CN113696725B - Self-adaptive safety speed limiting protection system and method for electric transmission mining dump truck - Google Patents
Self-adaptive safety speed limiting protection system and method for electric transmission mining dump truck Download PDFInfo
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- CN113696725B CN113696725B CN202111017922.XA CN202111017922A CN113696725B CN 113696725 B CN113696725 B CN 113696725B CN 202111017922 A CN202111017922 A CN 202111017922A CN 113696725 B CN113696725 B CN 113696725B
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- 238000005065 mining Methods 0.000 title claims abstract description 20
- 230000005540 biological transmission Effects 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 title claims description 10
- 238000005303 weighing Methods 0.000 claims abstract description 14
- 230000001174 ascending effect Effects 0.000 claims description 7
- 238000001914 filtration Methods 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
- 230000003044 adaptive effect Effects 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000001149 cognitive effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/18—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including a device to audibly, visibly, or otherwise signal the existence of unusual or unintended speed to the driver of the vehicle
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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
- B60L7/00—Electrodynamic brake systems for vehicles in general
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K2031/0091—Speed limiters or speed cutters
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The self-adaptive safety speed limiting protection system of the electric transmission mining dump truck comprises a whole vehicle controller VCU, wherein the input end of the whole vehicle controller VCU is connected with a weighing sensor, an inclination angle sensor, a temperature sensor, a rotating speed sensor, an electric brake pedal and an accelerator pedal, and the output end of the whole vehicle controller VCU is connected with a display terminal and a brake mechanism. The beneficial effects of the invention are as follows: the self-adaptive safety speed limiting protection device can automatically match the current state of the electric transmission mine car with the safety speed limiting protection, particularly self-adaptive safety speed limiting is carried out on vehicles under downhill working conditions, overspeed running of the vehicles is avoided, and running safety of the vehicles and transportation efficiency are improved.
Description
Technical Field
The invention relates to the technical field of control of mining dumpers, in particular to a self-adaptive safety speed limiting protection system of an electric transmission mining dumper.
Background
The electric transmission mining dump truck has absolute advantages in the field of surface mining, the driving system is simple, and the engine can be used for running on an optimal characteristic curve, so the electric transmission mining dump truck has the advantages of energy conservation and environmental protection. The largest engineering machinery manufacturers in the world are greatly invested in the financial research and development of electric drive mining dumpers. Compared with mechanical transmission dumper, the electric transmission dumper has the advantages of simple structure, convenient maintenance, greatly reduced operation cost and improved production efficiency.
When the electric transmission dump truck runs in a working environment, a fixed value speed limit is generally adopted at present, the road condition and the load condition are not considered in the speed limit mode, so the fixed speed limit value is not the optimal value, vehicles and operators have larger potential safety hazards under overload or downhill working conditions, particularly under the condition of heavy-gradient downhill road conditions, the safe running speed of the vehicles is far lower than the fixed speed limit value, the driver often controls the speed according to own driving experience, the vehicles cannot run at the optimal speed, even the vehicles run out of control due to the cognitive deviation of the vehicles, the running risk of the vehicles is increased, and the transportation efficiency of the vehicles is influenced.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a self-adaptive safety speed limiting protection system and method for an electric transmission mining dump truck.
The invention adopts the technical scheme that: the self-adaptive safety speed limiting protection system of the electric transmission mining dump truck comprises a whole vehicle controller VCU, wherein the input end of the whole vehicle controller VCU is connected with a weighing sensor, an inclination angle sensor, a temperature sensor, a rotating speed sensor, an electric brake pedal and an accelerator pedal, and the output end of the whole vehicle controller VCU is connected with a display terminal and a brake mechanism.
Preferably, the weighing sensor comprises a left front weighing sensor, a right front weighing sensor, a left rear weighing sensor and a right rear weighing sensor.
Preferably, the temperature sensor comprises a left wheel motor temperature sensor and a right wheel motor temperature sensor, and the rotating speed sensor comprises a left wheel rotating speed sensor and a right wheel rotating speed sensor.
Preferably, the braking mechanism adopts a frequency converter.
