CN115450768A - Bus type electronic accelerator driving device and method for electric wheel dump truck - Google Patents

Bus type electronic accelerator driving device and method for electric wheel dump truck Download PDF

Info

Publication number
CN115450768A
CN115450768A CN202211099375.9A CN202211099375A CN115450768A CN 115450768 A CN115450768 A CN 115450768A CN 202211099375 A CN202211099375 A CN 202211099375A CN 115450768 A CN115450768 A CN 115450768A
Authority
CN
China
Prior art keywords
signal
stepping motor
bus
driving
throttle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202211099375.9A
Other languages
Chinese (zh)
Inventor
梁志恒
白兵兵
钟玢
梁宵
曹宝玉
王洋
崔向阳
刘秋军
王勇
陈永生
袁伟
王亮
冯俊青
张磊
于海洋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Inner Mongolia Power Investment Energy Co ltd
Original Assignee
Inner Mongolia Power Investment Energy Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Inner Mongolia Power Investment Energy Co ltd filed Critical Inner Mongolia Power Investment Energy Co ltd
Priority to CN202211099375.9A priority Critical patent/CN115450768A/en
Publication of CN115450768A publication Critical patent/CN115450768A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
    • F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
    • F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D45/00—Electrical control not provided for in groups F02D41/00 - F02D43/00
    • 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)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)

Abstract

The utility model relates to the technical field of electric wheel dumper, and provides a bus type electronic throttle driving device and a method for the electric wheel dumper, which comprises a speed reduction and execution part, a stepping motor, position feedback, a stepping motor driver and a driving controller, wherein the driving controller is in communication connection with a whole vehicle controller through a bus; the driving controller outputs a control signal, the stepping motor driver outputs a driving signal according to the control signal, and drives the stepping motor after increasing the driving torque through the deceleration and execution part; the driving controller is configured to convert the position feedback signal and the throttle given signal into digital signals having a linear relation with the opening degree of the throttle valve, and generate the control signals according to the position feedback signal and the throttle given signal. The control of the accelerator by the unmanned bicycle is convenient to realize by adopting bus control, the adjustment tolerance is set, and the heating of the motor and the driver caused by frequent adjustment of the accelerator motor is avoided.

