WO2024088429A1 - Adaptive control system and method for slope-climbing torque of mining mechanical-transmission dumper - Google Patents

Adaptive control system and method for slope-climbing torque of mining mechanical-transmission dumper Download PDF

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Publication number
WO2024088429A1
WO2024088429A1 PCT/CN2023/127966 CN2023127966W WO2024088429A1 WO 2024088429 A1 WO2024088429 A1 WO 2024088429A1 CN 2023127966 W CN2023127966 W CN 2023127966W WO 2024088429 A1 WO2024088429 A1 WO 2024088429A1
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WO
WIPO (PCT)
Prior art keywords
dump truck
gearbox
climbing
suspension pressure
tilt angle
Prior art date
Application number
PCT/CN2023/127966
Other languages
French (fr)
Chinese (zh)
Inventor
谢和平
张亚鹏
张亮
杨旭辉
李斌
房康宁
张莉
毛家松
于振华
王冠
褚福阳
Original Assignee
徐州徐工矿业机械有限公司
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Publication of WO2024088429A1 publication Critical patent/WO2024088429A1/en

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
    • F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
    • F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
    • F16H61/0213—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal characterised by the method for generating shift signals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/14—Inputs being a function of torque or torque demand
    • F16H59/18—Inputs being a function of torque or torque demand dependent on the position of the accelerator pedal
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/50—Inputs being a function of the status of the machine, e.g. position of doors or safety belts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/16—Inhibiting or initiating shift during unfavourable conditions, e.g. preventing forward reverse shift at high vehicle speed, preventing engine over speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/60—Inputs being a function of ambient conditions
    • F16H59/66—Road conditions, e.g. slope, slippery
    • F16H2059/663—Road slope
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H2061/0075—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by a particular control method
    • F16H2061/009—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by a particular control method using formulas or mathematic relations for calculating parameters
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/16—Inhibiting or initiating shift during unfavourable conditions, e.g. preventing forward reverse shift at high vehicle speed, preventing engine over speed
    • F16H2061/161—Inhibiting or initiating shift during unfavourable conditions, e.g. preventing forward reverse shift at high vehicle speed, preventing engine over speed by checking feasibility of shifts, i.e. determine if requested shift can be successfully completed and post shift values are in an acceptable range

Definitions

  • the invention relates to a climbing torque adaptive control system and method for a mining mechanical transmission dump truck, belonging to the technical field of engineering machinery.
  • the purpose of the present invention is to overcome the deficiencies in the prior art and to provide a control system and method for a mining mechanical transmission dump truck climbing torque adaptive control.
  • a gear limit instruction is sent to a gearbox controller, thereby realizing adaptive control of the dump truck climbing torque.
  • the present invention discloses a method for adaptively controlling the climbing torque of a mining mechanical transmission dump truck, comprising the following steps:
  • the signal data of the suspension pressure sensor and the speed sensor are obtained and analyzed to calculate the traction and resistance corresponding to different gear ratios of the gearbox;
  • the climbing torque adaptive control mode will not be entered, and the gear limit command will not be sent to the gearbox controller;
  • the climbing torque adaptive control mode is entered and a gear limit command is sent to the gearbox controller.
  • step of determining whether the dump truck is in a climbing condition comprises the following steps:
  • the tilt angle is greater than a preset tilt angle threshold and the maintenance time is greater than a preset first time threshold, and at the same time the throttle opening is greater than 0 and the maintenance time is greater than a preset second time threshold, it is determined that the dump truck is in a climbing condition.
  • F is the traction force corresponding to different gear ratios of the gearbox
  • Te is the power output torque of the dump truck engine
  • i g is the gear ratio of different gears of the gearbox
  • i 0 is the rear axle speed ratio
  • ⁇ g is the transmission efficiency of the gearbox
  • ⁇ 0 is the transmission efficiency of the rear axle
  • R is the tire radius of the dump truck.
  • m0 is the weight of the dump truck
  • ⁇ m is the load of the dump truck when the vehicle is in a climbing condition
  • g is the acceleration of gravity
  • sin ⁇ is the sine function of the inclination angle ⁇
  • u is the rolling resistance coefficient
  • cos ⁇ is the cosine function of the inclination angle ⁇
  • ⁇ is the ambient air density
  • S is the vehicle's frontal area
  • k is the air resistance coefficient
  • v0 is the gearbox output shaft speed
  • i0 is the rear axle speed ratio of the dump truck.
  • ⁇ m ⁇ [(p 1 - p 10 )+(p 2 - p 20 )]S f C 1 +[(p 3 - p 30 )+(p 4 - p 40 )]S b C 2 ⁇ C 3 /cos ⁇ /g
  • p1 is the left front suspension pressure when the dump truck is loaded
  • p2 is the right front suspension pressure when the dump truck is loaded
  • p3 is the left rear suspension pressure when the dump truck is loaded
  • p4 is the left rear suspension pressure when the dump truck is loaded
  • p10 is the left front suspension pressure when the dump truck is unloaded
  • p20 is the right front suspension pressure when the dump truck is unloaded
  • p30 is the left rear suspension pressure when the dump truck is unloaded
  • p40 is the right rear suspension pressure when the dump truck is unloaded
  • Sf is the cross-sectional area of the front suspension inner cylinder
  • Sb is the cross-sectional area of the rear suspension inner cylinder
  • C1 is the front suspension load coefficient
  • C2 is the rear suspension load coefficient
  • C3 is the body structure load coefficient
  • ⁇ is the tilt angle
  • cos ⁇ is the cosine function of the tilt angle ⁇
  • g is the acceleration of gravity.
  • the sending of the limit file instruction includes the following steps:
  • the traction corresponding to other gear ratios of the gearbox is compared with the resistance in turn. If the traction corresponding to the gear ratio of g is greater than or equal to the resistance, and the traction corresponding to the gear ratio of g+1 is less than the resistance, a gear limit instruction is sent to the gearbox controller, where the highest gear of the gearbox is limited to g.
  • the sending of the limit file instruction also includes the following steps:
  • the tilt angle of the dump truck at the current time node is obtained
  • the tilt angle of the dump truck at the previous time node is deemed to be the climbing angle of the dump truck at the current time node, and the highest gear limit of the gearbox remains unchanged;
  • the tilt angle of the dump truck at the current time node is deemed to be the climbing angle of the dump truck at the current time node, the resistance is recalculated and compared with the traction corresponding to different gear ratios of the gearbox to obtain the highest gear limit of the gearbox.
  • the present invention discloses a control system using the above-mentioned adaptive control method for the climbing torque of a mining mechanical transmission dump truck, comprising a suspension pressure sensor, a speed sensor, an inclination sensor, an accelerator pedal, a transmission controller and a vehicle controller, wherein the signal output end of the suspension pressure sensor, the signal output end of the speed sensor, the signal output end of the inclination sensor, the signal output end of the accelerator pedal, and the control end of the transmission controller are respectively connected to the vehicle controller,
  • the vehicle controller is used to receive and process signal data from a suspension pressure sensor, a rotation speed sensor, an inclination sensor, and an accelerator pedal, and send a gear limit instruction to a gearbox controller to achieve adaptive control of the dump truck's climbing torque.
  • the suspension pressure sensor includes a first suspension pressure sensor, a second suspension pressure sensor, a third suspension pressure sensor and a fourth suspension pressure sensor.
  • the first suspension pressure sensor is installed at the left front position of the dump truck and is used to measure the left front suspension pressure value of the dump truck;
  • the second suspension pressure sensor is installed at the right front position of the dump truck and is used to measure the right front suspension pressure value of the dump truck;
  • the third suspension pressure sensor is installed at the left rear position of the dump truck and is used to measure the left rear suspension pressure value of the dump truck;
  • the fourth suspension pressure sensor is suspended and installed at the right rear position of the dump truck, and is used to measure the right rear suspension pressure value of the dump truck.
  • the speed sensor is installed on the output shaft at the rear end of the gearbox to measure the speed of the output shaft of the gearbox;
  • the tilt sensor is installed at a horizontal position of the dump truck and is used to measure the tilt angle of the dump truck;
  • the accelerator pedal is installed in the cab and is used to obtain the accelerator opening to assist in determining the operating condition of the dump truck;
  • the gearbox controller and the vehicle controller are both installed in the electric control cabinet of the dump truck.
