CN116215255A - Distributed electrically-driven unmanned loader and torque control method thereof - Google Patents
Distributed electrically-driven unmanned loader and torque control method thereof Download PDFInfo
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Classifications
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- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/34—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
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- 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
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- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/422—Drive systems for bucket-arms, front-end loaders, dumpers or the like
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- E—FIXED CONSTRUCTIONS
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- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
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- E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
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- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
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- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- 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
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- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
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Abstract
The invention discloses a distributed electric-driven unmanned loader, which relates to the technical field of engineering machinery, and comprises a working device electric driving module, a frame, a distributed control module, a vehicle body state detection module, a power battery module, a rear frame electric driving module, a central control module, a remote control module, an electric steering module and a front frame electric driving module; the working device electric driving module, the front frame electric driving module, the electric steering module and the rear frame electric driving module are all electrically connected with the output end of the distributed control module; the input end of the distributed control module is electrically connected with the output end of the central control module and the power battery module. The invention integrally adopts distributed control, can rapidly realize the coordinated control of the working device and the running device under specific working conditions, is convenient for realizing the optimal distribution of the torque according to different optimization targets under different working conditions, can improve the dynamic index and can reduce the energy consumption.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a distributed electric drive unmanned loader and a torque control method thereof.
Background
As an earth moving machine that is widely used, a wheel loader is widely used for earth and stone transportation and some lightweight shoveling works. However, since the loader usually works under severe working conditions, the driving work of the conventional loader has great challenges for the operation proficiency of operators, and the dust in the field environment of earthworks also has great influence on the personal health of operators. In addition, the traditional loader adopts a diesel engine, so that the working efficiency is low, and great energy consumption can be generated, so that the development of the electric loader has great significance.
At present, the distributed driving is widely applied to the field of passenger cars, and the distributed electric driving vehicle has the characteristics of high control flexibility, short transmission chain, compact structure, high transmission efficiency, high space arrangement utilization rate and the like, and the unique structural characteristics and driving mode lead the distributed electric driving vehicle to bring obvious technical innovation in the aspects of fully excavating the dynamic control potential of the vehicle, enhancing the safety of the vehicle, improving the driving efficiency, simplifying the chassis structure and the like, and provide a hardware carrier for the control technology of the high-performance vehicle.
Disclosure of Invention
The invention aims to provide a distributed electric-driven unmanned loader and a torque control method thereof, which are used for solving the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a distributed electric-driven unmanned loader comprises a working device electric driving module, a frame, a distributed control module, a vehicle body state detection module, a power battery module, a rear frame electric driving module, a central control module, a remote control module, an electric steering module and a front frame electric driving module;
the working device comprises a working device electric driving module, a front frame electric driving module, an electric steering module and a rear frame electric driving module, wherein the working device electric driving module, the front frame electric driving module, the electric steering module and the rear frame electric driving module are all electrically connected with the output end of the distributed control module; the input end of the distributed control module is electrically connected with the output end of the central control module and the power battery module;
the output end of the power supply module is electrically connected with the working device electric driving module, the front frame electric driving module, the rear frame electric driving module and the electric steering module.
Based on the technical scheme, the invention also provides the following optional technical schemes:
in one alternative: the electric driving module of the working device comprises a mechanical structure of the working device and an electric control power element, wherein the electric control power element is a roller screw electric cylinder, an electric push rod of the electric control power element is hinged with the mechanical structure of the working device through a pin shaft, and the input end of the roller screw electric cylinder is electrically connected with the output end of the distributed control module.
In one alternative: the front frame electric driving module comprises a front driving axle permanent magnet synchronous motor, a front driving axle, a tire assembly and a brake assembly;
the rear frame electric driving module consists of a rear drive axle permanent magnet synchronous motor, a rear drive axle and a tire component; the input end of the rear drive axle permanent magnet synchronous motor is connected with the output end of the motor controller, and the front drive axle permanent magnet synchronous motor and the rear drive axle permanent magnet synchronous motor are electrically connected with the output end of the distributed control module.