An adaptive safety speed limiting protection method for an electric transmission mining dump truck comprises the following steps:
s1: the vehicle control unit VCU reads real-time vehicle state signals including inclination angle alpha, vehicle weight, speed, accelerator signals and brake signals;
s2: judging whether the state of the vehicle is ascending, flat or descending according to the inclination angle, the inclination duration time, the throttle signal and the brake signal state;
s3: if the vehicle is in a downhill state, the vehicle controller VCU calculates braking torque T required to be applied by the current motor according to the current total weight and the inclination angle of the vehicle;
s4: if the vehicle is in a flat or uphill state, setting a speed limit value Vs and a maximum allowable vehicle speed Vm according to the operation requirement;
s5: when the vehicle is in a flat or uphill state, if the vehicle speed exceeds a speed limit value Vs, the display terminal displays a speed limit mark and overspeed alarm, applies electric braking and records current working condition permission data;
s6: when the vehicle is in a flat or ascending state, if the vehicle speed exceeds the maximum allowable vehicle speed Vm, the display terminal reminds the driver to adopt hydraulic braking deceleration until the vehicle speed is lower than the maximum allowable vehicle speed Vm.
Preferably, the inclination angle is collected in a filtering mode, and particularly N sampling values are continuously collected through the inclination angle sensor to carry out arithmetic average operation.
Preferably, in step S3, the braking torqueWherein T is the minimum braking torque required to be added by a wheel side motor, R is the tire rolling radius of the mining dump truck, eta is the efficiency of the motor, i is the reduction ratio, F is the resultant force of gravity component force and friction force applied to the vehicle in a downhill working condition, F= (M1+M2) g sin (-alpha) - (M1+M2) g cos (-alpha) mu, M1 is the vehicle dead weight, M2 is the vehicle real-time load, and mu is the friction factor.
Preferably, after overspeed of the vehicle, the whole vehicle controller VCU applies electric braking of different modes according to the current motor temperature and the vehicle speed; if the current motor temperature is higher than the set temperature, the standard electric brake is applied, otherwise the maximum electric brake is applied.
The invention has the beneficial effects that: the self-adaptive safety speed limiting protection device can automatically match the current state of the electric transmission mine car with the safety speed limiting protection, particularly self-adaptive safety speed limiting is carried out on vehicles under downhill working conditions, overspeed running of the vehicles is avoided, and running safety of the vehicles and transportation efficiency are improved.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
fig. 2 is an electrical schematic of the present invention.
Detailed Description
For further explanation of technical details of the present invention and advantages thereof, reference will now be made to the accompanying drawings and examples.
As shown in fig. 2, the self-adaptive safety speed limiting protection system of the electric transmission mining dump truck comprises a whole vehicle controller VCU, wherein the input end of the whole vehicle controller VCU is connected with a weighing sensor, an inclination angle sensor, a temperature sensor, a rotating speed sensor, an electric brake pedal and an accelerator pedal, and the output end of the whole vehicle controller VCU is connected with a display terminal and a brake mechanism.
In this embodiment, the load cell includes a front left load cell, a front right load cell, a rear left load cell, and a rear right load cell. The temperature sensor comprises a left wheel motor temperature sensor and a right wheel motor temperature sensor, and the rotating speed sensor comprises a left wheel rotating speed sensor and a right wheel rotating speed sensor. The braking mechanism adopts a frequency converter.
As shown in fig. 2, the self-adaptive safety speed limiting protection method for the electric transmission mining dump truck comprises the following steps:
s1: the vehicle control unit VCU reads real-time vehicle state signals including inclination angle alpha, vehicle weight, speed, accelerator signals and brake signals;
s2: and judging the state of the vehicle to be ascending, flat or descending according to the inclination angle, the inclination duration time, the throttle signal and the electric brake signal. Setting an angle threshold alpha 1 <α 2 <0<α 3 <α 4 When alpha is less than or equal to alpha 1 Or alpha 1 <α<α 2 And having an electric braking signal or duration of tilting exceeding a time threshold t 1 And when the system judges that the vehicle is in a downhill state. When alpha is≥α 4 Or alpha 3 <α<α 4 And having throttle signal or duration exceeding time threshold t 2 And when the system judges that the vehicle is in an ascending state. The system except the two conditions judges that the vehicle is in a flat state;
s3: if the vehicle is in a downhill state, the vehicle controller VCU calculates braking torque T required to be applied by the current motor according to the current total weight and the inclination angle of the vehicle;
s4: if the vehicle is in a flat or uphill state, setting a speed limit value Vs and a maximum allowable vehicle speed Vm according to the operation requirement;
s5: when the vehicle is in a flat or uphill state, if the vehicle speed exceeds a speed limit value Vs, the display terminal displays a speed limit mark and overspeed alarm, applies electric braking and records current working condition permission data;
s6: when the vehicle is in a flat or ascending state, if the vehicle speed exceeds the maximum allowable vehicle speed Vm, the display terminal reminds the driver to adopt hydraulic braking deceleration until the vehicle speed is lower than the maximum allowable vehicle speed Vm.