  • the present invention has the following beneficial effects:
  • the present invention processes the signal data of the suspension pressure sensor, the speed sensor, the inclination sensor, and the accelerator pedal, calculates and analyzes the operating conditions of the dump truck, sends a gear limit instruction to the gearbox controller, realizes the intelligent matching of torque parameters, and further realizes the adaptive control of the dump truck's climbing torque.
  • the present invention reduces the dependence on the driver's driving ability, effectively solves the impact of improper human operation on vehicle power, transportation efficiency, and driving safety, reduces the driver's frequent gear shifting operations, and is conducive to avoiding the occurrence of driver fatigue driving, and has strong practicality.
  • FIG1 is a schematic diagram of the structure of a climbing torque adaptive control system for a mining mechanical transmission dump truck
  • FIG2 is a method flow chart of a climbing torque adaptive control system for a mining mechanical drive dump truck
  • Figure 3 is a climbing condition model of a mechanical transmission mining dump truck.
  • the present embodiment discloses a climbing torque adaptive control system for a mining mechanical transmission dump truck, as shown in FIG1 , comprising a suspension pressure sensor, a speed sensor, an inclination sensor, an accelerator pedal, a gearbox controller and a vehicle controller, wherein the signal output end of the suspension pressure sensor, the signal output end of the speed sensor, the signal output end of the inclination sensor, the signal output end of the accelerator pedal, and the control end of the gearbox controller are respectively connected to the vehicle controller,
  • the vehicle controller is used to receive and process signal data from the suspension pressure sensor, speed sensor, inclination sensor, and accelerator pedal, and send a gear limit command to the transmission controller to achieve adaptive control of the dump truck's climbing torque.
  • the suspension pressure sensor includes a first suspension pressure sensor, a second suspension pressure sensor, a third suspension pressure sensor and a fourth suspension pressure sensor.
  • the first suspension pressure sensor is installed at the left front position of the dump truck and is used to measure the left front suspension pressure value of the dump truck;
  • the second suspension pressure sensor is installed at the right front position of the dump truck and is used to measure the right front suspension pressure value of the dump truck;
  • the third suspension pressure sensor is installed at the left rear position of the dump truck and is used to measure the left rear suspension pressure value of the dump truck;
  • the fourth suspension pressure sensor is suspended and installed at the right rear position of the dump truck, and is used to measure the right rear suspension pressure value of the dump truck.
  • the speed sensor is installed on the output shaft at the rear end of the gearbox to measure the speed of the output shaft of the gearbox;
  • the inclination sensor is installed at the horizontal position of the dump truck to measure the inclination angle of the road surface on which the dump truck is located;
  • the accelerator pedal is installed in the cab and is used to obtain the accelerator opening to assist in judging the operating conditions of the dump truck;
  • the gearbox controller is installed in the dump truck's electric control cabinet and is used to control the shift mechanism of the automatic gearbox so that the dump truck can run in the relevant gear position;
  • the vehicle controller is installed in the electronic control cabinet of the dump truck. It reads and processes data from four pressure sensors, a speed sensor, an inclination sensor, and an accelerator pedal, calculates and analyzes the operating conditions, load weight, stress conditions and other data of the dump truck, establishes a dump truck climbing torque adaptive control model, and sends a gear limit command to the gearbox controller to achieve dump truck climbing torque adaptive control.
  • the method process of the adaptive control system of the climbing torque of a mining mechanical transmission dump truck of the present invention is as follows:
  • the vehicle controller reads the signal data from the inclination sensor and the accelerator pedal in real time and converts it to obtain the inclination angle of the road surface and the engine throttle opening of the dump truck.
  • the dump truck tilt angle threshold ⁇ 0 is set.
  • the vehicle controller reads the data of the speed sensor and the suspension pressure sensor to calculate the vehicle speed and vehicle load.
  • the calculation formula for the dump truck load ⁇ m is as follows:
  • ⁇ m ⁇ [(p 1 - p 10 )+(p 2 - p 20 )]S f C 1 +[(p 3 - p 30 )+(p 4 - p 40 )]S b C 2 ⁇ C 3 /cos ⁇ /g
  • p1 is the left front suspension pressure when the dump truck is loaded
  • p2 is the right front suspension pressure when the dump truck is loaded
  • p3 is the left rear suspension pressure when the dump truck is loaded
  • p4 is the left rear suspension pressure when the dump truck is loaded
  • p10 is the left front suspension pressure when the dump truck is unloaded
  • p20 is the right front suspension pressure when the dump truck is unloaded
  • p30 is the left rear suspension pressure when the dump truck is unloaded
  • p40 is the right rear suspension pressure when the dump truck is unloaded
  • Sf is the cross-sectional area of the front suspension inner cylinder
  • Sb is the cross-sectional area of the rear suspension inner cylinder
  • C1 is the front suspension load coefficient
  • C2 is the rear suspension load coefficient
  • C3 is the body structure load coefficient
  • ⁇ is the tilt angle
  • cos ⁇ is the cosine function of the tilt angle ⁇
  • g is the acceleration of gravity.
  • the vehicle controller calculates the resistance f encountered by the dump truck when climbing a slope, as well as the vehicle power torque T and traction F corresponding to different gear ratios of the transmission.
  • the resistance f of the dump truck in this condition is composed of rolling resistance, air resistance, and climbing resistance:
  • m0 is the weight of the dump truck
  • ⁇ m is the load of the dump truck when the vehicle is in a climbing condition
  • g is the acceleration of gravity
  • sin ⁇ is the sine function of the inclination angle ⁇
  • u is the rolling resistance coefficient
  • cos ⁇ is the cosine function of the inclination angle ⁇
  • ⁇ is the ambient air density
  • S is the vehicle's frontal area
  • k is the air resistance coefficient
  • v0 is the gearbox output shaft speed
  • i0 is the rear axle speed ratio of the dump truck.
  • the power torque T provided by the transmission system of the dump truck is:
  • Te is the dump truck engine power output torque
  • i g is the gear ratio of the gearbox
  • i 0 is the rear axle speed ratio
  • ⁇ g is the gearbox transmission efficiency
  • ⁇ 0 is the rear axle transmission efficiency
  • the traction force F corresponding to different gear ratios of the dump truck's gearbox is:
  • R is the tire radius of the dump truck.
  • the dump truck enters the climbing torque adaptive control mode.
  • the vehicle controller sends a gear limit command to the gearbox controller, and the gearbox controller limits the gearbox to a suitable gear to ensure the vehicle's dynamic performance.
  • the traction force F corresponding to other gear ratios of the gearbox is compared with the resistance f in turn. If, when the gearbox is in gear g, the traction force F g corresponding to the gearbox gear ratio g ⁇ f, and the traction force F g+1 corresponding to the gearbox gear ratio g+1 ⁇ f, the vehicle controller sends a gear limit instruction to the gearbox controller, and the gearbox controller limits the highest gear of the gearbox to gear g.
  • the climbing condition is judged at the time nodes in sequence.
  • the time nodes are obtained based on the preset time interval ⁇ t, and the difference between adjacent time nodes is a preset time interval ⁇ t.
  • the tilt angle ⁇ t + ⁇ t of the dump truck at the current time node is obtained;
  • the tilt angle ⁇ t of the dump truck at the previous time node is deemed to be the climbing angle of the dump truck at the current time node, the highest gear limit of the gearbox remains unchanged, and the climbing torque of the dump truck is not adjusted.
  • the tilt angle ⁇ t+ ⁇ t of the dump truck at the current time node is determined to be the climbing angle of the dump truck at the current time node, and the resistance is recalculated and compared with the traction corresponding to different gear ratios of the gearbox to obtain the highest gear limit of the gearbox, and the gearbox is controlled to achieve the corresponding gear matching.
  • the tilt angle brought in is the climbing angle of the dump truck at the current time node, that is, the tilt angle ⁇ t+ ⁇ t of the dump truck at the current time node.
  • the adaptive control system and method for the climbing torque of a mining mechanical transmission dump truck disclosed in the present invention can intelligently match the torque parameters according to the climbing conditions of the dump truck, reduce the dependence on the driver's driving ability, effectively solve the impact of improper human operation on the vehicle's dynamics, transportation efficiency and driving safety, reduce the driver's frequent gear shifting operations, and help avoid the occurrence of driver fatigue driving, with strong practicality.