Description

Bus type electronic accelerator driving device and method for electric wheel dumper
Technical Field
The disclosure relates to the technical field of electric wheel dump trucks, in particular to a bus type electronic throttle driving device and method for an electric wheel dump truck.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The electric wheel dump truck is widely used in open mines due to the advantages of large carrying capacity, long service life and the like, the electric wheel dump truck drives a generator to generate electricity by a diesel engine, then drives a vehicle to run by an electric traction wheel, and controls and adjusts the opening of an engine throttle by an accelerator pedal so as to control the rotating speed of the engine and the running speed of the vehicle;
the electric wheel dump truck is a heavy vehicle, is an off-highway vehicle, and runs on a closed road for a long time, but the working environment is severe, the vibration of a truck body is large, the truck body runs for 24 hours, and the body loss of a driver is large, so most of domestic large-scale open mines are subjected to unmanned technical research on the electric wheel dump truck at present, and the electric wheel dump truck enters the popularization and application stage.
Along with the popularization of the unmanned technology of the electric wheel dump truck, the accelerator control of the electric wheel dump truck also needs to realize unmanned automatic control, but the conventional electronic accelerator device cannot be directly applied, the conventional electronic accelerator device adopts a mechanical structure-motor control method, namely, an oil supply signal is given by stepping on an accelerator pedal so as to control the running of an engine, and the conventional scheme is not suitable for the unmanned electric wheel dump truck because the unmanned electric wheel dump truck does not have a driver and the accelerator pedal cannot be directly controlled by the driver.
Disclosure of Invention
The invention provides a bus type electronic accelerator driving device and method for an electric wheel dumper, which are used for solving the problems.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
one or more embodiments provide a bus type electronic throttle driving device for an electric wheel dump truck, which comprises a speed reduction and execution part, a stepping motor, position feedback, a stepping motor driver and a driving controller, wherein the driving controller is in communication connection with a vehicle control unit through a bus; the driving controller outputs a control signal, the stepping motor driver outputs a driving signal according to the control signal, and drives the stepping motor after increasing the driving moment through the deceleration and execution part;
the driving controller is configured to convert the position feedback signal and the throttle given signal into digital signals, make the converted digital signals and the opening degree of the throttle valve in a linear relation, and convert the position feedback signal and the throttle given signal into the digital signals to generate control signals.
One or more embodiments provide a drive control method of a bus-type electronic throttle driving apparatus for an electric-wheel dump truck, including the steps of:
parallelly acquiring a position feedback signal and an accelerator given signal through a CAN bus;
converting the position feedback signal and the given throttle signal into digital signals respectively, and enabling the converted digital signals to have a linear relation with the opening degree of a throttle valve;
and comparing the position setting AD value of the driver with the position feedback signal AD value, setting an allowable error, and controlling the operation of the stepping motor according to the comparison result.
Compared with the prior art, this disclosed beneficial effect does:
the control circuit is simplified by adopting bus control, the control of the accelerator by the unmanned bicycle is convenient to realize, the adjustment tolerance error is designed on the algorithm, and the heating of the motor and the driver caused by frequent adjustment of the accelerator motor is avoided.
Advantages of the present disclosure, as well as advantages of additional aspects, will be described in detail in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and not to limit the disclosure.
Fig. 1 is a block diagram of a bus type electronic throttle driving apparatus for an electric wheel dump truck according to embodiment 1 of the present disclosure;
fig. 2 is a flowchart of a drive control method of embodiment 2 of the present disclosure;
FIG. 3 is a schematic view of a gear reduction mechanism of embodiment 1 of the present disclosure;
wherein: 1. a speed reduction and execution part, 2, a stepping motor, 3, position feedback, 4, a stepping motor driver, 5 and a driving controller;
11. the cam mechanism comprises a first gear, 12, a limiting mechanism, 13, a second gear, 14, a rotary connecting structure, 15, a cam mechanism rotating seat, 16 and a protrusion.
Detailed Description
The present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments in the present disclosure may be combined with each other. The embodiments will be described in detail below with reference to the accompanying drawings.
The bus type electronic accelerator driving device is different from accelerator control of passenger cars, because an electric wheel dumper is a large diesel engine and an existing unmanned dumper is oriented to market improvement, the engine technology is backward and cannot be controlled by a bus or an electric signal directly like an engine of a passenger car, and the rotation speed control of old engines can only depend on mechanical control.
Example 1