In this embodiment, the inclination angle is collected by adopting a filtering mode, specifically, N sampling values are continuously collected by the inclination angle sensor to perform arithmetic average operation.
In step S3, braking torqueWherein T is the minimum braking torque required to be added by a wheel side motor, R is the tire rolling radius of the mining dump truck, eta is the efficiency of the motor, i is the reduction ratio, F is the resultant force of gravity component force and friction force applied to the vehicle in a downhill working condition, F= (M1+M2) g sin (-alpha) - (M1+M2) g cos (-alpha) mu, M1 is the vehicle dead weight, M2 is the vehicle real-time load, and mu is the friction factor.
After overspeed, the whole vehicle controller VCU applies electric braking of different modes according to the current motor temperature and the speed; if the current motor temperature is higher than the set temperature, the standard electric brake is applied, otherwise the maximum electric brake is applied.
Claims (3)
1. An adaptive safety speed limiting protection method for an electric transmission mining dump truck is characterized by comprising the following steps of: the method comprises the following steps:
s1: the vehicle control unit VCU reads real-time vehicle state signals including inclination angle alpha, vehicle weight, speed, accelerator signals and brake signals;
s2: judging whether the state of the vehicle is ascending, flat or descending according to the inclination angle, the inclination duration time, the throttle signal and the brake signal state;
s3: if the vehicle is in a downhill state, the vehicle controller VCU calculates braking torque T required to be applied by the current motor according to the current total weight and the inclination angle of the vehicle;
s4: if the vehicle is in a flat or uphill state, setting a speed limit value Vs and a maximum allowable vehicle speed Vm according to the operation requirement;
s5: when the vehicle is in a flat or uphill state, if the vehicle speed exceeds a speed limit value Vs, the display terminal displays a speed limit mark and overspeed alarm, applies electric braking and records current working condition permission data;
s6: when the vehicle is in a flat or ascending state, if the vehicle speed exceeds the maximum allowable vehicle speed Vm, the display terminal reminds the driver to adopt hydraulic braking deceleration until the vehicle speed is lower than the maximum allowable vehicle speed Vm;
the vehicle control unit VCU is connected with a weighing sensor, and the weighing sensor comprises a left front weighing sensor, a right front weighing sensor, a left rear weighing sensor and a right rear weighing sensor;
in step S3, braking torqueWherein T is the minimum braking torque required to be added by a wheel side motor, R is the tire rolling radius of the mining dump truck, eta is the efficiency of the motor, i is the reduction ratio, F is the resultant force of gravity component force and friction force applied to the vehicle in a downhill working condition, F= (M1+M2) gsin (-alpha) - (M1+M2) gcos (-alpha) mu, M1 is the vehicle dead weight, M2 is the vehicle real-time load, and mu is the friction factor.
2. The self-adaptive safety speed limiting protection method for the electric drive mining dump truck according to claim 1, which is characterized by comprising the following steps of: the inclination angle is acquired in a filtering mode, and particularly N sampling values are continuously acquired through the inclination angle sensor to carry out arithmetic average operation.