  • first”, “second”, and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as “first”, “second”, and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, “multiple” means two or more.
  • the terms “installed”, “connected”, and “connected” should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components.
  • installed should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components.

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  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Transmission Device (AREA)

Abstract

Disclosed in the present invention are an adaptive control system and method for the slope-climbing torque of a mining mechanical-transmission dumper. The method comprises the following steps: acquiring and analyzing signal data of a tilt angle sensor and of an accelerator pedal, and determining whether a dumper is in a slope-climbing state; if the dumper is in a slope-climbing state, then acquiring and analyzing signal data of suspension pressure sensors and a rotation speed sensor, and performing calculation to obtain traction forces and resistances which correspond to different gear speed ratios of a gearbox; if a traction force corresponding to the highest gear speed ratio of the gearbox is greater than or equal to a resistance corresponding thereto, then not entering a slope-climbing torque adaptive-control mode, and not sending a gear-limiting instruction to a gearbox controller; and if the traction force corresponding to the highest gear speed ratio of the gearbox is less than the resistance corresponding thereto, then entering the slope-climbing torque adaptive-control mode, and sending a gear-limiting instruction to the gearbox controller. The present invention realizes adaptive control over the slope-climbing torque of a dumper, effectively eliminates the effect of improper manual operations on the power performance, the transportation efficiency and the driving safety of a vehicle, and has great practicability.

Description

一种矿用机械传动自卸车爬坡扭矩自适应控制系统及方法A climbing torque adaptive control system and method for a mining mechanical transmission dump truck 技术领域Technical Field
本发明涉及一种矿用机械传动自卸车爬坡扭矩自适应控制系统及方法，属于工程机械技术领域。The invention relates to a climbing torque adaptive control system and method for a mining mechanical transmission dump truck, belonging to the technical field of engineering machinery.
背景技术Background technique
矿用机械传动自卸车作为一种运载车辆广泛应用于大型露天矿山、水利工程中，地形复杂，工况恶劣。在自卸车运载过程中经常处于爬坡工况中。为避免车辆爬坡过程中扭矩不足以及自动变速箱高速档位频繁切换对驾驶舒适性的影响，保障车辆运行的动力性和连续性，处于不同坡度工况时，需要驾驶员通过档位手柄对变速箱爬坡档位进行限制，以实现自卸车爬坡扭矩的控制。为适应路况的变化，驾驶员往往需要频繁的切换自卸车爬坡档位，才能保障自卸车的动力性。这种方式要求驾驶员对当前路况有较为准确的判断和丰富的驾驶经验。不当的操作不仅难以发挥车辆的动力性能和影响运输效率，也会导致车辆失控，影响驾驶安全。As a transport vehicle, mining mechanical transmission dump trucks are widely used in large open-pit mines and water conservancy projects, with complex terrain and harsh working conditions. During the transportation process, dump trucks are often in climbing conditions. In order to avoid the impact of insufficient torque during vehicle climbing and the frequent switching of automatic transmission high-speed gears on driving comfort, and to ensure the power and continuity of vehicle operation, when in different slope conditions, the driver needs to limit the gearbox climbing gear through the gear handle to achieve the control of the dump truck climbing torque. In order to adapt to changes in road conditions, drivers often need to frequently switch the dump truck climbing gear to ensure the power of the dump truck. This method requires the driver to have a more accurate judgment of the current road conditions and rich driving experience. Improper operation not only makes it difficult to exert the vehicle's power performance and affect transportation efficiency, but also causes the vehicle to lose control and affect driving safety.
公开于该背景技术部分的信息仅仅旨在增加对本发明的总体背景的理解，而不应当被视为承认或以任何形式暗示该信息构成已为本领域普通技术人员所公知的现有技术。The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the invention and should not be regarded as an acknowledgement or any form of suggestion that the information constitutes the prior art already known to ordinary technicians in this field.
发明内容Summary of the invention
本发明的目的在于克服现有技术中的不足，提供一种矿用机械传动自卸车爬坡扭矩自适应控制系统及方法，通过处理悬挂压力传感器、转速传感器、倾角传感器、油门踏板的信号数据，向变速箱控制器发送限档指令，实现了自卸车爬坡扭矩自适应控制。The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a control system and method for a mining mechanical transmission dump truck climbing torque adaptive control. By processing the signal data of a suspension pressure sensor, a speed sensor, an inclination sensor, and an accelerator pedal, a gear limit instruction is sent to a gearbox controller, thereby realizing adaptive control of the dump truck climbing torque.
为达到上述目的，本发明是采用下述技术方案实现的：To achieve the above object, the present invention is implemented by adopting the following technical solutions:
一方面，本发明公开了一种矿用机械传动自卸车爬坡扭矩自适应控制方法，包括如下步骤，On the one hand, the present invention discloses a method for adaptively controlling the climbing torque of a mining mechanical transmission dump truck, comprising the following steps:
获取并分析倾角传感器和油门踏板的信号数据，判断自卸车是否处于爬坡工况；Obtain and analyze the signal data of the inclination sensor and the accelerator pedal to determine whether the dump truck is in a climbing condition;
若处于爬坡工况，则获取并分析悬挂压力传感器和转速传感器的信号数据，计算得到变速箱不同档位速比对应的牵引力和阻力；If the vehicle is in a climbing condition, the signal data of the suspension pressure sensor and the speed sensor are obtained and analyzed to calculate the traction and resistance corresponding to different gear ratios of the gearbox;
其中，若变速箱最高档位速比对应的牵引力大于或等于阻力，则不进入爬坡转矩自适应控制模式，同时不向变速箱控制器发送限档指令；If the traction force corresponding to the highest gear ratio of the gearbox is greater than or equal to the resistance, the climbing torque adaptive control mode will not be entered, and the gear limit command will not be sent to the gearbox controller;
若变速箱最高档位速比对应的牵引力小于阻力，则进入爬坡转矩自适应控制模式，并向变速箱控制器发送限档指令。If the traction force corresponding to the highest gear ratio of the gearbox is less than the resistance, the climbing torque adaptive control mode is entered and a gear limit command is sent to the gearbox controller.
进一步的，所述判断自卸车是否处于爬坡工况包括如下步骤：Furthermore, the step of determining whether the dump truck is in a climbing condition comprises the following steps:
获取倾角传感器和油门踏板的信号数据，分析得到自卸车的倾斜角度以及发动机的油门开度；Obtain signal data from the inclination sensor and the accelerator pedal, and analyze the inclination angle of the dump truck and the throttle opening of the engine;
若所述倾斜角度大于预设的倾斜角度阈值且维持时间大于预设的第一时间阈值，同时满足油门开度大于0且维持时间大于预设的第二时间阈值，则认定自卸车处于爬坡工况。If the tilt angle is greater than a preset tilt angle threshold and the maintenance time is greater than a preset first time threshold, and at the same time the throttle opening is greater than 0 and the maintenance time is greater than a preset second time threshold, it is determined that the dump truck is in a climbing condition.
进一步的，所述变速箱不同档位速比对应的牵引力的表达式如下：Furthermore, the expressions of the traction forces corresponding to different gear ratios of the gearbox are as follows:
F＝T ei gi 0η gη 0/R F＝T e i g i 0 η g η 0 /R
式中，F为变速箱不同档位速比对应的牵引力，T e为自卸车发动机动力输出扭矩，i g为变速箱不同档位速比，i 0为后桥速比，η g为变速箱传动效率，η 0为后桥传动效率，R为自卸车轮胎半径。 Where F is the traction force corresponding to different gear ratios of the gearbox, Te is the power output torque of the dump truck engine, i g is the gear ratio of different gears of the gearbox, i 0 is the rear axle speed ratio, η g is the transmission efficiency of the gearbox, η 0 is the transmission efficiency of the rear axle, and R is the tire radius of the dump truck.
进一步的，所述阻力f的表达式如下：Furthermore, the expression of the resistance f is as follows:
f＝(m 0+Δm)gsinα+u(m 0+Δm)gcosα+0.5ρSk(v 0/i 0) 2 f＝(m 0 +Δm)gsinα+u(m 0 +Δm)gcosα+0.5ρSk(v 0 /i 0 ) 2
式中，m 0为自卸车自身重量，Δm为车辆处于爬坡工况时的自卸车载重量，g为重力加速度，sinα为倾斜角度α的正弦函数，u为滚动阻力系数，cosα为倾斜角度α的余弦函数，ρ为环境空气密度，S为车辆迎风面积，k为空气阻力系数，v 0为变速箱输出轴转速，i 0为自卸车后桥速比。 Where m0 is the weight of the dump truck, Δm is the load of the dump truck when the vehicle is in a climbing condition, g is the acceleration of gravity, sinα is the sine function of the inclination angle α, u is the rolling resistance coefficient, cosα is the cosine function of the inclination angle α, ρ is the ambient air density, S is the vehicle's frontal area, k is the air resistance coefficient, v0 is the gearbox output shaft speed, and i0 is the rear axle speed ratio of the dump truck.
进一步的，所述车辆处于爬坡工况时的自卸车载重量Δm的表达式如下：Furthermore, the expression of the dump truck load Δm when the vehicle is in a climbing condition is as follows:
Δm＝{[(p 1-p 10)+(p 2-p 20)]S fC 1+[(p 3-p 30)+(p 4-p 40)]S bC 2}C 3/cosα/g Δm＝{[(p 1 - p 10 )+(p 2 - p 20 )]S f C 1 +[(p 3 - p 30 )+(p 4 - p 40 )]S b C 2 }C 3 /cos α/g
式中，p 1为自卸车载重时左前悬挂压力，p 2为自卸车载重时右前悬挂压力，p 3为自卸车载重时左后悬挂压力，p 4为自卸车载重时左后悬挂压力，p 10为自卸车空载时左前悬挂压力，p 20为自卸车空载时右前悬挂压力，p 30为自卸车空载时左后悬挂压力，p 40为自卸车空载时右后悬挂压力，S f为前侧悬挂内缸体横截面积，S b为后侧悬挂内缸体横截面积，C 1为前侧悬挂载重系数，C 2为后侧悬挂载重系数，C 3为车身结构载重系数，α为倾斜角度，cosα为倾斜角度α的余弦函数，g为重力加速度。 Wherein, p1 is the left front suspension pressure when the dump truck is loaded, p2 is the right front suspension pressure when the dump truck is loaded, p3 is the left rear suspension pressure when the dump truck is loaded, p4 is the left rear suspension pressure when the dump truck is loaded, p10 is the left front suspension pressure when the dump truck is unloaded, p20 is the right front suspension pressure when the dump truck is unloaded, p30 is the left rear suspension pressure when the dump truck is unloaded, p40 is the right rear suspension pressure when the dump truck is unloaded, Sf is the cross-sectional area of the front suspension inner cylinder, Sb is the cross-sectional area of the rear suspension inner cylinder, C1 is the front suspension load coefficient, C2 is the rear suspension load coefficient, C3 is the body structure load coefficient, α is the tilt angle, cosα is the cosine function of the tilt angle α, and g is the acceleration of gravity.
进一步的，所述发送限档指令包括如下步骤：Furthermore, the sending of the limit file instruction includes the following steps:
将变速箱其他档位速比对应的牵引力依次与阻力进行比较，若满足变速箱g档速比对应的牵引力大于或等于阻力，g+1档速比对应的牵引力小于阻力，则向变速箱控制器发送限档指令，其中，变速箱最高档位限制为g档。The traction corresponding to other gear ratios of the gearbox is compared with the resistance in turn. If the traction corresponding to the gear ratio of g is greater than or equal to the resistance, and the traction corresponding to the gear ratio of g+1 is less than the resistance, a gear limit instruction is sent to the gearbox controller, where the highest gear of the gearbox is limited to g.
进一步的，所述发送限档指令还包括如下步骤：Furthermore, the sending of the limit file instruction also includes the following steps:
基于预设的时间间隔，得到当前时间节点自卸车的倾斜角度；Based on the preset time interval, the tilt angle of the dump truck at the current time node is obtained;
计算当前时间节点自卸车的倾斜角度与上一时间节点自卸车的倾斜角度差值的绝对值；Calculate the absolute value of the difference between the tilt angle of the dump truck at the current time node and the tilt angle of the dump truck at the previous time node;
若所述绝对值小于预设的倾斜角度偏差阈值，则认定上一时间节点自卸车的倾斜角度为当前时间节点自卸车的爬坡角度，变速箱的最高档位限制保持不变；If the absolute value is less than the preset tilt angle deviation threshold, the tilt angle of the dump truck at the previous time node is deemed to be the climbing angle of the dump truck at the current time node, and the highest gear limit of the gearbox remains unchanged;
若所述绝对值大于等于预设的倾斜角度偏差阈值，则认定当前时间节点自卸车的倾斜角度为当前时间节点自卸车的爬坡角度，重新计算阻力并与变速箱不同档位速比对应的牵引力进行比较，得到变速箱的最高档位限制。If the absolute value is greater than or equal to the preset tilt angle deviation threshold, the tilt angle of the dump truck at the current time node is deemed to be the climbing angle of the dump truck at the current time node, the resistance is recalculated and compared with the traction corresponding to different gear ratios of the gearbox to obtain the highest gear limit of the gearbox.
另一方面，本发明公开了一种采用根据上述的矿用机械传动自卸车爬坡扭矩自适应控制方法的控制系统，包括悬挂压力传感器、转速传感器、倾角传感器、油门踏板、变速箱控制器和整车控制器，所述悬挂压力传感器的信号输出端、转速传感器的信号输出端、倾角传的信号输出端感器、油门踏板的信号输出端、以及变速箱控制器的控制端分别连接整车控制器，On the other hand, the present invention discloses a control system using the above-mentioned adaptive control method for the climbing torque of a mining mechanical transmission dump truck, comprising a suspension pressure sensor, a speed sensor, an inclination sensor, an accelerator pedal, a transmission controller and a vehicle controller, wherein the signal output end of the suspension pressure sensor, the signal output end of the speed sensor, the signal output end of the inclination sensor, the signal output end of the accelerator pedal, and the control end of the transmission controller are respectively connected to the vehicle controller,
所述整车控制器用于接收并处理悬挂压力传感器、转速传感器、倾角传感器、油门踏板的信号数据，向变速箱控制器发送限档指令，实现自卸车爬坡扭矩自适应控制。The vehicle controller is used to receive and process signal data from a suspension pressure sensor, a rotation speed sensor, an inclination sensor, and an accelerator pedal, and send a gear limit instruction to a gearbox controller to achieve adaptive control of the dump truck's climbing torque.
进一步的，所述悬挂压力传感器包括第一悬挂压力传感器、第二悬挂压力传感器、第三悬挂压力传感器和第四悬挂压力传感器，Further, the suspension pressure sensor includes a first suspension pressure sensor, a second suspension pressure sensor, a third suspension pressure sensor and a fourth suspension pressure sensor.
所述第一悬挂压力传感器，悬挂安装于自卸车左前位置，用于测量自卸车左前悬挂压力数值；The first suspension pressure sensor is installed at the left front position of the dump truck and is used to measure the left front suspension pressure value of the dump truck;
所述第二悬挂压力传感器，悬挂安装于自卸车右前位置，用于测量自卸车右前悬挂压力数值；The second suspension pressure sensor is installed at the right front position of the dump truck and is used to measure the right front suspension pressure value of the dump truck;
所述第三悬挂压力传感器，悬挂安装于自卸车左后位置，用于测量自卸车左后悬挂压力数值；The third suspension pressure sensor is installed at the left rear position of the dump truck and is used to measure the left rear suspension pressure value of the dump truck;
所述第四悬挂压力传感器，悬挂安装于自卸车右后位置，用于测量自卸车右后悬挂压力数值。The fourth suspension pressure sensor is suspended and installed at the right rear position of the dump truck, and is used to measure the right rear suspension pressure value of the dump truck.
进一步的，所述转速传感器安装于变速箱后端输出轴，用于测量变速箱输出端轴转速；Furthermore, the speed sensor is installed on the output shaft at the rear end of the gearbox to measure the speed of the output shaft of the gearbox;
所述倾角传感器安装于自卸车水平位置，用于测量自卸车的倾斜角度；The tilt sensor is installed at a horizontal position of the dump truck and is used to measure the tilt angle of the dump truck;
所述油门踏板安装于驾驶室内，用于获取油门开度以辅助判断自卸车运行工况；The accelerator pedal is installed in the cab and is used to obtain the accelerator opening to assist in determining the operating condition of the dump truck;
所述变速箱控制器和整车控制器均安装于自卸车电控柜内。The gearbox controller and the vehicle controller are both installed in the electric control cabinet of the dump truck.
