not when the driving working condition is the working condition of entering the auxiliary footrill section or the working condition of exiting the mining area transportation downhill section, so as to obtain a third judging result.

And the fourth judging unit is used for judging whether the automatic strength is smaller than or equal to a preset braking strength value or not when the third judging result is that the charge state is smaller than or equal to a preset first charge state value, so as to obtain a fourth judging result.

The first braking mode determining unit is used for determining that the braking mode of the trackless rubber-tyred vehicle is a motor braking mode when the fourth judging result is that the automatic strength is smaller than or equal to a braking strength preset value.

And the second braking mode determining unit is used for determining that the braking mode of the trackless rubber-tyred vehicle is a hybrid braking mode when the fourth judging result is that the automatic strength is larger than the braking strength preset value.

And the third braking mode determining unit is used for determining that the braking mode of the trackless rubber-tyred vehicle is a mechanical braking mode when the third judging result is that the charge state is larger than the first charge state preset value.

And the fifth judging unit is used for judging whether the charge state is smaller than or equal to a second charge state preset value when the driving working condition is a transportation roadway section working condition or a working surface transportation gateway working condition, and obtaining a fifth judging result.

The sixth judging unit is used for judging whether the charge state is smaller than or equal to a third charge state preset value or not when the fifth judging result is that the charge state is smaller than or equal to the second charge state preset value, and obtaining a sixth judging result.

And the fourth braking mode determining unit is used for determining that the whole vehicle power mode of the trackless rubber-tyred vehicle is a second range-extending mode when the charge state is smaller than or equal to a third charge state preset value as a sixth judging result.

And the fifth braking mode determining unit is used for determining that the whole vehicle power mode of the trackless rubber-tyred vehicle is a first range-extending mode when the sixth judging result is that the charge state is larger than a third charge state preset value.

And the sixth braking mode determining unit is used for determining that the whole vehicle power mode of the trackless rubber-tyred vehicle is a pure electric mode when the fifth judging result is that the charge state is larger than the second charge state preset value.

And the seventh judging unit is used for judging whether the required power of the motor is greater than or equal to the maximum power of the battery when the driving working condition is the working condition of the secondary footrill section or the working condition of the transportation downhill section of the mining area, so as to obtain a seventh judging result.

And the eighth judging unit is used for judging whether the charge state is smaller than or equal to a second charge state preset value or not when the seventh judging result is that the required power of the motor is larger than or equal to the maximum power of the battery, so as to obtain the eighth judging result.

The seventh braking mode determining unit is used for determining that the whole vehicle power mode of the trackless rubber-tyred vehicle is a first range-extending mode when the eighth judging result is that the charge state is smaller than or equal to a second charge state preset value.

And the eighth braking mode determining unit is used for determining that the whole vehicle power mode of the trackless rubber-tyred vehicle is a pure electric mode when the eighth judging result is that the charge state is larger than the second charge state preset value.

And the ninth judging unit is used for judging whether the charge state is smaller than a third charge state preset value or not when the seventh judging result is that the motor required power is smaller than the maximum power of the battery, so as to obtain a ninth judging result.

And the tenth braking mode determining unit is used for determining that the whole vehicle power mode of the trackless rubber-tyred vehicle is a second range-extending mode when the ninth judging result is that the charge state is smaller than a third charge state preset value.

The eleventh braking mode determining unit is used for determining that the whole vehicle power mode of the trackless rubber-tyred vehicle is a first range-extending mode when the ninth judging result is that the charge state is larger than or equal to a third charge state preset value.

Further, the braking mode determining module 54 may further include: tenth judgment unit, braking mode switching unit and braking mode holding unit.

The tenth judging unit is used for judging whether the charge state is larger than or equal to a second charge state preset value in real time to obtain a tenth judging result.

And the braking mode switching unit is used for switching the whole vehicle power mode of the trackless rubber-tyred vehicle into a pure electric mode when the tenth judging result is that the charge state is larger than or equal to a second charge state preset value.

And the braking mode holding unit is used for holding the whole vehicle power mode of the trackless rubber-tyred vehicle to be a second range-extending mode when the tenth judging result is that the charge state is smaller than the second charge state preset value.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.

The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.

Claims

1. A control method of a trackless rubber-tyred vehicle, comprising:

determining a braking mode and a whole vehicle power mode according to the braking strength, the state of charge and the maximum power based on the determined running working condition; the braking mode includes: hybrid braking mode, motor braking mode, mechanical braking mode; the whole vehicle power mode comprises the following steps: the first range-extending mode, the second range-extending mode and the pure electric mode;

the method comprises the steps of acquiring the charge state and the braking strength of a real-time battery and judging the braking mode of the whole vehicle; acquiring a real-time battery SOC and judging a whole vehicle power mode; and acquiring the state of charge of the battery and the power required by the motor in real time, and judging the power mode of the whole vehicle.

2. The control method of the trackless rubber-tyred vehicle according to claim 1, wherein the determining the driving condition of the trackless rubber-tyred vehicle according to the preset power and the motor required power specifically includes:

3. The control method of the trackless rubber-tyred vehicle according to claim 2, wherein the determining a braking mode and a vehicle power mode according to the braking strength, the state of charge and the maximum power based on the determined driving condition specifically includes:

When the third judging result is that the charge state is smaller than or equal to the first charge state preset value, judging whether the braking strength is smaller than or equal to the braking strength preset value, and obtaining a fourth judging result;

when the fourth judging result is that the braking intensity is smaller than or equal to the preset braking intensity value, determining that the braking mode of the trackless rubber-tyred vehicle is a motor braking mode;

when the fourth judging result is that the braking intensity is larger than the braking intensity preset value, determining that the braking mode of the trackless rubber-tyred vehicle is a hybrid braking mode;

4. The method for controlling a trackless rubber-tyred vehicle according to claim 3, wherein when the sixth determination result is that the charge state is less than or equal to the third charge state preset value, determining that the whole vehicle power mode of the trackless rubber-tyred vehicle is the second range-extending mode, and then further includes:

5. A control system for a trackless rubber-tyred vehicle, comprising:

the braking mode determining module is used for determining a braking mode and a whole vehicle power mode according to the braking strength, the charge state and the maximum power based on the determined running working condition; the braking mode includes: hybrid braking mode, motor braking mode, mechanical braking mode; the whole vehicle power mode comprises the following steps: the first range-extending mode, the second range-extending mode and the pure electric mode;

6. The control system of a trackless rubber-tyred vehicle of claim 5, wherein the driving condition determination module includes:

7. The control system of a trackless rubber-tyred vehicle of claim 6, wherein the braking mode determination module includes:

a fourth judging unit, configured to judge whether the braking strength is less than or equal to the braking strength preset value when the third judging result is that the charge state is less than or equal to the first charge state preset value, so as to obtain a fourth judging result;

the first braking mode determining unit is used for determining that the braking mode of the trackless rubber-tyred vehicle is a motor braking mode when the fourth judging result is that the braking intensity is smaller than or equal to the preset braking intensity value;

The second braking mode determining unit is used for determining that the braking mode of the trackless rubber-tyred vehicle is a hybrid braking mode when the fourth judging result is that the braking intensity is larger than the braking intensity preset value;

8. The control system of a trackless rubber-tyred vehicle of claim 7, wherein the braking mode determination module further includes: