阅读说明：本技术 一种电传动矿用自卸车自适应安全限速保护系统及方法 (Self-adaptive safety speed-limiting protection system and method for electric transmission mining dump truck ) 是由 李宗� 张亮 王冠 房康宁 李斌 张亚鹏 毛家松 于振华 褚福阳 顾程鹏 于 2021-08-31 设计创作，主要内容包括：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。(The self-adaptive safety speed-limiting protection system of the electric drive mining dump truck comprises a vehicle control unit VCU, wherein the input end of the vehicle control unit VCU is connected with a weighing sensor, an inclination angle sensor, a temperature sensor, a rotating speed sensor, an electric brake pedal and an accelerator pedal, and the output end of the vehicle control unit VCU is connected with a display terminal and a brake mechanism. The invention has the beneficial effects that: the device can automatically match the current state of the electric transmission mine car with the safety speed limit protection, particularly carry out self-adaptive safety speed limit on the vehicle under the downhill working condition, avoid the overspeed running of the vehicle and improve the running safety and the transportation efficiency of the vehicle.)

1. The utility model provides an electric drive mining dump truck self-adaptation safety speed limit protection system, includes vehicle control unit VCU, its characterized in that: the input end of the VCU of the vehicle control unit is connected with the weighing sensor, the inclination angle sensor, the temperature sensor, the rotating speed sensor, the electric brake pedal and the accelerator pedal, and the output end of the VCU of the vehicle control unit is connected with the display terminal and the brake mechanism.

2. The electric drive mining dump truck self-adaptive safety speed limit protection system according to claim 1, characterized in that: the weighing sensors comprise a left front weighing sensor, a right front weighing sensor, a left rear weighing sensor and a right rear weighing sensor.

3. The electric drive mining dump truck self-adaptive safety speed limit protection system according to claim 1, characterized in that: the temperature sensor comprises a left wheel motor temperature sensor and a right wheel motor temperature sensor, and the rotating speed sensor comprises a left wheel rotating speed sensor and a right wheel rotating speed sensor.

4. The electric drive mining dump truck self-adaptive safety speed limit protection system according to claim 1, characterized in that: the braking mechanism adopts a frequency converter.

5. A self-adaptive safety speed limit protection method for an electric drive mining dump truck is characterized by comprising the following steps: the method comprises the following steps:

s1: the VCU of the vehicle control unit reads real-time vehicle state information, including an inclination angle alpha, vehicle weight, speed, an accelerator signal and a brake signal;

s2: judging whether the vehicle is in an uphill state, a flat state or a downhill state according to the inclination angle, the inclination duration, the accelerator signal and the electric brake signal state;

s3: if the vehicle is in a downhill state, the VCU calculates the braking torque T required to be applied by the current motor according to the current total weight and the inclination angle of the vehicle;

s4: if the vehicle is in a flat or uphill state, setting a speed limit value Vs and a maximum allowable vehicle speed Vm according to operation requirements;

s5: when the vehicle is in a flat or uphill state, if the vehicle speed exceeds a speed limit value Vs, the display terminal displays a speed limit sign and an overspeed alarm, applies electric braking, and records the allowed data of the current working condition;

s6: when the vehicle is in a flat or uphill state, if the vehicle speed exceeds the maximum allowable vehicle speed Vm, the display terminal reminds the driver to adopt hydraulic braking for speed reduction until the vehicle speed is lower than the maximum allowable vehicle speed Vm.

6. The self-adaptive safety speed-limiting protection method of the electric drive mining dump truck according to claim 5, characterized in that: the inclination angle is acquired in a filtering mode, and specifically, N sampling values are continuously acquired through an inclination angle sensor to perform arithmetic mean operation.

7. The self-adaptive safety speed-limiting protection method of the electric drive mining dump truck according to claim 5, characterized in that: in step S3, braking torqueThe method comprises the steps that T is the minimum braking torque required to be added by a wheel-side motor, R is the rolling radius of a tire of the mining dump truck, eta is the efficiency of the motor, i is a reduction ratio, F is the resultant force of gravity component and friction force of the vehicle under the downhill working condition, F is (M1+ M2) g sin (-alpha) - (M1+ M2) g cos (-alpha), wherein M1 is the self weight of the vehicle, M2 is the real-time load of the vehicle, and mu is a friction factor.

8. The self-adaptive safety speed-limiting protection method of the electric drive mining dump truck according to claim 5, characterized in that: after the vehicle is overspeed, the VCU of the vehicle controller applies electric braking in different modes according to the current motor temperature and the vehicle speed; and if the current motor temperature is higher than the set temperature, applying standard braking, otherwise, applying maximum braking.

Technical Field

The invention relates to the technical field of control of mining dump trucks, in particular to a self-adaptive safety speed-limiting protection system of an electric drive mining dump truck.

Background

The electric drive mining dump truck has absolute advantages in the field of surface mining, the driving system is simple, and the engine can be operated on an optimal characteristic curve, so the electric drive mining dump truck has inherent advantages in the aspects of energy conservation and environmental protection. The largest engineering machinery manufacturers in the world are invested with great financial resources to research and develop the electric drive mining dump trucks. Compared with a mechanical transmission dump truck, the electric transmission mining dump truck has the advantages of simple structure, convenience in maintenance, greatly reduced operation cost and improved production efficiency.

When the electric drive dumper runs in a working environment, fixed value speed limiting is generally adopted at present, road conditions and load conditions are not considered in the speed limiting mode, so that the fixed speed limiting value is not an optimal value, vehicles and operators have great potential safety hazards under overload or downhill conditions, particularly under the condition of a large-slope downhill, the safe running speed of the vehicles is far lower than the fixed speed limiting value, drivers often control the vehicle speed according to own driving experience, the vehicles cannot run at the optimal speed, even the vehicles are out of control due to deviation of slope cognition, the risk of vehicle running is increased, and the transportation efficiency of the vehicles is influenced.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention provides a self-adaptive safety speed-limiting protection system and method for an electric drive mining dump truck.

The technical scheme adopted by the invention is as follows: the self-adaptive safety speed-limiting protection system of the electric drive mining dump truck comprises a vehicle control unit VCU, wherein the input end of the vehicle control unit VCU is connected with a weighing sensor, an inclination angle sensor, a temperature sensor, a rotating speed sensor, an electric brake pedal and an accelerator pedal, and the output end of the vehicle control unit VCU is connected with a display terminal and a brake mechanism.

Preferably, the weighing sensors comprise a left front weighing sensor, a right front weighing sensor, a left rear weighing sensor and a right rear weighing sensor.

Preferably, the temperature sensor includes a left wheel motor temperature sensor and a right wheel motor temperature sensor, and the rotation speed sensor includes a left wheel rotation speed sensor and a right wheel rotation speed sensor.

Preferably, the braking mechanism adopts a frequency converter.

A self-adaptive safety speed-limiting protection method for an electric drive mining dump truck comprises the following steps:

s1: the VCU of the vehicle control unit reads real-time vehicle state information, including an inclination angle alpha, vehicle weight, speed, an accelerator signal and a brake signal;

s2: judging whether the vehicle is in an uphill state, a flat state or a downhill state according to the inclination angle, the inclination duration, the accelerator signal and the electric brake signal state;

s3: if the vehicle is in a downhill state, the VCU calculates the braking torque T required to be applied by the current motor according to the current total weight and the inclination angle of the vehicle;

s4: if the vehicle is in a flat or uphill state, setting a speed limit value Vs and a maximum allowable vehicle speed Vm according to operation requirements;

s5: when the vehicle is in a flat or uphill state, if the vehicle speed exceeds a speed limit value Vs, the display terminal displays a speed limit sign and an overspeed alarm, applies electric braking, and records the allowed data of the current working condition;

s6: when the vehicle is in a flat or uphill state, if the vehicle speed exceeds the maximum allowable vehicle speed Vm, the display terminal reminds the driver to adopt hydraulic braking for speed reduction until the vehicle speed is lower than the maximum allowable vehicle speed Vm.

Preferably, the inclination angle is acquired by adopting a filtering mode, and specifically, N sampling values are continuously acquired by the inclination angle sensor to perform arithmetic mean operation.

Preferably, in step S3, the braking torque is setThe method comprises the steps that T is the minimum braking torque required to be added by a wheel-side motor, R is the rolling radius of a tire of the mining dump truck, eta is the efficiency of the motor, i is a reduction ratio, F is the resultant force of gravity component and friction force of the vehicle under the downhill working condition, F is (M1+ M2) g sin (-alpha) - (M1+ M2) g cos (-alpha), wherein M1 is the self weight of the vehicle, M2 is the real-time load of the vehicle, and mu is a friction factor.