与现有技术相比，本发明所达到的有益效果：Compared with the prior art, the present invention has the following beneficial effects:
本发明通过处理悬挂压力传感器、转速传感器、倾角传感器、油门踏板的信号数据，计算分析自卸车的运行工况，向变速箱控制器发送限档指令，实现了扭矩参数的智能匹配，进一步实现了自卸车爬坡扭矩自适应控制。本发明减少了对驾驶员驾驶能力的依赖，有效的解决了人为操作不当对车辆动力性和运输效率以及驾驶安全性的影响，减少了驾驶员频繁的换挡操作，有利于避免驾驶员疲劳驾驶的发生，实用性强。The present invention processes the signal data of the suspension pressure sensor, the speed sensor, the inclination sensor, and the accelerator pedal, calculates and analyzes the operating conditions of the dump truck, sends a gear limit instruction to the gearbox controller, realizes the intelligent matching of torque parameters, and further realizes the adaptive control of the dump truck's climbing torque. The present invention reduces the dependence on the driver's driving ability, effectively solves the impact of improper human operation on vehicle power, transportation efficiency, and driving safety, reduces the driver's frequent gear shifting operations, and is conducive to avoiding the occurrence of driver fatigue driving, and has strong practicality.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1是一种矿用机械传动自卸车爬坡扭矩自适应控制系统的结构示意图；FIG1 is a schematic diagram of the structure of a climbing torque adaptive control system for a mining mechanical transmission dump truck;
图2是一种矿用机械传动自卸车爬坡扭矩自适应控制系统的方法流程图；FIG2 is a method flow chart of a climbing torque adaptive control system for a mining mechanical drive dump truck;
图3是机械传动矿用自卸车爬坡工况模型。Figure 3 is a climbing condition model of a mechanical transmission mining dump truck.
实施方式Implementation
下面结合附图对本发明作进一步描述。以下实施例仅用于更加清楚地说明本发明的技术方案，而不能以此来限制本发明的保护范围。The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.
实施例Example
本实施例公开了一种矿用机械传动自卸车爬坡扭矩自适应控制系统，如图1所示，包括悬挂压力传感器、转速传感器、倾角传感器、油门踏板、变速箱控制器和整车控制器，悬挂压力传感器的信号输出端、转速传感器的信号输出端、倾角传的信号输出端感器、油门踏板的信号输出端、以及变速箱控制器的控制端分别连接整车控制器，The present embodiment discloses a climbing torque adaptive control system for a mining mechanical transmission dump truck, as shown in FIG1 , comprising a suspension pressure sensor, a speed sensor, an inclination sensor, an accelerator pedal, a gearbox controller and a vehicle controller, wherein the signal output end of the suspension pressure sensor, the signal output end of the speed sensor, the signal output end of the inclination sensor, the signal output end of the accelerator pedal, and the control end of the gearbox controller are respectively connected to the vehicle controller,
整车控制器用于接收并处理悬挂压力传感器、转速传感器、倾角传感器、油门踏板的信号数据，向变速箱控制器发送限档指令，实现自卸车爬坡扭矩自适应控制。The vehicle controller is used to receive and process signal data from the suspension pressure sensor, speed sensor, inclination sensor, and accelerator pedal, and send a gear limit command to the transmission controller to achieve adaptive control of the dump truck's climbing torque.
其中，悬挂压力传感器包括第一悬挂压力传感器、第二悬挂压力传感器、第三悬挂压力传感器和第四悬挂压力传感器，The suspension pressure sensor includes a first suspension pressure sensor, a second suspension pressure sensor, a third suspension pressure sensor and a fourth suspension pressure sensor.
第一悬挂压力传感器，悬挂安装于自卸车左前位置，用于测量自卸车左前悬挂压力数值；The first suspension pressure sensor is installed at the left front position of the dump truck and is used to measure the left front suspension pressure value of the dump truck;
第二悬挂压力传感器，悬挂安装于自卸车右前位置，用于测量自卸车右前悬挂压力数值；The second suspension pressure sensor is installed at the right front position of the dump truck and is used to measure the right front suspension pressure value of the dump truck;
第三悬挂压力传感器，悬挂安装于自卸车左后位置，用于测量自卸车左后悬挂压力数值；The third suspension pressure sensor is installed at the left rear position of the dump truck and is used to measure the left rear suspension pressure value of the dump truck;
第四悬挂压力传感器，悬挂安装于自卸车右后位置，用于测量自卸车右后悬挂压力数值。The fourth suspension pressure sensor is suspended and installed at the right rear position of the dump truck, and is used to measure the right rear suspension pressure value of the dump truck.
转速传感器安装于变速箱后端输出轴，用于测量变速箱输出端轴转速；The speed sensor is installed on the output shaft at the rear end of the gearbox to measure the speed of the output shaft of the gearbox;
倾角传感器安装于自卸车水平位置，用于测量自卸车所处路面倾斜角度；The inclination sensor is installed at the horizontal position of the dump truck to measure the inclination angle of the road surface on which the dump truck is located;
油门踏板安装于驾驶室内，用于获取油门开度以辅助判断自卸车运行工况；The accelerator pedal is installed in the cab and is used to obtain the accelerator opening to assist in judging the operating conditions of the dump truck;
变速箱控制器安装于自卸车电控柜内，用于控制自动挡变速箱的换挡机构，使自卸车运行在相关档位；The gearbox controller is installed in the dump truck's electric control cabinet and is used to control the shift mechanism of the automatic gearbox so that the dump truck can run in the relevant gear position;
整车控制器安装于自卸车电控柜内，读取并处理四个压力传感器、转速传感器、倾角传感器、油门踏板数据，计算分析自卸车的运行工况，载重量，受力状况等数据，建立自卸车爬坡扭矩自适应控制模型，并向变速箱控制器发送限档指令，实现自卸车爬坡扭矩自适应控制。The vehicle controller is installed in the electronic control cabinet of the dump truck. It reads and processes data from four pressure sensors, a speed sensor, an inclination sensor, and an accelerator pedal, calculates and analyzes the operating conditions, load weight, stress conditions and other data of the dump truck, establishes a dump truck climbing torque adaptive control model, and sends a gear limit command to the gearbox controller to achieve dump truck climbing torque adaptive control.
如图2所示，本发明的矿用机械传动自卸车爬坡扭矩自适应控制系统的方法过程如下：As shown in FIG2 , the method process of the adaptive control system of the climbing torque of a mining mechanical transmission dump truck of the present invention is as follows:
(1)整车控制器实时读取倾角传感器和油门踏板的信号数据，并进行转化处理，得到自卸车所处路面倾斜角度以及发动机油门开度。(1) The vehicle controller reads the signal data from the inclination sensor and the accelerator pedal in real time and converts it to obtain the inclination angle of the road surface and the engine throttle opening of the dump truck.