In one alternative: the electric steering module consists of a left steering electric cylinder and a right steering electric cylinder, wherein electric cylinder push rods and electric cylinder barrels in the left steering electric cylinder and the right steering electric cylinder are respectively hinged with the front side and the rear side of the frame through pin shafts, and input ends of the left steering electric cylinder and the right steering electric cylinder are electrically connected with output ends of the distributed control module.
In one alternative: the vehicle body state detection module comprises a camera, a laser radar and an inertial measurement unit;
the camera and the laser radar are respectively arranged on the side part of the frame and used for detecting the surrounding environment of the vehicle body in real time; the camera and the laser radar are arranged on the same vertical axis, the inertia measurement unit is arranged right above the mass center of the frame, and the output end of the vehicle body detection module is connected with the central control module through the CAN bus.
In one alternative: the distributed control module consists of a working device power element controller, an electric steering controller and a motor power element controller, wherein the electric steering controller comprises a left electric cylinder controller, a right electric cylinder controller and an electric cylinder synchronous controller.
In one alternative: the remote control module comprises a remote controller and a receiving unit, and the remote controller comprises an instruction unit and a video display unit;
the video display unit is used for receiving the periphery of the vehicle body and the material image shot by the camera and is used for an operator to observe the state of the operation site in real time; the instruction unit is used for operating the loader by an operator to perform operation;
the video display unit can display the vehicle body information acquired by the sensor in real time and specifically comprises a vehicle body pitch angle, a front and rear vehicle body yaw angle speed, a longitudinal vehicle speed, acceleration information and a front and rear axle driving motor running state which are acquired by the inertia measurement unit.
The torque control method of the distributed electric drive loader based on the distributed electric drive unmanned loader comprises the following steps of:
step 1: the central control module distributes the initial torque required by the issued control instruction to the front frame electric driving module and the rear frame electric driving module evenly according to the issued control instruction;
step 2: the vehicle body state monitoring module acquires state information of the vehicle and surrounding in real time, and feeds the acquired information back to the central control module;
step 3: according to the state information acquired by the vehicle body state monitoring module, carrying out state estimation on the vehicle, and identifying the immediate working scene of the vehicle;
step 4: calculating the total required torque of the vehicle according to a pre-built loader model;
step 5: matching different torque control strategies aiming at the typical working state of the loader, and calculating the torque distribution coefficients of the front and rear shaft motors according to an optimization function;
step 6: combining the calculated total required torque with the torque distribution coefficients of the front and rear shaft motors, respectively transmitting control instructions into a front frame electric driving module and a rear frame electric driving module by a central control module, and then transmitting the instructions to the driving motors to complete the torque control task; if the operator does not give a parking instruction, the steps 2-6 of the control program are repeatedly executed, and if the operator gives the parking instruction, the control program is ended
In one alternative: when the loader executes the shoveling task, the torque control method specifically comprises the following steps:
the vehicle body state monitoring module acquires depth of field information and real-time image information of a shovel object and transmits the depth of field information and the real-time image information to the central control module;
the central control module judges the distance between the current loader and the material pile according to the acquired environmental depth information and judges whether to enter a shovel loading stage;
the central control module performs feature extraction on the acquired image information and depth information, and identifies the type of the spading object, the size of granularity and the three-dimensional information of the stockpile;
the three-dimensional information of the type, granularity and stockpile of the materials is obtained, the real-time speed of the vehicle is used as an input quantity, and a trained model is input to obtain the initial torque required before spading;
according to the data matching calculation of the whole vehicle mathematical model and the central control module, calculating the initial torque required by the working device for inserting the material pile, and calculating the front and rear axle torque distribution coefficients by taking the optimal dynamic property as a target;
when the slip rate fed back to the central control module reaches a certain value in the process of inserting the bucket into the material pile, a turning instruction is given to a movable arm bucket electric cylinder in the electric driving module of the working device, and a material compact core formed at the bucket tip is damaged; and acquiring a pressure value of a movable arm bucket electric cylinder in the bucket overturning process, acquiring required torque according to a loader dynamic model, a kinematic model and a tire force model, distributing the required torque to a front frame electric driving module and a rear frame electric driving module, driving the bucket to be continuously inserted into a material pile, and repeating the process to reach a preset full bucket rate.