Preferably, after the vehicle is overspeed, the VCU of the vehicle controller applies electric braking in different modes according to the current motor temperature and the vehicle speed; and if the current motor temperature is higher than the set temperature, applying the standard electric brake, otherwise, applying the maximum electric brake.

The invention has the beneficial effects that: the device can automatically match the current state of the electric transmission mine car with the safety speed limit protection, particularly carry out self-adaptive safety speed limit on the vehicle under the downhill working condition, avoid the overspeed running of the vehicle and improve the running safety and the transportation efficiency of the vehicle.

Drawings

FIG. 1 is a flow chart of a method of the present invention;

fig. 2 is an electrical schematic of the present invention.

Detailed Description

For further explanation of the technical details and advantages of the present invention, reference will now be made to the accompanying drawings and examples.

As shown in fig. 2, the self-adaptive safety speed-limiting protection system for the electric drive mining dump truck comprises a vehicle control unit VCU, wherein an input end of the vehicle control unit VCU is connected with a weighing sensor, an inclination angle sensor, a temperature sensor, a rotation speed sensor, an electric brake pedal and an accelerator pedal, and an output end of the vehicle control unit VCU is connected with a display terminal and a brake mechanism.

In this embodiment, the weighing sensors include a left front weighing sensor, a right front weighing sensor, a left rear weighing sensor, and a right rear weighing sensor. The temperature sensor comprises a left wheel motor temperature sensor and a right wheel motor temperature sensor, and the rotating speed sensor comprises a left wheel rotating speed sensor and a right wheel rotating speed sensor. The braking mechanism adopts a frequency converter.

As shown in fig. 2, a self-adaptive safety speed-limiting protection method for an electric drive mining dump truck comprises the following steps:

s1: the VCU of the vehicle control unit reads real-time vehicle state information, including an inclination angle alpha, vehicle weight, speed, an accelerator signal and a brake signal;

s2: and judging whether the vehicle is in an uphill state, a flat state or a downhill state according to the inclination angle, the inclination duration, the accelerator signal and the electric brake signal. Setting an angle threshold α₁＜α₂＜0＜α₃＜α₄When alpha is less than or equal to alpha₁Or alpha₁＜α＜α₂And an electric braking signal or a duration of the inclination exceeding a time threshold t₁When the vehicle is in the downhill state, the system determines that the vehicle is in the downhill state. When alpha is more than or equal to alpha₄Or alpha₃＜α＜α₄And when the throttle signal or the duration time exceeds the time threshold t2, the system judges that the vehicle is in an uphill state. Judging that the vehicle is in a flat state by the system except the two conditions;

s3: if the vehicle is in a downhill state, the VCU calculates the braking torque T required to be applied by the current motor according to the current total weight and the inclination angle of the vehicle;

s4: if the vehicle is in a flat or uphill state, setting a speed limit value Vs and a maximum allowable vehicle speed Vm according to operation requirements;

s5: when the vehicle is in a flat or uphill state, if the vehicle speed exceeds a speed limit value Vs, the display terminal displays a speed limit sign and an overspeed alarm, applies electric braking, and records the allowed data of the current working condition;

s6: when the vehicle is in a flat or uphill state, if the vehicle speed exceeds the maximum allowable vehicle speed Vm, the display terminal reminds the driver to adopt hydraulic braking for speed reduction until the vehicle speed is lower than the maximum allowable vehicle speed Vm.

In this embodiment, the tilt angle is acquired in a filtering manner, specifically, N sampling values are continuously acquired by the tilt angle sensor to perform arithmetic mean operation.

In step S3, braking torqueThe method comprises the steps that T is the minimum braking torque required to be added by a wheel-side motor, R is the rolling radius of a tire of the mining dump truck, eta is the efficiency of the motor, i is a reduction ratio, F is the resultant force of gravity component and friction force of the vehicle under the downhill working condition, F is (M1+ M2) g sin (-alpha) - (M1+ M2) g cos (-alpha), wherein M1 is the self weight of the vehicle, M2 is the real-time load of the vehicle, and mu is a friction factor.

After the vehicle is overspeed, the VCU of the vehicle controller applies electric braking in different modes according to the current motor temperature and the vehicle speed; and if the current motor temperature is higher than the set temperature, applying the standard electric brake, otherwise, applying the maximum electric brake.