根据倾斜角度α和油门开度以及持续时间，判断自卸车是否处于爬坡工况。为消除崎岖道路以及驾驶员偶然性的操作影响，设定自卸车倾斜角度阈值α 0，当倾斜角度α>倾斜角度阈值α 0，且维持时间大于预设的第一时间阈值t 1，同时满足油门开度大于0，且维持时间大于预设的第二时间阈值t 2，则认定自卸车处于爬坡工况。(2)当自卸车处于爬坡工况时，整车控制器读取转速传感器和悬挂压力传感器数据，计算得到车速和车辆载重量。自卸车载重量Δm计算公式如下： According to the tilt angle α, throttle opening and duration, it is determined whether the dump truck is in a climbing condition. In order to eliminate the influence of rugged roads and accidental operation of the driver, the dump truck tilt angle threshold α 0 is set. When the tilt angle α> tilt angle threshold α 0 and the maintenance time is greater than the preset first time threshold t 1 , and the throttle opening is greater than 0 and the maintenance time is greater than the preset second time threshold t 2 , the dump truck is considered to be in a climbing condition. (2) When the dump truck is in a climbing condition, the vehicle controller reads the data of the speed sensor and the suspension pressure sensor to calculate the vehicle speed and vehicle load. The calculation formula for the dump truck load Δm is as follows:
Δm＝{[(p 1-p 10)+(p 2-p 20)]S fC 1+[(p 3-p 30)+(p 4-p 40)]S bC 2}C 3/cosα/g Δm＝{[(p 1 - p 10 )+(p 2 - p 20 )]S f C 1 +[(p 3 - p 30 )+(p 4 - p 40 )]S b C 2 }C 3 /cos α/g
p 1为自卸车载重时左前悬挂压力，p 2为自卸车载重时右前悬挂压力，p 3为自卸车载重时左后悬挂压力，p 4为自卸车载重时左后悬挂压力，p 10为自卸车空载时左前悬挂压力，p 20为自卸车空载时右前悬挂压力，p 30为自卸车空载时左后悬挂压力，p 40为自卸车空载时右后悬挂压力，S f为前侧悬挂内缸体横截面积，S b为后侧悬挂内缸体横截面积，C 1为前侧悬挂载重系数，C 2为后侧悬挂载重系数，C 3为车身结构载重系数，α为倾斜角度，cosα为倾斜角度α的余弦函数，g为重力加速度。 p1 is the left front suspension pressure when the dump truck is loaded, p2 is the right front suspension pressure when the dump truck is loaded, p3 is the left rear suspension pressure when the dump truck is loaded, p4 is the left rear suspension pressure when the dump truck is loaded, p10 is the left front suspension pressure when the dump truck is unloaded, p20 is the right front suspension pressure when the dump truck is unloaded, p30 is the left rear suspension pressure when the dump truck is unloaded, p40 is the right rear suspension pressure when the dump truck is unloaded, Sf is the cross-sectional area of the front suspension inner cylinder, Sb is the cross-sectional area of the rear suspension inner cylinder, C1 is the front suspension load coefficient, C2 is the rear suspension load coefficient, C3 is the body structure load coefficient, α is the tilt angle, cosα is the cosine function of the tilt angle α, and g is the acceleration of gravity.
(3)整车控制器计算自卸车爬坡工况下所受阻力f，以及不同变速箱档位速比对应的车辆动力扭矩T和牵引力F。(3) The vehicle controller calculates the resistance f encountered by the dump truck when climbing a slope, as well as the vehicle power torque T and traction F corresponding to different gear ratios of the transmission.
如图3所示，车辆处于爬坡工况时，计算自卸车该工况下所受阻力f由滚动阻力、空气阻力、爬坡阻力组成：As shown in Figure 3, when the vehicle is in a climbing condition, the resistance f of the dump truck in this condition is composed of rolling resistance, air resistance, and climbing resistance:
f＝(m 0+Δm)gsinα+u(m 0+Δm)gcosα+0.5ρSk(v 0/i 0) 2 f＝(m 0 +Δm)gsinα+u(m 0 +Δm)gcosα+0.5ρSk(v 0 /i 0 ) 2
式中，m 0为自卸车自身重量，Δm为车辆处于爬坡工况时的自卸车载重量，g为重力加速度，sinα为倾斜角度α的正弦函数，u为滚动阻力系数，cosα为倾斜角度α的余弦函数，ρ为环境空气密度，S为车辆迎风面积，k为空气阻力系数，v 0为变速箱输出轴转速，i 0为自卸车后桥速比。 Where m0 is the weight of the dump truck, Δm is the load of the dump truck when the vehicle is in a climbing condition, g is the acceleration of gravity, sinα is the sine function of the inclination angle α, u is the rolling resistance coefficient, cosα is the cosine function of the inclination angle α, ρ is the ambient air density, S is the vehicle's frontal area, k is the air resistance coefficient, v0 is the gearbox output shaft speed, and i0 is the rear axle speed ratio of the dump truck.
自卸车在变速箱不同档位速比情况下，传动系统提供的整车动力扭矩T为：Under different gear ratios of the gearbox, the power torque T provided by the transmission system of the dump truck is:
T＝T ei gi 0η gη 0 T＝T e i g i 0 η g η 0
式中，T e为自卸车发动机动力输出扭矩，i g为变速箱不同档位速比，i 0为后桥速比，η g为变速箱传动效率，η 0为后桥传动效率。 Where Te is the dump truck engine power output torque, i g is the gear ratio of the gearbox, i 0 is the rear axle speed ratio, η g is the gearbox transmission efficiency, and η 0 is the rear axle transmission efficiency.
自卸车在变速箱不同档位速比对应的牵引力F为：The traction force F corresponding to different gear ratios of the dump truck's gearbox is:
F＝T/R＝T ei gi 0η gη 0/R F＝T/R＝T e i g i 0 η g η 0 /R
式中，R为自卸车轮胎半径。Where R is the tire radius of the dump truck.
(4)将变速箱最高档位速比对应的牵引力F与阻力f比较，判断此时牵引力F是否大于阻力f。如果此时牵引力F大于或等于阻力f，自卸车不进入爬坡转矩自适应控制模式，变速箱控制器不对自卸车变速箱档位进行限制。(4) Compare the traction force F corresponding to the highest gear ratio of the gearbox with the resistance f to determine whether the traction force F is greater than the resistance f. If the traction force F is greater than or equal to the resistance f, the dump truck does not enter the climbing torque adaptive control mode, and the gearbox controller does not limit the gear position of the dump truck gearbox.
(5)当变速箱最高档位速比对应的牵引力F小于阻力f时，自卸车进入爬坡转矩自适应控制模式，整车控制器向变速箱控制器发送限档指令，变速箱控制器将变速箱限制在合适的档位，保证车辆动力性。(5) When the traction force F corresponding to the highest gear ratio of the gearbox is less than the resistance f, the dump truck enters the climbing torque adaptive control mode. The vehicle controller sends a gear limit command to the gearbox controller, and the gearbox controller limits the gearbox to a suitable gear to ensure the vehicle's dynamic performance.
将变速箱其他档位速比对应的牵引力F依次与阻力f比较，如果变速箱g档时，满足变速箱g档速比对应的牵引力F g≥f，且变速箱g+1档速比对应的牵引力F g+1<f，整车控制器向变速箱控制器发送限档指令，变速箱控制器将变速箱最高档位限制为g档。 The traction force F corresponding to other gear ratios of the gearbox is compared with the resistance f in turn. If, when the gearbox is in gear g, the traction force F g corresponding to the gearbox gear ratio g ≥f, and the traction force F g+1 corresponding to the gearbox gear ratio g+1 <f, the vehicle controller sends a gear limit instruction to the gearbox controller, and the gearbox controller limits the highest gear of the gearbox to gear g.
需要说明的是，在自卸车爬坡转矩自适应模式中，为避免后续的爬坡档位频繁切换，保障自卸车动力连续性和驾驶舒适性，车辆运行后，依次在时间节点处进行爬坡工况的判断。其中，时间节点是基于预设的时间间隔Δt获取，相邻的时间节点之间相差一个基于预设的时间间隔Δt。It should be noted that in the dump truck climbing torque adaptive mode, in order to avoid frequent switching of subsequent climbing gears and ensure the power continuity and driving comfort of the dump truck, after the vehicle is running, the climbing condition is judged at the time nodes in sequence. Among them, the time nodes are obtained based on the preset time interval Δt, and the difference between adjacent time nodes is a preset time interval Δt.
 根据当前时间节点的倾角传感器的信号数据，得到当前时间节点自卸车的倾斜角度α t+Δt； According to the signal data of the tilt sensor at the current time node, the tilt angle αt +Δt of the dump truck at the current time node is obtained;
计算当前时间节点自卸车的倾斜角度α t+Δt与上一时间节点自卸车的倾斜角度α t的差值的绝对值； Calculate the absolute value of the difference between the tilt angle αt +Δt of the dump truck at the current time node and the tilt angle αt of the dump truck at the previous time node;
若所述绝对值小于预设的倾斜角度偏差阈值β，即|α t+Δt-α t|<β，则认定上一时间节点自卸车的倾斜角度α t为当前时间节点自卸车的爬坡角度，变速箱的最高档位限制保持不变，自卸车爬坡扭矩不作调整。 If the absolute value is less than the preset tilt angle deviation threshold β, that is, | αt+Δt - αt |<β, the tilt angle αt of the dump truck at the previous time node is deemed to be the climbing angle of the dump truck at the current time node, the highest gear limit of the gearbox remains unchanged, and the climbing torque of the dump truck is not adjusted.