In one or more technical solutions disclosed in one or more embodiments, as shown in fig. 1 to 3, a bus-type electronic throttle driving apparatus for an electric wheel dump truck includes a deceleration and execution part 1, a stepping motor 2, a position feedback 3, a stepping motor driver 4, and a driving controller 5, where the driving controller 5 is in communication connection with a vehicle control unit through a bus; the driving controller 5 transmits a control signal, the stepping motor driver outputs a driving signal according to the control signal, and the stepping motor 2 is driven after the driving torque is increased through the deceleration and execution part 1.
In the embodiment, the bus control is adopted in the control method, so that the control circuit is simplified, the control of the accelerator by the unmanned bicycle is convenient to realize, the adjustment tolerance error is designed on the algorithm, and the heating of the motor and the driver caused by the frequent adjustment of the accelerator motor is avoided.
In some embodiments, the deceleration and execution site is a speed reducer of a stepping motor for increasing the driving torque;
optionally, the speed reduction structure of the speed reduction and execution part is a gear speed reduction mechanism, and the execution mechanism of the speed reduction and execution part may be a cam structure.
The gear speed reducing mechanism comprises a first gear 11, a second gear 13, a limiting mechanism 12, a rotating connection structure 14 and a cam mechanism rotating seat 15 which are sequentially connected; the first gear 11 and the second gear 13 are meshed and connected in a tooth part manner; the limiting mechanism 12 limits the rotation angle of the second gear 13, the limiting mechanism 12 is connected with the cam mechanism rotating seat 15 through a rotation connecting structure 14, and the angle of the limiting mechanism is adjusted through the angle of the rotating seat 15.
Optionally, the first gear 11, the second gear 13, the limiting mechanism 12, and the rotational connection structure 14 are disposed in the shell of the accelerator driving device, the cam mechanism rotating seat 15 is disposed outside the shell of the accelerator driving device, and the cam mechanism rotating seat 15 is connected to the limiting mechanism 12 through the rotational connection structure 14, and is used for adjusting the limiting angle of the limiting mechanism 12.
Alternatively, the second gear 13 is coaxial with and rotatably connected to the spacing mechanism 12 such that the second gear 13 can rotate relative to the spacing mechanism.
Optionally, the limiting mechanism 12 at least includes a limiting groove, a positioning column is disposed on the second gear 13, and the second gear 13 moves in the limiting groove of the limiting mechanism 12 through the positioning column, so as to limit a rotation range of the second gear 13.
Further, as shown in fig. 3, the rotary connection structure 14 may be provided as a groove structure, and the cam mechanism rotary base 15 is provided with a protrusion 16, and the groove structure is matched with the protrusion 16.
When the throttle mechanism works, the gear 11 is connected with a motor shaft of the stepping motor 2, the first gear 11 drives the second gear 13 to rotate when rotating, the gear 13 realizes limiting through the limiting mechanism 12 when rotating, two points A and B of the gear 13 are not more than the limiting mechanism 12, the rotating connecting structure 14 is connected with the cam mechanism 16 through a shaft, the mechanisms 1, 2, 3 and 4 are positioned inside a shell of the throttle driving device, the cam mechanism is positioned outside the shell, the cam mechanism is positioned on a working surface of the 5-position cam mechanism, the cam follows the gear 3 to rotate, and the opening of a throttle valve of an engine is adjusted through the working surface 5, so that the rotation speed adjustment is realized.
Further, the position feedback is a rotary potentiometer, the rotary potentiometer is connected with a rotating shaft of the stepping motor, and when the stepping motor rotates, the position feedback potentiometer also rotates along with the rotating shaft, so that the output signal changes.
Specifically, the stepping motor driver in this embodiment is a 24V conventional 24V stepping motor driver sold in the market, and controls the rotation of the stepping motor according to the control instruction of the controller;
specifically, the drive controller 5 receives the given throttle signal and the position feedback of the stepping motor through the bus, controls the drive pulse and the drive signal, and finally controls the rotation of the stepping motor.
Specifically, the bus may be a CAN bus RS485 bus.
The invention adopts a CAN bus control scheme, takes the throttle control quantity on a CAN bus as a given value, converts the throttle control quantity into the opening degree of a throttle valve, and feeds back the execution result through the CAN bus. Because the whole dumper is controlled by CAN communication, the CAN bus is used for controlling, which is beneficial to simplifying control lines and has high reliability.
In the embodiment, the structure of the electronic throttle driving device is modified, the throttle given signal is received through the bus on the vehicle, and the execution result is fed back to the vehicle controller or the monitoring terminal through the bus, so that the whole vehicle control of the electronic throttle can be realized.
In some embodiments, the driving controller 5 has a control chip therein, and the control chip may be a single chip, a DSP, or an ARM controller. The control chip of the drive controller 5 is configured to execute the drive control method of embodiment 2.
Example 2
Based on the bus-type electronic accelerator driving device for the electric wheel dump truck in embodiment 1, the present embodiment provides a driving control method, which can be implemented in a control chip of the driving controller 5, and includes the following steps:
s1, parallelly acquiring a position feedback signal and an accelerator given signal through a CAN bus;
s2, converting the position feedback signal and the given throttle signal into digital signals respectively, and enabling the converted digital signals (namely AD values) to have a linear relation with the opening degree of the throttle valve;
and S3, comparing the position setting AD value of the driver with the position feedback signal AD value, and controlling the operation of the stepping motor according to the comparison result.
Further, a method of controlling an operation of a stepping motor according to a result of the comparison, comprising the steps of:
step S31, setting an allowable error, and calculating a difference value between a position given AD value of the driver and a position feedback signal AD value;
alternatively, the allowable error may be set to 10% of the maximum AD value of the position feedback, which is equivalent to classifying the accelerator pedal into 10 classes.
Step S32, when the calculated difference is smaller than an allowable error, controlling the stepping motor to keep a static state;
step S33, when the calculated difference is larger than the allowable error and the position given AD value is larger than the position feedback signal AD value, controlling the stepping motor to rotate clockwise;
and step S34, when the calculated difference is larger than the allowable error and the given signal is larger than the feedback signal, controlling the stepping motor to rotate anticlockwise.
The following is a description of a specific embodiment.
Step 1: initializing a system, and acquiring a position signal output by the position feedback 3;
the system initialization comprises initializing system variables, initializing a CAN bus, and entering the step 2 after the initialization is finished; the position signal of the position feedback 3 is ADC sampled.
The system variables comprise an accelerator pedal initial position AD value, an accelerator pedal highest position AD value, the highest engine rotating speed, the lowest engine rotating speed, CAN communication parameters and the like.
The CAN bus is initialized to set the communication baud rate.
Step 2: a CAN bus of the electronic accelerator receives accelerator control quantity (namely an accelerator given signal) sent by the whole vehicle controller, the accelerator control quantity is used as the given of the electronic accelerator, the electronic accelerator control quantity is converted into a position given AD value of a driver 4, and the step 3 is executed after the electronic accelerator control quantity is finished;
the throttle control amount is converted into a position given AD value of the driver 4, and the conversion method is as follows according to the maximum AD value and the minimum AD value fed back according to the position of the driver:
position set AD = minimum AD value of position feedback of driver + (maximum AD value of position feedback of driver-minimum AD value of position feedback of driver throttle control amount (1)
In the present embodiment, the conversion method has an advantage of being compatible with differences between the minimum AD value and the maximum AD value of the position feedback of different vehicle drivers, and only the values of the minimum AD value and the maximum AD value need to be changed for these differences.
The accelerator control of the electric wheel dumper needs to be upgraded to CAN bus control, the accelerator control quantity on the CAN bus is taken as a given value and converted into the opening degree of a throttle valve, and then an execution result is fed back through the CAN bus.
The converted AD value and the opening degree of the throttle valve form a linear relation, so that the difficulty of generating a control instruction is greatly reduced, the calculated amount is small, and the control instantaneity is high.
And step 3: comparing the position given AD value of the driver with the position feedback signal AD value, if the difference value of the position given AD value and the position feedback signal AD value is smaller than the adjustment allowable error, the allowable error CAN be a fixed value, or CAN be configured through a CAN bus, entering the step 4, otherwise, entering the step 5;
optionally, the adjustment allowable error is set according to the position feedback signal AD value, and the adjustment allowable error is 10% of the maximum position feedback AD value in this embodiment, which is equivalent to dividing the accelerator pedal into 10 levels.
And 4, step 4: closing the pulse input to the component 4 by the component 5 to keep the stepping motor in a static state, and entering the step 8; the static state means that the stepping motor is in a stop state and does not rotate forwards or reversely.
And 5: if the position given AD value of the driver is larger than the position feedback signal AD value, entering a step 7, otherwise, entering a step 6;
step 6: outputting a low level by the direction signal, outputting a driving pulse by the driving signal, enabling the stepping motor to rotate anticlockwise, and entering a step 8;
and 7: outputting a high level by the direction signal, outputting a driving pulse by the driving signal, enabling the stepping motor to rotate clockwise, and entering a step 8;
and 8: when the adjustment is not needed, the feedback execution result is 100%; and transmitting the adjusting result to the vehicle control unit through the CAN bus.
During the regulation phase of the output pulse, the result feedback can be regulated according to the following formula:
Figure BDA0003838505190000101
in the formula (2) of this embodiment, the negative difference is solved by taking the absolute value, so that the control logic is simplified.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Although the embodiments of the present disclosure have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present disclosure, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive changes in the technical solutions of the present disclosure.

