CN102717801B - Automatic backward skating preventing system of electric wheel non-road dumper in slope-starting - Google Patents
Automatic backward skating preventing system of electric wheel non-road dumper in slope-starting Download PDFInfo
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- CN102717801B CN102717801B CN201210190573.6A CN201210190573A CN102717801B CN 102717801 B CN102717801 B CN 102717801B CN 201210190573 A CN201210190573 A CN 201210190573A CN 102717801 B CN102717801 B CN 102717801B
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Abstract
The invention relates to an automatic backward skating preventing system of an electric wheel non-road dumper in slope-starting, and in particular relates to a system capable of preventing backward skating automatically when an electric wheel non-road dumper is in a slope-starting state, which belongs to the field of intelligent control of non-road dumpers. The automatic backward skating preventing system comprises an accelerator pedal plate, a gear shifting selector, a wheel motor drive system, a brake system, a weighing system and an inclinometer. The automatic backward skating preventing system acquires a ramp slope value from the inclinometer and a load capacity of an electric wheel mining truck from the weighing system, then a safety moment F0 ensuring that the electric wheel mining truck is not subjected to backward skating under the condition of release of a brake is figured out, further a torque controller is controlled to continuously add a torque F applied to a wheel motor, and when F is more than F0, the brake is released to realize he stable slope-starting. By virtue of the automatic backward skating preventing system, a driver only directly uses the accelerator pedal plate to realize the automatic backward skating preventing starting of the electric wheel mining truck on the slope without a working braking pedal plate.
Description
Technical field
The present invention relates to the automatic anti-back skating system of a kind of electric drive wheel haul truck hill start, particularly automatically realize anti-back skating system during electric drive wheel haul truck uphill starting, belong to haul truck field of intelligent control.
Background technology
Electric drive wheel haul truck is a kind of larger transport devices, has that load carrying ability is large, efficiency is high, traffic cost is low and the feature such as long service life, hereinafter referred to as " electric wheel mining truck ".Along with open cast mine keeps the large-scale development, the demand of mine user to Large Electric wheel mine truck gets more and more, simultaneously also more and more higher to the operation requirements of electric wheel mining truck.Especially, when going up a slope, chaufeur stops due to the brake of certain factor, again will run into back skating phenomenon during starting.And this operating mode is very general, because the recovery process of surface mine just determines that roping is each time all that heavy duty is gone up a slope, current mine uses electric wheel mining truck heavy duty weight all more than 400 tons, if back skating phenomenon occurs large-tonnage electric wheel mining truck like this on slope is breakneck.By in situation, chaufeur is all generally realize the anti-back skating of uphill starting by cooperating brake pedal.This method not only operating difficulties, adds driver-operated fatigue strength to a great extent, and also very serious, of paramount importance or unreliable, dangerous to the damage of the drg of truck, still there will be back skating scene, causes major accident.So mine user is requiring that main engine plants solve hill start back skating problem consumingly.
Summary of the invention
The object of the present invention is to provide the automatic anti-back skating system of a kind of electric drive wheel haul truck hill start, this system controls automatically to electric wheel mining truck uphill starting process implementation, the drag torque of automatic control wheel motor, strictly avoid back skating phenomenon during uphill starting, realize electric wheel mining truck automatic anti-back skating gentle start on ramp.
Technical solution:
The present invention includes: Das Gaspedal, gear shift selector, also comprise: wheel motor drive system, brake system, weighing system, dip compass; Wherein:
Wheel motor drive system comprises: speed sensor, torque sensor and wheel motor motor, and wheel motor motor output end is connected with speed sensor and torque sensor input end respectively;
Brake system comprises: moment comparator, torque controller, throttle comparator, acceleration/accel comparator, direction comparator, forward controller, the mouth of described moment comparator, acceleration/accel comparator, throttle comparator, direction comparator is connected with the input end of forward controller respectively, the mouth of forward controller is connected with torque controller input end, and the mouth of torque controller is connected to the input end of wheel motor motor;
Speed sensor mouth in wheel motor drive system is connected with acceleration/accel comparator, direction comparator input terminal respectively, and the mouth of torque sensor is connected with the input end of moment comparator;
The input end of throttle comparator is connected with the mouth of Das Gaspedal, and the input end of direction comparator is also connected with the mouth of gear shift selector;
Weighing system mouth is connected with the input end of forward controller;
Dip compass mouth is connected with the input end of forward controller.