In one alternative: when the loader is in a transportation state, the torque control method specifically comprises the following steps:
the vehicle body state detection modules distributed on the front side and the rear side of the vehicle frame acquire vehicle body posture information of the front frame and the rear frame;
the vehicle body state detection module arranged on the vehicle roof acquires image information of a running area of the loader;
the CAN bus reads the actual output rotating speed of the motor and the extending length information of the steering cylinder;
the obtained image information is subjected to definition processing, and the road surface humidity condition is identified by comparing the image subjected to definition with the image in the training sample set;
and acquiring three-dimensional point cloud information of the road surface, and carrying out distortion processing on the information by combining with vehicle body posture information returned by the IMU. Carrying out data fusion on the processed information and the image to obtain the road surface topography;
the road surface humidity state information, the actual output rotating speed of the motor, the extension of the steering electric cylinder and the yaw rate data of the front and rear frames are transmitted to a central processing module, the running state of the vehicle is identified, and the torque values of the front and rear motors are obtained after the vehicle is processed by the central processing module.
Compared with the prior art, the invention has the following beneficial effects:
the whole frame of the distributed electric-driven unmanned loader adopts an aluminum alloy section structure, so that the quality of the vehicle body is reduced; the modularized structure is adopted, and various modules can be expanded according to the use scene in the follow-up process; the hydraulic system and the diesel engine on the traditional loader are replaced by the distributed electric drive, so that the fuel consumption is reduced; compared with a hydraulic system, the electric drive system has high response speed, and provides a carrier for intelligent control of the loader; the distributed control is adopted integrally, so that the coordination control of the working device and the running device under specific working conditions can be realized quickly, the optimal distribution of the torque can be realized according to different optimization targets under different working conditions, the dynamic index can be improved, and the energy consumption can be reduced.
Drawings
FIG. 1 shows a schematic diagram of a distributed drive unmanned loader according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an electric drive module of the work implement;
FIG. 3 is an overall schematic diagram of the front and rear frame electric drive modules;
FIG. 4 is an overall schematic of the distributed electric drive loader torque control step;
FIG. 5 is a flowchart of the torque control steps in the shovel loading phase of the distributed electrically driven loader;
FIG. 6 is a flow chart of the torque control steps during the transport phase of the distributed electric drive loader.
Reference numerals annotate: the vehicle body state detection device comprises a working device electric driving module 1, a working device mechanical structure 101, an electric control power element 102, a pin shaft 103, a vehicle frame 2, a distributed control module 3, a vehicle body state detection module 4, a power battery module 5, a rear vehicle frame electric driving module 6, a rear driving axle permanent magnet synchronous motor 601, a rear driving axle 602, a tire component 603, a central control module 7, a remote control module 8, an electric steering module 9, a left steering electric cylinder 901, a right steering electric cylinder 902, a front vehicle frame electric driving module 10, a front driving axle permanent magnet synchronous motor 1001, a front driving axle 1002, a tire component 1003 and a brake component 1004.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and examples; in the drawings or description, similar or identical parts are provided with the same reference numerals, and in practical applications, the shape, thickness or height of each part may be enlarged or reduced. The examples set forth herein are intended to be illustrative of the invention and are not intended to limit the scope of the invention. Any obvious modifications or alterations to the invention, as would be apparent, are made without departing from the spirit and scope of the present invention.
As shown in fig. 1-3, the invention discloses a distributed electric-driven unmanned loader, which aims to provide a hardware carrier for a high-performance vehicle control technology, and comprises a frame 2, a working device electric driving module 1, a front frame electric driving module 10, a rear frame electric driving module 6, an electric steering module 9, a power battery module 5, a distributed control module 3, a remote control module 8, a vehicle body state detection module 4 and a central control module 7;
the electric driving module 1 of the working device, the electric driving module 10 of the front frame, the electric steering module 9 of the rear frame and the electric driving module 6 of the rear frame are electrically connected with the output end of the distributed control module 3, the input end of the distributed control module 3 is electrically connected with the central control module 7 and the power battery module 5, and the output end of the power supply module 5 is electrically connected with the electric driving module 1 of the working device, the electric driving module 10 of the front frame, the electric driving module 6 of the rear frame and the electric steering module 9 of the rear frame.
