WO2023030346A1 - 一种电传动矿用自卸车自适应安全限速保护系统及方法 - Google Patents

一种电传动矿用自卸车自适应安全限速保护系统及方法 Download PDF

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WO2023030346A1
WO2023030346A1 PCT/CN2022/116000 CN2022116000W WO2023030346A1 WO 2023030346 A1 WO2023030346 A1 WO 2023030346A1 CN 2022116000 W CN2022116000 W CN 2022116000W WO 2023030346 A1 WO2023030346 A1 WO 2023030346A1
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vehicle
speed
speed limit
dump truck
electric
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PCT/CN2022/116000
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English (en)
French (fr)
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张亮
王冠
房康宁
李斌
张亚鹏
毛家松
于振华
褚福阳
顾程鹏
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徐州徐工矿业机械有限公司
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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
    • 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
    • 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

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  • the invention relates to the technical field of mine dump truck control, in particular to an adaptive safety speed limit protection system for an electric drive mine dump truck.
  • Electric drive mining dump trucks have always had an absolute advantage in the field of open-pit mining.
  • the drive system is simple, and the engine can be used to run on the optimal characteristic curve. Therefore, electric drive mining dump trucks have inherent advantages in energy saving and environmental protection.
  • the world's largest construction machinery manufacturers have invested heavily in research and development of electric drive mining dump trucks.
  • the electric transmission mining dump truck has a simple structure and convenient maintenance, which greatly reduces the operating cost and improves the production efficiency.
  • a fixed speed limit is generally adopted at present.
  • This speed limit method does not consider the road conditions and load conditions, so the fixed speed limit value is not the optimal value.
  • the vehicle And operators have great potential safety hazards, especially on steep downhill road conditions, the safe driving speed of the vehicle is far lower than the fixed speed limit value, the driver often controls the speed according to his own driving experience, resulting in the vehicle not being able to drive at the optimal speed , Even the deviation of the cognition of the slope will cause the vehicle to overspeed and lose control, which will increase the risk of the vehicle and affect the transportation efficiency of the vehicle.
  • the present invention provides an adaptive safety speed limit protection system and method for an electric drive mining dump truck.
  • an adaptive safety speed limit protection system for an electric drive mining dump truck including a vehicle controller VCU, the input end of the vehicle controller VCU is connected to a load cell, an inclination sensor, a temperature sensor, speed sensor, electric brake pedal and accelerator pedal, and the output end of the vehicle controller VCU is connected with a display terminal and a brake mechanism.
  • the load cell includes a left front load cell, a right front load cell, a left rear load cell and a right rear load cell.
  • the temperature sensor includes a left wheel motor temperature sensor and a right wheel motor temperature sensor
  • the rotational speed sensor includes a left wheel rotational speed sensor and a right wheel rotational speed sensor
  • the braking mechanism uses a frequency converter.
  • a self-adaptive safety speed limit protection method for an electric drive mining dump truck comprising the following steps:
  • the vehicle controller VCU reads the real-time vehicle status information, including the tilt angle ⁇ , vehicle weight, speed, accelerator signal and brake signal;
  • the vehicle controller VCU calculates the braking torque T to be applied by the current motor according to the current gross weight and inclination angle of the vehicle;
  • the inclination angle is collected in a filtering manner, specifically, the inclination sensor continuously collects N sampling values for arithmetic mean calculation.
  • the vehicle controller VCU applies electric braking in different modes according to the current motor temperature and vehicle speed; if the current motor temperature is higher than the set temperature, apply standard electric braking, otherwise apply maximum electric braking .
  • Beneficial effects of the present invention it can automatically match the safety speed limit protection to the current state of the electric transmission mine car, especially carry out self-adaptive safety speed limit for the vehicle in the downhill working condition, avoid the overspeeding of the vehicle, and improve the driving safety and transportation efficiency of the vehicle efficiency.
  • Fig. 1 is method flowchart of the present invention
  • Fig. 2 is an electrical schematic diagram of the present invention.
  • an adaptive safety speed limit protection system for an electric drive mining dump truck includes a vehicle controller VCU, the input end of the vehicle controller VCU is connected to a load cell, an inclination sensor, and a temperature sensor , a speed sensor, an electric brake pedal and an accelerator pedal, and the output end of the vehicle controller VCU is connected with a display terminal and a brake mechanism.
  • the load cell includes a left front load cell, a right front load cell, a left rear load cell and a right rear load cell.
  • the temperature sensor includes a left wheel motor temperature sensor and a right wheel motor temperature sensor
  • the rotational speed sensor includes a left wheel rotational speed sensor and a right wheel rotational speed sensor.
  • the braking mechanism adopts a frequency converter.
  • an adaptive safety speed limit protection method for an electric drive mining dump truck includes the following steps:
  • the vehicle controller VCU reads the real-time vehicle status information, including the tilt angle ⁇ , vehicle weight, speed, accelerator signal and brake signal;
  • S2 Determine whether the state of the vehicle is uphill, flat or downhill according to the tilt angle, tilt duration, accelerator signal and electric brake signal status.
  • Set the angle threshold ⁇ 1 ⁇ 2 ⁇ 0 ⁇ 3 ⁇ 4 when ⁇ 1 or ⁇ 1 ⁇ 2 and there is an electric braking signal or the duration of the tilt exceeds the time threshold t 1 , the system judges that the vehicle is downhill.
  • ⁇ 4 or ⁇ 3 ⁇ 4 and there is an accelerator signal or the duration exceeds the time threshold t 2 the system judges that the vehicle is in an uphill state. In other than the above two situations, the system judges that the vehicle is in a flat state;
  • the vehicle controller VCU calculates the braking torque T to be applied by the current motor according to the current gross weight and inclination angle of the vehicle;
  • the inclination angle is collected by filtering, specifically, the inclination sensor continuously collects N sampling values for arithmetic mean calculation.
  • the vehicle controller VCU After the vehicle overspeeds, the vehicle controller VCU applies electric braking in different modes according to the current motor temperature and vehicle speed; if the current motor temperature is higher than the set temperature, the standard electric braking is applied, otherwise the maximum electric braking is applied.