Described dip compass is the obliquity sensor being arranged on electric wheel mining truck inside, and obliquity sensor is connected with forward controller by wire, for measuring the ratio of slope in ramp, electric wheel mining truck place.
The gear signal of described direction comparator Real-time Collection gear shift selector and the speed signal of speed sensor, compared by direction comparator, ensure when D Drive, the velocity reversal of electric wheel mining truck must be forward.
Described weighing system is mounted on the platform of electric wheel mining truck, and weighing system is connected with forward controller by wire, for measuring the load carrying ability of electric wheel mining truck.
The present invention has installed weighing system on electric wheel mining truck platform, for measuring the load carrying ability of electric wheel mining truck, and be configured with forward controller, moment comparator, acceleration/accel comparator, throttle comparator, direction comparator and dip compass for control system.Described electric wheel mining truck forward controller Real-time Collection comes the load carrying ability of self-weighing system and the ramp value from dip compass, and calculates the safe moment values F of the anti-back skating of hill start
0, then this value is sent to torque controller, increases by the operation of chaufeur open the throttle wide the drag torque be applied on wheel motor motor.When the value of feedback F of torque sensor is greater than safe moment F
0time, forward controller just goes to control brake system release the brake, finally realizes the anti-back start in ramp of electric wheel mining truck.
Accompanying drawing explanation
Fig. 1 is system schematic;
Fig. 2 is systematic schematic diagram;
Fig. 3 is control system diagram of circuit.
Detailed description of the invention
The present invention includes: electric wheel mining truck 1, Das Gaspedal 15, gear shift selector 16; Also comprise: wheel motor drive system 3, brake system 2, weighing system 14, dip compass 13, wherein:
Wheel motor drive system 3 comprises: speed sensor 5, torque sensor 6 and wheel motor motor 7, and wheel motor motor 7 mouth is connected with the input end of speed sensor 5 and torque sensor 6 respectively;
Brake system 2 comprises: moment comparator 9, torque controller 8, throttle comparator 11, acceleration/accel comparator 10, direction comparator 17, forward controller 12, the mouth of described moment comparator 9, acceleration/accel comparator 10, throttle comparator 11, direction comparator 17 is connected with the input end of forward controller 12 respectively, the mouth of forward controller 12 is connected with the input end of torque controller 8, and the mouth of torque controller 8 is connected to the input end of wheel motor motor 7;
Speed sensor 5 mouth in wheel motor drive system 3 is connected with acceleration/accel comparator 10, direction comparator 17 input end respectively, and the mouth of torque sensor 6 is connected with the input end of moment comparator 9;
The input end of throttle comparator 11 is connected with the mouth of Das Gaspedal 15, and the input end of direction comparator 17 is also connected with the mouth of gear shift selector 16;
Weighing system 14 mouth is connected with the input end of forward controller 12;
Dip compass 13 mouth is connected with the input end of forward controller 12.
Forward controller 12 gathers weighing system 14 in real time, dip compass 13 transmits the data of returning, and calculates electric wheel mining truck 1 when not by drg, can steady anti-back skating stops in ramp safe motor moment values F
0, use F
0the wheel motor moment values F fed back with moment comparator 9 compares, if value of feedback does not reach safety value, forward controller 12 carrys out control torque controller 8 by the Das Gaspedal Acceleration Signal that throttle comparator 11 collects to be continued to increase the moment be applied on wheel motor motor 7, until when value of feedback is greater than safety value, just control brake system 2 release the brake, finally realize the gentle start of electric wheel mining truck.
Dip compass 13 is for being arranged on the obliquity sensor of electric wheel mining truck 1 inside, and obliquity sensor is connected with forward controller 12 by wire, for measuring the ratio of slope in ramp, electric wheel mining truck 1 place.
The gear signal of direction comparator 17 Real-time Collection gear shift selector 16 and the speed signal of speed sensor 5, compared by direction comparator 17, ensure when D Drive, and the velocity reversal of electric wheel mining truck 1 must be forward.