The distributed electric drive unmanned loader frame is formed by splicing aluminum alloy section frames.
It should be noted that, at present, most of the power systems of the working devices of the loader adopt hydraulic systems, because of the characteristics of fluid, the response speed of the hydraulic systems is slower, and the risk of leakage exists due to poor anti-pollution capability of the hydraulic systems, and the cost of high-precision hydraulic elements is higher.
In this embodiment, the work device electric drive module 1 includes a work device mechanical structure 101 and an electrically controlled power element 102; the electric control power element is a roller screw electric cylinder, an electric push rod of the electric control power element is hinged with a mechanical structure of the working device through a pin shaft 103, and the input end of the roller screw electric cylinder is electrically connected with the output end of the controller.
The electric steering module 9 consists of a left steering cylinder 901 and a right steering cylinder 902;
in one possible embodiment of the invention, the electric cylinder adopts a ball screw electric cylinder, an electric cylinder push rod and an electric cylinder barrel are respectively hinged with the front frame and the rear frame through pin shafts, and the input ends of the left steering electric cylinder and the right steering electric cylinder are electrically connected with the output ends of the distributed control modules.
It should be noted that, in other embodiments, other types of electric cylinders may be used, which are not specifically described herein, but all the solutions are within the scope of the present invention.
The distributed control module 3 is composed of a working device power element controller, an electric steering controller and a motor power element controller, wherein the electric steering controller comprises a left electric cylinder controller, a right electric cylinder controller and an electric cylinder synchronous controller.
The remote control module in this embodiment is composed of a remote controller and a receiving unit.
The control command is issued by an operator through a remote controller, a remote control signal is transmitted to a receiver in a wireless transmission mode, and the receiver is connected with the whole vehicle central control module 7 to transmit the command to the whole vehicle end.
In one possible embodiment of the invention, the body state detection module 4 comprises a camera, a lidar and an Inertial Measurement Unit (IMU).
The camera and the laser radar are respectively arranged on the front side above the rear frame and used for detecting the surrounding environment of the vehicle body in real time, the camera and the laser radar are arranged on the same vertical axis, and the inertial measurement unit IMU is arranged right above the mass center of the front side and the rear side of the vehicle body 2;
the output end of the vehicle body detection module is connected with the central control module through a CAN bus.
It should be noted that, in the possible embodiments, other types of sensors are included, and in addition, the output signal of the vehicle body state detection module 4 may be connected to the central control module 7 through other communication manners, which are not specifically described herein, but all those schemes are within the scope of the present invention.
In this embodiment, the central control module 7 is composed of a VCU and an industrial personal computer, the rear frame is provided with a controller mounting plate, and the control board is provided with a plurality of through holes for fixing the controller.
In one possible embodiment of the invention, the power battery module 5 comprises a lithium battery and an inverter, the rear frame is provided with a battery compartment, the battery compartment is provided with a plurality of pressing plates for fixing the battery, and the battery is provided with a counterweight 3 for balancing the front and rear frame masses.
It should be noted that, in the possible embodiments of the present invention, the power battery may be of other types, which are not specifically described herein, but all the solutions are within the scope of the present invention.
In this embodiment, the remote controller includes an instruction unit and a video display unit.
The video display unit is used for receiving the periphery of the vehicle body and the material images shot by the camera and is used for an operator to observe the state of the operation site in real time. The instruction unit is used for a driver to control the loader to operate, and the specific control functions are as follows: the loader is controlled to start, brake, turn and park in the walking process; during operation, lifting and descending of a movable arm of the loader and overturning of a bucket are controlled; the automatic shovel switch of the working device is used for switching the automatic/manual working mode of the working device.
It should be noted that, in a possible embodiment of the present invention, other instruction types exist in the remote controller, which is not specifically described herein.
In one possible embodiment of the invention, the remote controller video display end can display the vehicle body information acquired by the sensor in real time, and specifically comprises a vehicle body pitch angle acquired by an Inertial Measurement Unit (IMU), a front and rear vehicle body yaw angle speed, a longitudinal vehicle speed, acceleration information, a front and rear axle driving motor running state, including power information, motor output rotating speed torque and the like.