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  • 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

一种电传动矿用自卸车自适应安全限速保护系统，包括整车控制器VCU，所述的整车控制器VCU的输入端连接称重传感器、倾角传感器、温度传感器、转速传感器电制动踏板和油门踏板，所述的整车控制器VCU的输出端连接有显示终端和制动机构。本发明的有益效果是：可以对电传动矿车当前状态自动匹配安全限速保护，尤其对下坡工况的车辆进行自适应安全限速，避免车辆行驶超速，提高车辆的行驶安全性和运输的效率。

Description

一种电传动矿用自卸车自适应安全限速保护系统及方法 技术领域
本发明涉及矿用自卸车控制技术领域，具体是一种电传动矿用自卸车自适应安全限速保护系统。
背景技术
电传动矿用自卸车在露天矿山开采领域一直占有绝对的优势，驱动系统简单，可以利用发动机运行在最优特性曲线，所以电传动矿用自卸车在节能环保方面有着先天的优势。世界上最大的工程机械生产商都大力投入财力研发电传动矿用自卸车。电传动矿用自卸车与机械传动自卸车相比，结构简单，维护方便，大大降低了运行成本，提高生产效率。
电传动自卸车在工作环境运行时，目前普遍采用固定值限速，这种限速方式没有考虑路况及载重情况，所以固定限速值并非最优值，在超载或下坡工况下，车辆及操作人员都具有较大安全隐患，特别在大坡度下坡路况下，车辆的安全行驶速度远低于固定限速值，驾驶员往往根据自己的驾驶经验控制车速，导致车辆无法以最优车速行驶，甚至因对坡道认知的偏差导致车辆超速失控，增加车辆行驶的风险，影响车辆的运输效率。
发明内容
为了解决上述现有技术中存在的缺陷，本发明提供一种电传动矿用自卸车自适应安全限速保护系统及方法。
本发明采用的技术方案：一种电传动矿用自卸车自适应安全限速保护系统，包括整车控制器VCU，所述的整车控制器VCU的输入端连接称重传感器、倾角传感器、温度传感器、转速传感器电制动踏板和油门踏板，所述的整车控制器VCU的输出端连接有显示终端和制动机构。
优选的，所述的称重传感器包括左前称重传感器、右前称重传感器、左后称重传感器和右后称重传感器。
优选的，所述的温度传感器包括左轮电动机温度传感器和右轮电动机温度传感器，所述的转速传感器包括左轮转速传感器和右轮转速传感器。
优选的，所述的制动机构采用变频器。
一种电传动矿用自卸车自适应安全限速保护方法，包括以下步骤：
S1：整车控制器VCU读取实时车辆状态信，包括倾斜角度α、车辆重量、速度、油门信号和制动信号；
S2：根据倾斜角度、倾斜持续时间、油门信号和电制动信号状态判断车辆所处状态为上坡、平坦或下坡；
S3：若车辆处于下坡状态，整车控制器VCU根据车辆当前总重、倾斜角度计算当前电机需要施加的制动转矩T；
S4：若车辆处于平坦或上坡状态，则根据作业需要设置限速值Vs和最大允许车速Vm；
S5：在车辆处于平坦或上坡状态，若车速超过限速值Vs，则显示终端显示限速标识和超速报警，并施加电制动，记录当前工况允许数据；
S6：在车辆处于平坦或上坡状态，若车速超过最大允许车速Vm，则显示终端提醒驾驶员采取液压制动减速，直至车速低于最大允许车速Vm。
优选的，所述的倾斜角度采用滤波方式采集，具体是通过倾角传感器连续采集N个采样值进行算术平均运算。
优选的，步骤S3中，制动转矩