Weighing system 14 is arranged on the platform of electric wheel mining truck 1, and weighing system 14 is connected with forward controller 12 by wire, for measuring the load carrying ability of electric wheel mining truck 1.Fig. 1 is system schematic, definition: G is electric wheel mining truck 1 total weight, G
truckfor electric wheel mining truck 1 conduct oneself with dignity, G
weithtfor ratio of slope, F that the coefficient of rolling friction carrying out electric wheel mining truck 1 load carrying ability of self-weighing system 14, μ is ramp, a are ramp, electric wheel mining truck 1 place
0for electric wheel mining truck 1 is not by drg, the safe moment of the wheel motor motor 7 that steadily can stop on ramp, F are the torque-feedback value be applied on wheel motor motor 7.
As shown in the figure, can obtain:
G＝G
truck+G
WeightG2＝Gcosa
G1＝Gsina f＝μGcosa
So safe moment F
0computing formula as follows:
F
0＝G1+f
＝Gsina+μG2
=Gsina+ μ Gcosa formula (one)
＝G(sina+μcosa)
＝(G
truck+G
weight)(sina+μcosa)
As can be seen from Figure 1, the condition of the anti-back skating gentle start in ramp is:
F > F
0=(G
truck+ G
weight) (sina+ μ cosa) formula (two)
Fig. 2 is systematic schematic diagram, as shown in the figure: wheel motor motor 7 is the power element that electric wheel mining truck 1 advances, wheel motor drive system 3 being installed speed sensor 5 for monitoring the speed of wheel motor motor 7 in real time, torque sensor 6 being installed for monitoring the moment values of wheel motor motor 7 in real time; Be arranged on weighing system 14 on electric wheel mining truck 1 platform for measuring the current load carrying ability G of electric wheel mining truck
weitht; Be arranged on dip compass 13 on electric wheel mining truck 1 for measuring the ratio of slope a in ramp, electric wheel mining truck 1 place; Forward controller 8 is the control center of this system, its input end is connected with the mouth of weighing system 14, dip compass 13, moment comparator 9, acceleration/accel comparator 10, throttle comparator 11 and direction comparator 17 simultaneously, and receive the data that they send in real time, its mouth is then connected with torque controller 8, and the data command processed is sent to torque controller 8, torque controller 8 is then the direct control unit of wheel motor motor 7, and it applies moment to wheel motor motor 7 in real time according to the instruction of forward controller 12; The input end of throttle comparator 11 is connected with Das Gaspedal 15, and Real-time Collection chaufeur is by the Acceleration Signal of Das Gaspedal 15; The input end of direction comparator 17 is then connected with the mouth of gear shift selector 16 with speed sensor 5 respectively, in order to guarantee that direction is consistent with speed, strictly prevents back skating.
Fig. 3 is control system diagram of circuit, as shown in the figure, first by the signal of direction comparator 17 and acceleration/accel comparator 10 picking rate sensor 5 and gear shift selector 16, and when guaranteeing that D Drive hung by electric wheel mining truck 1 on ramp, its velocity reversal must be forward.Then the current load carrying ability G of electric wheel mining truck is recorded by the weighing system 14 be arranged on electric wheel mining truck 1
weitht, the ratio of slope a in ramp, electric wheel mining truck 1 place is recorded by the dip compass 13 be arranged on electric wheel mining truck, and the deadweight G of electric wheel mining truck 1
truckknown.So, forward controller 12 just can calculate the safe moment F of electric wheel mining truck 1 wheel motor motor 7 according to formula (one)
0.Meanwhile, chaufeur is sent to throttle comparator 11 by the signal that will speed up of Das Gaspedal 15, throttle comparator 11 will deliver to forward controller 12, forward controller 12 calculates the drag torque value be applied on wheel motor motor 7, and by torque controller 8, this moment values is applied on wheel motor motor 7, then records the torque-feedback value F of wheel motor motor 7 by torque sensor 6.According to formula (two), if F < is F
0, then realize increasing by the operation of chaufeur continuation open the throttle wide the moment values be applied on wheel motor motor 7, thus increase the torque-feedback value F of wheel motor motor 7; If F > is F
0, then control brake system 2 release the brake by forward controller 12, and progressively increase by the operation of the continuous open the throttle wide of chaufeur the moment values be applied on wheel motor motor 7, realize electric wheel mining truck automatic anti-back skating gentle start on ramp.