It should be noted that, in the possible embodiments of the present invention, the display port may display feedback data of other various sensors, which are not specifically described herein, but all the solutions are within the scope of the present invention.
In this embodiment, the industrial personal computer is configured to process various information fed back by each module, and specifically includes material information obtained by the camera module, vehicle body posture information obtained by the Inertial Measurement Unit (IMU), and information of each part such as a motor and an electric cylinder fed back through a CAN line. The information fed back into the industrial personal computer is processed by a series of algorithms to obtain the required target materials and macroscopic parameters of the terrain and the ground around the vehicle body, a series of algorithms are added according to the macroscopic parameters, and the optimal driving moment of the vehicle under different working conditions is obtained by combining corresponding experimental results; and then the control instruction is transmitted to each module controller through the CAN line, and corresponding control instructions are issued to each module.
In this embodiment, the power battery module 5 according to claim 7 comprises a safety button for controlling the stopping of the loader in time when the control command fails.
As shown in fig. 4, in the present embodiment, the distributed electric drive loader torque control method includes the steps of:
the driver gives a control command to the whole vehicle through the remote control end, and the central control module calculates the initial torque required by starting the vehicle according to the vehicle speed signal given by the driver and distributes the initial torque to the front axle control module and the rear axle control module evenly.
The vehicle body state monitoring module acquires state information of the vehicle and surrounding in real time, and feeds the acquired information back to the central control module.
And estimating the state of the vehicle according to the state information acquired by the sensor, and identifying the immediate working scene of the vehicle.
And calculating the total required torque of the vehicle according to the pre-built loader model.
Different torque control strategies are matched according to the typical working state of the loader, and the torque distribution coefficients of the front and rear shaft motors are calculated according to an optimization function.
And combining the calculated total required torque and the front and rear axle motor torque distribution coefficients, respectively transmitting control instructions into front and rear axle motor controllers by the central control module, and then transmitting the instructions to the driving motor to complete the torque control task. If the operator does not give a parking instruction, the steps 2 to 7 of the control program are repeatedly executed, and if the operator gives the parking instruction, the control program is ended.
As shown in fig. 5, in one possible embodiment of the present invention, when the loader performs a shoveling task, the torque control method thereof specifically includes the steps of:
the laser radar and the infrared camera in the car body state monitoring module respectively acquire depth information and real-time image information of a shovel object and transmit the depth information and the real-time image information into the central control module;
and the central control module judges the distance between the current loader and the material pile according to the acquired environmental depth information and judges whether the loading stage is started.
The image processing unit of the central control module performs feature extraction on the acquired image information and depth information, and identifies the type of the spading object, the size of granularity and the three-dimensional information of the stockpile.
And taking the obtained three-dimensional information of the material types, granularity and stockpile, the real-time speed of the vehicle as the input quantity of a prediction model, and inputting the parameters into a trained model to obtain the initial torque required before spading.
And (3) calculating initial torque required by the working device for inserting the material pile according to the matching of the whole vehicle mathematical model and data in the central control module, and calculating front and rear axle torque distribution coefficients by taking the optimal dynamic property as a target.
When the slip rate fed back to the central control module reaches a certain value in the process of inserting the bucket into the material pile, a turning command is given to the movable arm bucket electric cylinder, and a material compact core formed at the bucket tip is damaged; and acquiring a pressure value of a movable arm bucket electric cylinder in the bucket overturning process, acquiring required torque according to a whole vehicle dynamics and kinematics model, distributing the required torque to a front driving motor and a rear driving motor, driving the bucket to continuously insert into a material pile, and repeating the process to reach a preset full bucket rate.
As shown in fig. 6, in one possible embodiment of the present invention, the torque control method thereof specifically includes the steps of, when the loader is in a transport state:
the inertial measurement units IMU distributed on the front and rear frames of the vehicle acquire the body posture information of the front and rear frames, including three-axis posture angle, acceleration information and the like;
a monocular camera arranged on the roof acquires image information of a running area of the loader;
the CAN bus reads the actual output rotating speed of the motor and the extending length information of the steering cylinder;
the obtained image information is subjected to definition processing, and the road surface humidity condition is identified by comparing the image subjected to definition with the image in the training sample set;
and acquiring three-dimensional point cloud information of the road surface, and carrying out distortion processing on the information by combining with vehicle body posture information returned by the IMU. And carrying out data fusion on the processed information and the image to obtain the road surface topography.
The road surface condition information, the actual output rotating speed of the motor, the elongation of the steering electric cylinder, the yaw rate of the front and rear frames and other data are transmitted to a central processing module to identify the running state of the vehicle, and the torque values of the front and rear motors are obtained after the data are processed by a torque preprocessing unit and an optimal control coefficient unit.
The foregoing is merely specific embodiments of the disclosure, but the protection scope of the disclosure is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the disclosure, and it is intended to cover the scope of the disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (10)
1. The distributed electric-driven unmanned loader is characterized by comprising a working device electric driving module, a frame, a distributed control module, a vehicle body state detection module, a power battery module, a rear frame electric driving module, a central control module, a remote control module, an electric steering module and a front frame electric driving module;
the working device comprises a working device electric driving module, a front frame electric driving module, an electric steering module and a rear frame electric driving module, wherein the working device electric driving module, the front frame electric driving module, the electric steering module and the rear frame electric driving module are all electrically connected with the output end of the distributed control module; the input end of the distributed control module is electrically connected with the output end of the central control module and the power battery module;
the output end of the power supply module is electrically connected with the working device electric driving module, the front frame electric driving module, the rear frame electric driving module and the electric steering module.
2. The distributed electrically driven unmanned loader of claim 1, wherein the work device electric drive module comprises a work device mechanical structure and an electrically controlled power element, the electrically controlled power element is a roller screw electric cylinder, an electric push rod of which is hinged with the work device mechanical structure through a pin shaft, and an input end of the roller screw electric cylinder is electrically connected with an output end of the distributed control module.
3. The distributed electrically driven unmanned loader of claim 1, wherein the front frame electrical drive module comprises a front drive axle permanent magnet synchronous motor, a front drive axle, a tire assembly, and a brake assembly;
the rear frame electric driving module consists of a rear drive axle permanent magnet synchronous motor, a rear drive axle and a tire component; the input end of the rear drive axle permanent magnet synchronous motor is connected with the output end of the motor controller, and the front drive axle permanent magnet synchronous motor and the rear drive axle permanent magnet synchronous motor are electrically connected with the output end of the distributed control module.
4. The distributed electrically driven unmanned loader of claim 1, wherein the electric steering module is composed of a left steering electric cylinder and a right steering electric cylinder, wherein electric cylinder push rods and electric cylinder barrels in the left steering electric cylinder and the right steering electric cylinder are respectively hinged with the front side and the rear side of the frame through pin shafts, and input ends of the left steering electric cylinder and the right steering electric cylinder are electrically connected with output ends of the distributed control module.
5. The distributed electrically driven unmanned aerial vehicle of claim 1, wherein the body state detection module comprises a camera, a lidar, and an inertial measurement unit;
the camera and the laser radar are respectively arranged on the side part of the frame and used for detecting the surrounding environment of the vehicle body in real time; the camera and the laser radar are arranged on the same vertical axis, the inertia measurement unit is arranged right above the mass center of the frame, and the output end of the vehicle body detection module is connected with the central control module through the CAN bus.
6. The distributed electrically driven unmanned loader of claim 1, wherein the distributed control module is comprised of a work device power element controller, an electric steering controller, and a motor power element controller, wherein the electric steering controller comprises a left and right electric cylinder controller and an electric cylinder synchronization controller.
7. The distributed electrically driven unmanned loader of claim 1, wherein the remote control module comprises a remote control and a receiving unit, the remote control comprising an instruction unit and a video display unit;
the video display unit is used for receiving the periphery of the vehicle body and the material image shot by the camera and is used for an operator to observe the state of the operation site in real time; the instruction unit is used for operating the loader by an operator to perform operation;
the video display unit can display the vehicle body information acquired by the sensor in real time and specifically comprises a vehicle body pitch angle, a front and rear vehicle body yaw angle speed, a longitudinal vehicle speed, acceleration information and a front and rear axle driving motor running state which are acquired by the inertia measurement unit.