Figure PCTCN2022116000-appb-000001
其中T为一个轮边电机需是加的最小制动转矩，R为矿用自卸车的轮胎滚动半径，η为电机的效率，i为减速比，F为车辆在下坡工况受到重力分力及摩擦力的合力，F＝(M1+M2)g sin(-α)-(M1+M2)g cos(-α)μ，其中M1为车辆自重，M2为车辆实时载重，μ为摩擦因数。
优选的，车辆超速后，整车控制器VCU根据当前电机温度和车速是加不同模式的电制动；若当前电机温度高于设定温度，则施加标准电制动，否则施加最大电制动。
本发明的有益效果：可以对电传动矿车当前状态自动匹配安全限速保护，尤其对下坡工况的车辆进行自适应安全限速，避免车辆行驶超速，提高车辆的行驶安全性和运输的效率。
附图说明
图1是本发明的方法流程图；
图2是本发明的电气原理图。
具体实施方式
为了进一步说明本发明的技术细节及其优点，现结合附图和实施例进行说明。
如图2所示，一种电传动矿用自卸车自适应安全限速保护系统，包括整车控制器VCU，所述的整车控制器VCU的输入端连接称重传感器、倾角传感器、温度传感器、转速传感器电制动踏板和油门踏板，所述的整车控制器VCU的输出端连接有显示终端和制动机构。
本实施例中，所述的称重传感器包括左前称重传感器、右前称重传感器、左后称重传感 器和右后称重传感器。所述的温度传感器包括左轮电动机温度传感器和右轮电动机温度传感器，所述的转速传感器包括左轮转速传感器和右轮转速传感器。所述的制动机构采用变频器。
如图2所示，一种电传动矿用自卸车自适应安全限速保护方法，包括以下步骤：
S1：整车控制器VCU读取实时车辆状态信，包括倾斜角度α、车辆重量、速度、油门信号和制动信号；
S2：根据倾斜角度、倾斜持续时间、油门信号和电制动信号状态判断车辆所处状态为上坡、平坦或下坡。设置角度阈值α 1＜α 2＜0＜α 3＜α 4，当α≤α 1或者α 1＜α＜α 2且有电制动信号或倾斜持续时间超过时间阈值t 1时，系统判断车辆处于下坡状态。当α≥α 4或者α 3＜α＜α 4且有油门信号或持续时间超过时间阈值t 2时，系统判断车辆处于上坡状态。以上两种情况以外系统判断为车辆处于平坦状态；
S3：若车辆处于下坡状态，整车控制器VCU根据车辆当前总重、倾斜角度计算当前电机需要施加的制动转矩T；
S4：若车辆处于平坦或上坡状态，则根据作业需要设置限速值Vs和最大允许车速Vm；
S5：在车辆处于平坦或上坡状态，若车速超过限速值Vs，则显示终端显示限速标识和超速报警，并施加电制动，记录当前工况允许数据；
S6：在车辆处于平坦或上坡状态，若车速超过最大允许车速Vm，则显示终端提醒驾驶员采取液压制动减速，直至车速低于最大允许车速Vm。
本实施例中，所述的倾斜角度采用滤波方式采集，具体是通过倾角传感器连续采集N个采样值进行算术平均运算。
步骤S3中，制动转矩
Figure PCTCN2022116000-appb-000002
其中T为一个轮边电机需是加的最小制动转矩，R为矿用自卸车的轮胎滚动半径，η为电机的效率，i为减速比，F为车辆在下坡工况受到重力分力及摩擦力的合力，F＝(M1+M2)g sin(-α)-(M1+M2)g cos(-α)μ，其中M1为车辆自重，M2为车辆实时载重，μ为摩擦因数。
车辆超速后，整车控制器VCU根据当前电机温度和车速是加不同模式的电制动；若当前电机温度高于设定温度，则施加标准电制动，否则施加最大电制动。

Claims (8)

  1. 一种电传动矿用自卸车自适应安全限速保护系统，包括整车控制器VCU，其特征在于：所述的整车控制器VCU的输入端连接称重传感器、倾角传感器、温度传感器、转速传感器电制动踏板和油门踏板，所述的整车控制器VCU的输出端连接有显示终端和制动机构。
  2. 根据权利要求1所述的电传动矿用自卸车自适应安全限速保护系统，其特征在于：所述的称重传感器包括左前称重传感器、右前称重传感器、左后称重传感器和右后称重传感器。
  3. 根据权利要求1所述的电传动矿用自卸车自适应安全限速保护系统，其特征在于：所述的温度传感器包括左轮电动机温度传感器和右轮电动机温度传感器，所述的转速传感器包括左轮转速传感器和右轮转速传感器。
  4. 根据权利要求1所述的电传动矿用自卸车自适应安全限速保护系统，其特征在于：所述的制动机构采用变频器。
  5. 一种电传动矿用自卸车自适应安全限速保护方法，其特征在于：包括以下步骤：
    S1：整车控制器VCU读取实时车辆状态信，包括倾斜角度α、车辆重量、速度、油门信号和制动信号；
    S2：根据倾斜角度、倾斜持续时间、油门信号和电制动信号状态判断车辆所处状态为上坡、平坦或下坡；
    S3：若车辆处于下坡状态，整车控制器VCU根据车辆当前总重、倾斜角度计算当前电机需要施加的制动转矩T；
    S4：若车辆处于平坦或上坡状态，则根据作业需要设置限速值Vs和最大允许车速Vm；
    S5：在车辆处于平坦或上坡状态，若车速超过限速值Vs，则显示终端显示限速标识和超速报警，并施加电制动，记录当前工况允许数据；
    S6：在车辆处于平坦或上坡状态，若车速超过最大允许车速Vm，则显示终端提醒驾驶员采取液压制动减速，直至车速低于最大允许车速Vm。
  6. 根据权利要求5所述的电传动矿用自卸车自适应安全限速保护方法，其特征在于：所述的倾斜角度采用滤波方式采集，具体是通过倾角传感器连续采集N个采样值进行算术平均运算。
  7. 根据权利要求5所述的电传动矿用自卸车自适应安全限速保护方法，其特征在于：步骤S3中，制动转矩
    Figure PCTCN2022116000-appb-100001
    其中T为一个轮边电机需是加的最小制动转矩，R为矿用自卸 车的轮胎滚动半径，η为电机的效率，i为减速比，F为车辆在下坡工况受到重力分力及摩擦力的合力，F＝(M1+M2)g sin(-α)-(M1+M2)g cos(-α)μ，其中M1为车辆自重，M2为车辆实时载重，μ为摩擦因数。
  8. 根据权利要求5所述的电传动矿用自卸车自适应安全限速保护方法，其特征在于：车辆超速后，整车控制器VCU根据当前电机温度和车速是加不同模式的电制动；若当前电机温度高于设定温度，则施加标准电制动，否则施加最大电制动。
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