Claims (1)
1. the automatic anti-back skating system of electric drive wheel haul truck hill start, comprising: electric wheel mining truck (1), Das Gaspedal (15), gear shift selector (16); It is characterized in that, also comprise: wheel motor drive system (3), brake system (2), weighing system (14), dip compass (13), wherein:
Wheel motor drive system (3) comprising: speed sensor (5), torque sensor (6) and wheel motor motor (7), and wheel motor motor (7) mouth is connected with the input end of speed sensor (5) and torque sensor (6) respectively;
Brake system (2) comprising: moment comparator (9), torque controller (8), throttle comparator (11), acceleration/accel comparator (10), direction comparator (17), forward controller (12), described moment comparator (9), acceleration/accel comparator (10), throttle comparator (11), the mouth of direction comparator (17) is connected with the input end of forward controller (12) respectively, the mouth of forward controller (12) is connected with the input end of torque controller (8), the mouth of torque controller (8) is connected to the input end of wheel motor motor (7),
Speed sensor (5) mouth in wheel motor drive system (3) is connected with acceleration/accel comparator (10), direction comparator (17) input end respectively, and the mouth of torque sensor (6) is connected with the input end of moment comparator (9);
The input end of throttle comparator (11) is connected with the mouth of Das Gaspedal (15), and the input end of direction comparator (17) is also connected with the mouth of gear shift selector (16);
Weighing system (14) mouth is connected with the input end of forward controller (12);
Forward controller (12) gathers weighing system (14) in real time, dip compass (13) transmits the data of returning, and calculates electric wheel mining truck (1) when not by drg, can steady anti-back skating stops in ramp safe motor moment values
, use
the wheel motor moment values fed back with moment comparator (9)
compare, if value of feedback does not reach safety value, the Das Gaspedal Acceleration Signal that forward controller (12) is then collected by throttle comparator (11) is carried out control torque controller (8) and is continued increase and be applied to moment on wheel motor motor (7), until when value of feedback is greater than safety value, brake system (2) release the brake, realizes the gentle start of electric wheel mining truck;
The gear signal in described direction comparator (17) Real-time Collection gear shift selector (16) and the speed signal of speed sensor (5), compared by direction comparator (17), ensure when D Drive, the velocity reversal of electric wheel mining truck (1) must be forward;
Described dip compass (13) mouth is connected with the input end of forward controller (12), dip compass (13) is for being arranged on the inner obliquity sensor of electric wheel mining truck (1), obliquity sensor is connected with forward controller (12) by wire, for measuring the ratio of slope in electric wheel mining truck (1) ramp, place;
Described weighing system (14) is arranged on the platform of electric wheel mining truck (1), and weighing system (14) is connected with forward controller (12) by wire, for measuring the load carrying ability of electric wheel mining truck (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210190573.6A CN102717801B (en) | 2012-06-01 | 2012-06-01 | Automatic backward skating preventing system of electric wheel non-road dumper in slope-starting |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210190573.6A CN102717801B (en) | 2012-06-01 | 2012-06-01 | Automatic backward skating preventing system of electric wheel non-road dumper in slope-starting |
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| CN102717801A CN102717801A (en) | 2012-10-10 |
| CN102717801B true CN102717801B (en) | 2015-06-03 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102874257B (en) * | 2012-10-23 | 2015-04-08 | 力帆实业(集团)股份有限公司 | Hill-start assist system for electric car and control method of hill-start assist system |
| CN103195922B (en) * | 2013-03-28 | 2015-07-01 | 长城汽车股份有限公司 | Vehicle and uphill control method and device thereof |
| CN103895531B (en) * | 2014-04-18 | 2016-04-20 | 清华大学苏州汽车研究院（吴江） | Pure electric vehicle uphill starting control method |
| CN105711590A (en) * | 2016-05-03 | 2016-06-29 | 重庆长安汽车股份有限公司 | Hill-starting assisting control method and device |
| CN112248825B (en) * | 2020-11-11 | 2024-03-26 | 徐州徐工矿业机械有限公司 | Pre-torque control system and control method for electric transmission mining dump truck |
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| CN85108836A (en) * | 1985-12-10 | 1987-06-24 | 株式会社小松制作所 | Measurement is contained in the method and apparatus of load net weight on the vehicle |
| CN101020423A (en) * | 2006-02-13 | 2007-08-22 | 通用汽车环球科技动作公司 | Method and apparatus for controlling vehicle rollback |
| CN101987622A (en) * | 2009-07-30 | 2011-03-23 | 现代自动车株式会社 | Apparatus and method for controlling motor position and creep of electric vehicle |
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