若所述绝对值大于等于预设的倾斜角度偏差阈值β，即|α t+Δt-α t|≥β，则认定当前时间节点自卸车的倾斜角度α t+Δt为当前时间节点自卸车的爬坡角度，重新计算阻力并与变速箱不同档位速比对应的牵引力进行比较，得到变速箱的最高档位限制，控制变速箱实现相应的档位匹配。需要说明的是，此处阻力重新计算的过程中，带入的倾斜角度为当前时间节点自卸车的爬坡角度，即当前时间节点自卸车的倾斜角度α t+Δt。 If the absolute value is greater than or equal to the preset tilt angle deviation threshold β, that is, |α t+Δt -α t |≥β, the tilt angle α t+Δt of the dump truck at the current time node is determined to be the climbing angle of the dump truck at the current time node, and the resistance is recalculated and compared with the traction corresponding to different gear ratios of the gearbox to obtain the highest gear limit of the gearbox, and the gearbox is controlled to achieve the corresponding gear matching. It should be noted that in the process of recalculating the resistance here, the tilt angle brought in is the climbing angle of the dump truck at the current time node, that is, the tilt angle α t+Δt of the dump truck at the current time node.
如上所述，本发明公开的矿用机械传动自卸车爬坡扭矩自适应控制系统及方法，可以根据自卸车爬坡工况智能匹配扭矩参数，减少了对驾驶员驾驶能力的依赖，有效的解决了人为操作不当对车辆动力性和运输效率以及驾驶安全性的影响，减少了驾驶员频繁的换挡操作，有利于避免驾驶员疲劳驾驶的发生，实用性强。As described above, the adaptive control system and method for the climbing torque of a mining mechanical transmission dump truck disclosed in the present invention can intelligently match the torque parameters according to the climbing conditions of the dump truck, reduce the dependence on the driver's driving ability, effectively solve the impact of improper human operation on the vehicle's dynamics, transportation efficiency and driving safety, reduce the driver's frequent gear shifting operations, and help avoid the occurrence of driver fatigue driving, with strong practicality.
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”等的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以通过具体情况理解上述术语在本发明中的具体含义。In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明技术原理的前提下，还可以做出若干改进和变形，这些改进和变形也应视为本发明的保护范围。The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims (10)

  1. 一种矿用机械传动自卸车爬坡扭矩自适应控制方法，其特征是，A method for adaptively controlling the climbing torque of a mining mechanical transmission dump truck, characterized in that:
    包括如下步骤，The following steps are included:
    获取并分析倾角传感器和油门踏板的信号数据，判断自卸车是否处于爬坡工况；Obtain and analyze the signal data of the inclination sensor and the accelerator pedal to determine whether the dump truck is in a climbing condition;
    若处于爬坡工况，则获取并分析悬挂压力传感器和转速传感器的信号数据，计算得到变速箱不同档位速比对应的牵引力和阻力；If the vehicle is in a climbing condition, the signal data of the suspension pressure sensor and the speed sensor are obtained and analyzed to calculate the traction and resistance corresponding to different gear ratios of the gearbox;
    其中，若变速箱最高档位速比对应的牵引力大于或等于阻力，则不进入爬坡转矩自适应控制模式，同时不向变速箱控制器发送限档指令；If the traction force corresponding to the highest gear ratio of the gearbox is greater than or equal to the resistance, the climbing torque adaptive control mode will not be entered, and the gear limit command will not be sent to the gearbox controller;
    若变速箱最高档位速比对应的牵引力小于阻力，则进入爬坡转矩自适应控制模式，并向变速箱控制器发送限档指令。If the traction force corresponding to the highest gear ratio of the gearbox is less than the resistance, the climbing torque adaptive control mode is entered and a gear limit command is sent to the gearbox controller.
  2. 根据权利要求1所述的矿用机械传动自卸车爬坡扭矩自适应控制方法，其特征是，The method for adaptively controlling the climbing torque of a mining mechanical transmission dump truck according to claim 1 is characterized in that:
    所述判断自卸车是否处于爬坡工况包括如下步骤：The method of determining whether the dump truck is in a climbing condition comprises the following steps:
    获取倾角传感器和油门踏板的信号数据，分析得到自卸车的倾斜角度以及发动机的油门开度；Obtain signal data from the inclination sensor and the accelerator pedal, and analyze the inclination angle of the dump truck and the throttle opening of the engine;
    若所述倾斜角度大于预设的倾斜角度阈值且维持时间大于预设的第一时间阈值，同时满足油门开度大于0且维持时间大于预设的第二时间阈值，则认定自卸车处于爬坡工况。If the tilt angle is greater than a preset tilt angle threshold and the maintenance time is greater than a preset first time threshold, and at the same time the throttle opening is greater than 0 and the maintenance time is greater than a preset second time threshold, it is determined that the dump truck is in a climbing condition.
  3. 根据权利要求1所述的矿用机械传动自卸车爬坡扭矩自适应控制方法，其特征是，The method for adaptively controlling the climbing torque of a mining mechanical transmission dump truck according to claim 1 is characterized in that:
    所述变速箱不同档位速比对应的牵引力的表达式如下：The expression of the traction force corresponding to different gear ratios of the gearbox is as follows:
    F＝T ei gi 0η gη 0/R F＝T e i g i 0 η g η 0 /R
    式中，F为变速箱不同档位速比对应的牵引力，T e为自卸车发动机动力输出扭矩，i g为变速箱不同档位速比，i 0为后桥速比，η g为变速箱传动效率，η 0为后桥传动效率，R为自卸车轮胎半径。 Where F is the traction force corresponding to different gear ratios of the gearbox, Te is the power output torque of the dump truck engine, i g is the gear ratio of different gears of the gearbox, i 0 is the rear axle speed ratio, η g is the transmission efficiency of the gearbox, η 0 is the transmission efficiency of the rear axle, and R is the tire radius of the dump truck.
  4. 根据权利要求1所述的矿用机械传动自卸车爬坡扭矩自适应控制方法，其特征是，The method for adaptively controlling the climbing torque of a mining mechanical transmission dump truck according to claim 1 is characterized in that:
    所述阻力f的表达式如下：The expression of the resistance f is as follows:
    f＝(m 0+Δm)gsinα+u(m 0+Δm)gcosα+0.5ρSk(v 0/i 0) 2 f＝(m 0 +Δm)gsinα+u(m 0 +Δm)gcosα+0.5ρSk(v 0 /i 0 ) 2
    式中，m 0为自卸车自身重量，Δm为车辆处于爬坡工况时的自卸车载重量，g为重力加速度，sinα为倾斜角度α的正弦函数，u为滚动阻力系数，cosα为倾斜角度α的余弦函数，ρ为环境空气密度，S为车辆迎风面积，k为空气阻力系数，v 0为变速箱输出轴转速，i 0为自卸车后桥速比。 Where m0 is the weight of the dump truck, Δm is the load of the dump truck when the vehicle is in a climbing condition, g is the acceleration of gravity, sinα is the sine function of the inclination angle α, u is the rolling resistance coefficient, cosα is the cosine function of the inclination angle α, ρ is the ambient air density, S is the vehicle's frontal area, k is the air resistance coefficient, v0 is the gearbox output shaft speed, and i0 is the rear axle speed ratio of the dump truck.