3. The self-adaptive safety speed limiting protection method for the electric drive mining dump truck according to claim 1, which is characterized by comprising the following steps of: after overspeed, the whole vehicle controller VCU applies electric braking of different modes according to the current motor temperature and the speed; if the current motor temperature is higher than the set temperature, the standard electric brake is applied, otherwise the maximum electric brake is applied.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111017922.XA CN113696725B (en) | 2021-08-31 | 2021-08-31 | Self-adaptive safety speed limiting protection system and method for electric transmission mining dump truck |
| PCT/CN2022/116000 WO2023030346A1 (en) | 2021-08-31 | 2022-08-30 | Self-adaptive safe speed-limitation protection system and method for electric transmission mining dumper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111017922.XA CN113696725B (en) | 2021-08-31 | 2021-08-31 | Self-adaptive safety speed limiting protection system and method for electric transmission mining dump truck |
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| Publication Number | Publication Date |
|---|---|
| CN113696725A CN113696725A (en) | 2021-11-26 |
| CN113696725B true CN113696725B (en) | 2023-08-04 |
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| CN202111017922.XA Active CN113696725B (en) | 2021-08-31 | 2021-08-31 | Self-adaptive safety speed limiting protection system and method for electric transmission mining dump truck |
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| Country | Link |
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| CN (1) | CN113696725B (en) |
| WO (1) | WO2023030346A1 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113696725B (en) * | 2021-08-31 | 2023-08-04 | 徐州徐工矿业机械有限公司 | Self-adaptive safety speed limiting protection system and method for electric transmission mining dump truck |
| CN114834250B (en) * | 2022-03-25 | 2024-06-18 | 潍柴动力股份有限公司 | Vehicle self-adjusting speed limiting method, speed limiting system and vehicle |
| CN114407852B (en) * | 2022-03-31 | 2022-07-15 | 山西维度空间信息科技有限公司 | Mine car brake control method and device, mine car and storage medium |
| CN115771406A (en) * | 2022-12-09 | 2023-03-10 | 中铁工程服务有限公司 | Control method and device for automatic speed limiting of ramp of electric locomotive |
| CN117774714B (en) * | 2024-02-23 | 2024-05-10 | 湘潭开元机电制造有限公司 | Self-adaptive control method for traction system of mining electric wheel dumper |
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| JPH06135260A (en) * | 1992-10-23 | 1994-05-17 | Komatsu Ltd | Device for automatically controlling vehicle speed during descending slope |
| GB2313212A (en) * | 1994-12-27 | 1997-11-19 | Komatsu Mfg Co Ltd | Device and method for limiting the vehicle speed of a working vehicle |
| JP5864504B2 (en) * | 2013-10-04 | 2016-02-17 | 本田技研工業株式会社 | Vehicle braking system |
| CN103921795B (en) * | 2014-04-02 | 2016-04-20 | 中联重科股份有限公司 | Vehicle and slide energy reclaiming method, system |
| CN104085304B (en) * | 2014-06-30 | 2017-07-28 | 潍柴动力股份有限公司 | Speed method for limiting and Speed limiting system based on retarder |
| CN104354605B (en) * | 2014-11-04 | 2016-06-08 | 株洲南车时代电气股份有限公司 | A kind of for controlling the system and method for Electric Motor Wheel working truck travel speed |
| US20180111616A1 (en) * | 2016-10-25 | 2018-04-26 | NextEv USA, Inc. | Target speed control system which uses acceleration and brake pedals |
| CN110341496B (en) * | 2019-07-09 | 2022-11-04 | 武汉理工大学 | Ramp low-speed working condition running control method for distributed driving cross-country vehicle |
| CN111231762A (en) * | 2020-03-23 | 2020-06-05 | 浙江阿尔法汽车技术有限公司 | Power integration control system and control method for new energy automobile |
| CN112109546B (en) * | 2020-09-21 | 2022-03-15 | 陕西重型汽车有限公司 | Freight vehicle speed control system and method |
| CN112109547B (en) * | 2020-09-22 | 2021-04-23 | 郑州嘉晨电器有限公司 | Speed limiting method and device for internal combustion industrial vehicle |
| CN112248825B (en) * | 2020-11-11 | 2024-03-26 | 徐州徐工矿业机械有限公司 | Pre-torque control system and control method for electric transmission mining dump truck |
| CN113002321A (en) * | 2021-03-23 | 2021-06-22 | 奇瑞新能源汽车股份有限公司 | New energy automobile braking method and device, whole automobile controller and new energy automobile |
| CN113696725B (en) * | 2021-08-31 | 2023-08-04 | 徐州徐工矿业机械有限公司 | Self-adaptive safety speed limiting protection system and method for electric transmission mining dump truck |
-
2021
- 2021-08-31 CN CN202111017922.XA patent/CN113696725B/en active Active
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2022
- 2022-08-30 WO PCT/CN2022/116000 patent/WO2023030346A1/en unknown
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| Publication number | Publication date |
|---|---|
| CN113696725A (en) | 2021-11-26 |
| WO2023030346A1 (en) | 2023-03-09 |
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Inventor after: Zhang Liang Inventor after: Li Zong Inventor after: Wang Guan Inventor after: Fang Kangning Inventor after: Li Bin Inventor after: Zhang Yapeng Inventor after: Mao Jiasong Inventor after: Yu Zhenhua Inventor after: Chu Fuyang Inventor after: Gu Chengpeng Inventor before: Li Zong Inventor before: Gu Chengpeng Inventor before: Zhang Liang Inventor before: Wang Guan Inventor before: Fang Kangning Inventor before: Li Bin Inventor before: Zhang Yapeng Inventor before: Mao Jiasong Inventor before: Yu Zhenhua Inventor before: Chu Fuyang |