8. A method of torque control for a distributed electrically driven loader, characterized in that it is based on a distributed electrically driven unmanned loader according to any of claims 1-7, comprising the steps of:
step 1: the central control module distributes the initial torque required by the issued control instruction to the front frame electric driving module and the rear frame electric driving module evenly according to the issued control instruction;
step 2: the vehicle body state monitoring module acquires state information of the vehicle and surrounding in real time, and feeds the acquired information back to the central control module;
step 3: according to the state information acquired by the vehicle body state monitoring module, carrying out state estimation on the vehicle, and identifying the immediate working scene of the vehicle;
step 4: calculating the total required torque of the vehicle according to a pre-built loader model;
step 5: matching different torque control strategies aiming at the typical working state of the loader, and calculating the torque distribution coefficients of the front and rear shaft motors according to an optimization function;
step 6: combining the calculated total required torque with the torque distribution coefficients of the front and rear shaft motors, respectively transmitting control instructions into a front frame electric driving module and a rear frame electric driving module by a central control module, and then transmitting the instructions to the driving motors to complete the torque control task; if the operator does not give a parking instruction, the steps 2-6 of the control program are repeatedly executed, and if the operator gives the parking instruction, the control program is ended.
9. The method of claim 8, wherein the method of torque control of the loader is characterized by the steps of:
the vehicle body state monitoring module acquires depth of field information and real-time image information of a shovel object and transmits the depth of field information and the real-time image information to the central control module;
the central control module judges the distance between the current loader and the material pile according to the acquired environmental depth information and judges whether to enter a shovel loading stage;
the central control module performs feature extraction on the acquired image information and depth information, and identifies the type of the spading object, the size of granularity and the three-dimensional information of the stockpile;
the three-dimensional information of the type, granularity and material pile of the obtained materials is input by taking the real-time speed of the vehicle as the input quantity, and a trained model is input to obtain the initial torque required before the shovel loading;
according to the data matching calculation of the whole vehicle mathematical model and the central control module, calculating the initial torque required by the working device for inserting the material pile, and calculating the front and rear axle torque distribution coefficients by taking the optimal dynamic property as a target;
when the slip rate fed back to the central control module reaches a certain value in the process of inserting the bucket into the material pile, a turning instruction is given to a movable arm bucket electric cylinder in the electric driving module of the working device, and a material compact core formed at the bucket tip is damaged; and acquiring a pressure value of a movable arm bucket electric cylinder in the bucket overturning process, acquiring required torque according to a loader dynamic model, a kinematic model and a tire force model, distributing the required torque to a front frame electric driving module and a rear frame electric driving module, driving the bucket to be continuously inserted into a material pile, and repeating the process to reach a preset full bucket rate.
10. The method of claim 8, wherein the method of torque control of the distributed electrically driven loader when the loader is in a transport state comprises the steps of:
the vehicle body state detection modules distributed on the front side and the rear side of the vehicle frame acquire vehicle body posture information of the front frame and the rear frame;
the vehicle body state detection module arranged on the vehicle roof acquires image information of a running area of the loader;
the CAN bus reads the actual output rotating speed of the motor and the extending length information of the steering cylinder;
the obtained image information is subjected to definition processing, and the road surface humidity condition is identified by comparing the image subjected to definition with the image in the training sample set;
the method comprises the steps of obtaining three-dimensional point cloud information of a road surface, carrying out distortion processing on the information by combining with vehicle body posture information returned by a vehicle body state detection module, and carrying out data fusion on the processed information and an image to obtain the topography of the road surface;
the road surface humidity state information, the actual output rotating speed of the motor, the extension of the steering electric cylinder and the yaw rate data of the front and rear frames are transmitted to a central processing module, the running state of the vehicle is identified, and the torque values of the front and rear motors are obtained after the vehicle is processed by the central processing module.
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| CN202211601998.1A CN116215255A (en) | 2022-12-13 | 2022-12-13 | Distributed electrically-driven unmanned loader and torque control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211601998.1A CN116215255A (en) | 2022-12-13 | 2022-12-13 | Distributed electrically-driven unmanned loader and torque control method thereof |
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| CN202211601998.1A Pending CN116215255A (en) | 2022-12-13 | 2022-12-13 | Distributed electrically-driven unmanned loader and torque control method thereof |
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