Claims (10)

1. The utility model provides a bus type electron throttle drive arrangement for electronic round of tipper which characterized in that:
the system comprises a speed reduction and execution part, a stepping motor, position feedback, a stepping motor driver and a driving controller, wherein the driving controller is in communication connection with a whole vehicle controller through a bus; the driving controller outputs a control signal, the stepping motor driver outputs a driving signal according to the control signal, and drives the stepping motor after increasing the driving torque through the deceleration and execution part;
the driving controller is configured to convert the position feedback signal and the throttle given signal into digital signals, make the converted digital signals and the opening degree of the throttle valve in a linear relation, and convert the position feedback signal and the throttle given signal into the digital signals to generate control signals.
2. The bus type electronic throttle driving apparatus for an electric wheel dump truck as set forth in claim 1, wherein: the speed reducing structure of the speed reducing and executing part is a gear speed reducing mechanism;
or/and the actuating mechanism of the deceleration and execution part is in a cam structure.
3. The bus type electronic throttle driving apparatus for an electric wheel dump truck as set forth in claim 1, wherein: the position feedback is a rotary potentiometer connected with a rotating shaft of the stepping motor.
4. The bus type electronic throttle driving apparatus for an electric wheel dump truck according to claim 1, wherein: the driving controller receives the given throttle signal and the position feedback of the stepping motor through the bus, controls the driving pulse and the driving signal and controls the rotation of the stepping motor.
5. The bus type electronic throttle driving apparatus for an electric wheel dump truck according to claim 1, wherein: the bus is a CAN bus or an RS485 bus.
6. The bus type electronic throttle driving apparatus for an electric wheel dump truck as set forth in claim 1, wherein: a control chip is arranged in the driving controller, and the control chip is a single chip microcomputer, a DSP or an ARM controller.
7. A drive control method of a bus type electronic throttle driving device for an electric wheel dump truck is characterized by comprising the following steps:
parallelly acquiring a position feedback signal and an accelerator given signal through a CAN bus;
converting the position feedback signal and the given throttle signal into digital signals respectively, and enabling the converted digital signals to have a linear relation with the opening degree of a throttle valve;
and comparing the position setting AD value of the driver with the position feedback signal AD value, setting an allowable error, and controlling the operation of the stepping motor according to the comparison result.
8. The drive control method according to claim 7, wherein the method of controlling the operation of the stepping motor based on the result of the comparison comprises the steps of:
setting an allowable error, and calculating the difference value between the position given AD value of the driver and the position feedback signal AD value;
when the calculated difference is smaller than the allowable error, controlling the stepping motor to keep a static state;
when the calculated difference is larger than the allowable error and the position given AD value is larger than the position feedback signal AD value, controlling the stepping motor to rotate clockwise;
when the calculated difference is larger than the allowable error and the given signal is larger than the feedback signal, the stepping motor is controlled to rotate anticlockwise.
9. The drive control method according to claim 7, characterized in that: the allowable error is set to 10% of the maximum AD value of the position feedback.
10. The drive control method according to claim 7, characterized in that: and converting the throttle given signal into a digital signal, and calculating according to the maximum AD value and the minimum AD value fed back by the position of the driver.
CN202211099375.9A 2022-09-08 2022-09-08 Bus type electronic accelerator driving device and method for electric wheel dump truck Pending CN115450768A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211099375.9A CN115450768A (en) 2022-09-08 2022-09-08 Bus type electronic accelerator driving device and method for electric wheel dump truck