  5. 根据权利要求4所述的矿用机械传动自卸车爬坡扭矩自适应控制方法，其特征是，The method for adaptively controlling the climbing torque of a mining mechanical transmission dump truck according to claim 4 is characterized in that:
    所述车辆处于爬坡工况时的自卸车载重量Δm的表达式如下：The expression of the dump truck load Δm when the vehicle is in a climbing condition is as follows:
    Δm＝{[(p 1-p 10)+(p 2-p 20)]S fC 1+[(p 3-p 30)+(p 4-p 40)]S bC 2}C 3/cosα/g Δm＝{[(p 1 - p 10 )+(p 2 - p 20 )]S f C 1 +[(p 3 - p 30 )+(p 4 - p 40 )]S b C 2 }C 3 /cos α/g
    式中，p 1为自卸车载重时左前悬挂压力，p 2为自卸车载重时右前悬挂压力，p 3为自卸车载重时左后悬挂压力，p 4为自卸车载重时左后悬挂压力，p 10为自卸车空载时左前悬挂压力，p 20为自卸车空载时右前悬挂压力，p 30为自卸车空载时左后悬挂压力，p 40为自卸车空载时右后悬挂压力，S f为前侧悬挂内缸体横截面积，S b为后侧悬挂内缸体横截面积，C 1为前侧悬挂载重系数，C 2为后侧悬挂载重系数，C 3为车身结构载重系数，α为倾斜角度，cosα为倾斜角度α的余弦函数，g为重力加速度。 Wherein, p1 is the left front suspension pressure when the dump truck is loaded, p2 is the right front suspension pressure when the dump truck is loaded, p3 is the left rear suspension pressure when the dump truck is loaded, p4 is the left rear suspension pressure when the dump truck is loaded, p10 is the left front suspension pressure when the dump truck is unloaded, p20 is the right front suspension pressure when the dump truck is unloaded, p30 is the left rear suspension pressure when the dump truck is unloaded, p40 is the right rear suspension pressure when the dump truck is unloaded, Sf is the cross-sectional area of the front suspension inner cylinder, Sb is the cross-sectional area of the rear suspension inner cylinder, C1 is the front suspension load coefficient, C2 is the rear suspension load coefficient, C3 is the body structure load coefficient, α is the tilt angle, cosα is the cosine function of the tilt angle α, and g is the acceleration of gravity.
  6. 根据权利要求1所述的矿用机械传动自卸车爬坡扭矩自适应控制方法，其特征是，The method for adaptively controlling the climbing torque of a mining mechanical transmission dump truck according to claim 1 is characterized in that:
    所述发送限档指令包括如下步骤：The sending of the limit file instruction comprises the following steps:
    将变速箱其他档位速比对应的牵引力依次与阻力进行比较，若满足变速箱g档速比对应的牵引力大于或等于阻力，g+1档速比对应的牵引力小于阻力，则向变速箱控制器发送限档指令，其中，变速箱最高档位限制为g档。The traction corresponding to other gear ratios of the gearbox is compared with the resistance in turn. If the traction corresponding to the gear ratio of g is greater than or equal to the resistance, and the traction corresponding to the gear ratio of g+1 is less than the resistance, a gear limit instruction is sent to the gearbox controller, where the highest gear of the gearbox is limited to g.
  7. 根据权利要求6所述的矿用机械传动自卸车爬坡扭矩自适应控制方法，其特征是，The method for adaptively controlling the climbing torque of a mining mechanical transmission dump truck according to claim 6 is characterized in that:
    所述发送限档指令还包括如下步骤：The sending of the limit file instruction also includes the following steps:
    基于预设的时间间隔，得到当前时间节点自卸车的倾斜角度；Based on the preset time interval, the tilt angle of the dump truck at the current time node is obtained;
    计算当前时间节点自卸车的倾斜角度与上一时间节点自卸车的倾斜角度差值的绝对值；Calculate the absolute value of the difference between the tilt angle of the dump truck at the current time node and the tilt angle of the dump truck at the previous time node;
    若所述绝对值小于预设的倾斜角度偏差阈值，则认定上一时间节点自卸车的倾斜角度为当前时间节点自卸车的爬坡角度，变速箱的最高档位限制保持不变；If the absolute value is less than the preset tilt angle deviation threshold, the tilt angle of the dump truck at the previous time node is deemed to be the climbing angle of the dump truck at the current time node, and the highest gear limit of the gearbox remains unchanged;
    若所述绝对值大于等于预设的倾斜角度偏差阈值，则认定当前时间节点自卸车的倾斜角度为当前时间节点自卸车的爬坡角度，重新计算阻力并与变速箱不同档位速比对应的牵引力进行比较，得到变速箱的最高档位限制。If the absolute value is greater than or equal to the preset tilt angle deviation threshold, the tilt angle of the dump truck at the current time node is deemed to be the climbing angle of the dump truck at the current time node, the resistance is recalculated and compared with the traction corresponding to different gear ratios of the gearbox to obtain the highest gear limit of the gearbox.
  8. 一种采用根据权利要求1-7任一项所述的矿用机械传动自卸车爬坡扭矩自适应控制方法的控制系统，其特征是，A control system using the method for adaptively controlling the climbing torque of a mining mechanical transmission dump truck according to any one of claims 1 to 7, characterized in that:
    包括悬挂压力传感器、转速传感器、倾角传感器、油门踏板、变速箱控制器和整车控制器，所述悬挂压力传感器的信号输出端、转速传感器的信号输出端、倾角传的信号输出端感器、油门踏板的信号输出端、以及变速箱控制器的控制端分别连接整车控制器，It includes a suspension pressure sensor, a speed sensor, an inclination sensor, an accelerator pedal, a gearbox controller and a vehicle controller. The signal output end of the suspension pressure sensor, the signal output end of the speed sensor, the signal output end of the inclination sensor, the signal output end of the accelerator pedal, and the control end of the gearbox controller are respectively connected to the vehicle controller.
    所述整车控制器用于接收并处理悬挂压力传感器、转速传感器、倾角传感器、油门踏板的信号数据，向变速箱控制器发送限档指令，实现自卸车爬坡扭矩自适应控制。The vehicle controller is used to receive and process signal data from a suspension pressure sensor, a rotation speed sensor, an inclination sensor, and an accelerator pedal, and send a gear limit instruction to a transmission controller to achieve adaptive control of the dump truck's climbing torque.
  9. 根据权利要求8所述的矿用机械传动自卸车爬坡扭矩自适应控制方法的控制系统，其特征是，The control system of the method for adaptively controlling the climbing torque of a mining mechanical transmission dump truck according to claim 8 is characterized in that:
    所述悬挂压力传感器包括第一悬挂压力传感器、第二悬挂压力传感器、第三悬挂压力传感器和第四悬挂压力传感器，The suspension pressure sensor includes a first suspension pressure sensor, a second suspension pressure sensor, a third suspension pressure sensor and a fourth suspension pressure sensor.
    所述第一悬挂压力传感器，悬挂安装于自卸车左前位置，用于测量自卸车左前悬挂压力数值；The first suspension pressure sensor is installed at the left front position of the dump truck and is used to measure the left front suspension pressure value of the dump truck;
    所述第二悬挂压力传感器，悬挂安装于自卸车右前位置，用于测量自卸车右前悬挂压力数值；The second suspension pressure sensor is installed at the right front position of the dump truck and is used to measure the right front suspension pressure value of the dump truck;
    所述第三悬挂压力传感器，悬挂安装于自卸车左后位置，用于测量自卸车左后悬挂压力数值；The third suspension pressure sensor is installed at the left rear position of the dump truck and is used to measure the left rear suspension pressure value of the dump truck;
    所述第四悬挂压力传感器，悬挂安装于自卸车右后位置，用于测量自卸车右后悬挂压力数值。The fourth suspension pressure sensor is suspended and installed at the right rear position of the dump truck, and is used to measure the right rear suspension pressure value of the dump truck.
  10. 根据权利要求8所述的矿用机械传动自卸车爬坡扭矩自适应控制方法的控制系统，其特征是，The control system of the method for adaptively controlling the climbing torque of a mining mechanical transmission dump truck according to claim 8 is characterized in that:
    所述转速传感器安装于变速箱后端输出轴，用于测量变速箱输出端轴转速；The speed sensor is installed on the output shaft at the rear end of the gearbox and is used to measure the speed of the shaft at the output end of the gearbox;
    所述倾角传感器安装于自卸车水平位置，用于测量自卸车的倾斜角度；The tilt sensor is installed at a horizontal position of the dump truck and is used to measure the tilt angle of the dump truck;
    所述油门踏板安装于驾驶室内，用于获取油门开度以辅助判断自卸车运行工况；The accelerator pedal is installed in the cab and is used to obtain the accelerator opening to assist in determining the operating condition of the dump truck;
    所述变速箱控制器和整车控制器均安装于自卸车电控柜内。The gearbox controller and the vehicle controller are both installed in the electric control cabinet of the dump truck.
PCT/CN2023/127966 2022-10-28 2023-10-30 Adaptive control system and method for slope-climbing torque of mining mechanical-transmission dumper WO2024088429A1 (en)

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