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211099375.9A CN115450768A (en) 2022-09-08 2022-09-08 Bus type electronic accelerator driving device and method for electric wheel dump truck

Publications (1)

Publication Number Publication Date
CN115450768A true CN115450768A (en) 2022-12-09

Family

ID=84302912

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211099375.9A Pending CN115450768A (en) 2022-09-08 2022-09-08 Bus type electronic accelerator driving device and method for electric wheel dump truck

Country Status (1)

Country Link
CN (1) CN115450768A (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59103113A (en) * 1982-12-03 1984-06-14 Hitachi Ltd Positioning servo control system
US5821724A (en) * 1995-02-03 1998-10-13 Cms Gilbreth Packaging Systems Feedback limiter for closed loop motor controller
CN101070790A (en) * 2006-05-10 2007-11-14 陈文英 Automobile electronic gas-saving valve system
CN101408133A (en) * 2007-10-09 2009-04-15 比亚迪股份有限公司 Control method of engine electric air throttle
CN114544181A (en) * 2022-01-27 2022-05-27 南京航空航天大学 Calibration system and control method for electronic control aviation two-stroke kerosene engine

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59103113A (en) * 1982-12-03 1984-06-14 Hitachi Ltd Positioning servo control system
US5821724A (en) * 1995-02-03 1998-10-13 Cms Gilbreth Packaging Systems Feedback limiter for closed loop motor controller
CN101070790A (en) * 2006-05-10 2007-11-14 陈文英 Automobile electronic gas-saving valve system
CN101408133A (en) * 2007-10-09 2009-04-15 比亚迪股份有限公司 Control method of engine electric air throttle
CN114544181A (en) * 2022-01-27 2022-05-27 南京航空航天大学 Calibration system and control method for electronic control aviation two-stroke kerosene engine

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
李荣生: "工业控制机的程序设计", 内蒙古人民出版社, pages: 251 - 179 *

Similar Documents

Publication Publication Date Title
US6726592B2 (en) Power output apparatus and automobile with power output apparatus mounted thereon
JP5137239B2 (en) Control method of idling stop mode of hybrid vehicle
US7597165B2 (en) Hybrid vehicle and control method of the same
CN100340754C (en) Electronic throttle body
CN101739862B (en) Electronic throttle control simulation experiment system
US10093307B2 (en) Automobile including motor for running the automobile
CN1926005A (en) Electric vehicle and its control method
CN101975115B (en) Method for controlling throttle valve and EGR valve
KR102319153B1 (en) System for a electronic vehicle regenerative braking control
CN104260639A (en) Device for automatically converting into emergency brake when driver mistakes accelerator for brake to step on
CN104234893B (en) Electromechanical combined inertia energy storage pump and the method utilizing its control automobile oil supply system
CN105156658A (en) Inner rotor motor swing type self-adaption automatic variable speed drive assembly of electric motor car
CN115450768A (en) Bus type electronic accelerator driving device and method for electric wheel dump truck
US8257226B2 (en) Variable speed drivetrain for electronic throttle body
CN1642769A (en) Control device for hybrid vehicle
CN104315102A (en) Electric control stepless speed change method and gearbox for motor vehicle
JP2008174123A (en) Power output device and vehicle mounted therewith and method for controlling power output device
CN105221734A (en) Battery-operated motor cycle external rotor electric machine pendulum-type self-adapting automatic gear shift drives assembly
CN212583816U (en) Electric control valve system for two-stage turbocharger of engine
US20050192734A1 (en) Vehicle and nonlinear control method for vehicle
CN203285549U (en) Hybrid electric automobile engine throttle executive device
JP2002281604A (en) Self-propelled vehicle
CN201925029U (en) Electronic throttle valve provided with split motor
CN219755241U (en) Speed reducer structure of electronic throttle
CN1890464A (en) Method and device for operating a drive unit

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination