轮边电驱动铰接式矿用汽车差速控制策略研究  

Differential Control Strategy Research of Wheeled Electric Drive ADT Mining Truck

作　　者：孙会来[1] 申焱华[1] 金纯[1] 王平[1] 

机构地区：[1]北京科技大学机械工程学院,北京100083

出　　处：《农业机械学报》2014年第11期27-33,共7页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家高技术研究发展计划(863计划)资助项目(2011AA060404)

摘　　要：针对轮边电驱动铰接式矿用汽车的结构及转向特性,提出一种以滑移率一致为控制目标的差速控制策略。建立轮边电驱动铰接式地下矿用汽车运动学和动力学模型,分析转向时各轮运动关系及受力状况;利用加速度传感器在样车上测试车体实际速度,并采用Kalman滤波方法估算出车体速度真实值,与所搭建的滑移率控制器联合对转向差速工况进行仿真。结果表明:经滤波后的信号延时小,响应速度快,可直接估计车速。轮边电驱动铰接式地下矿用汽车采用以滑移率一致为目标的差速控制策略优于等扭矩控制,在试验转弯工况下内外侧轮滑移率皆可稳定为-0.08,不存在拖滑情况,使地面附着系数得到充分利用,达到功率的合理分配。该控制策略对减小轮边电驱动铰接式车辆轮胎磨损,提高驱动功率利用率具有实际意义。Aiming at the special structure and steering characteristic of wheeled electric-driven articulated underground mining truck, a differential control strategy which took the equal slip rate as control target was given. The kinematic and dynamic model of electric-driven mining ADT was established and the kinematic relationship and stress condition of the driving wheels were analyzed during steering. Acceleration sensors in the sample ADT were used to test the actual speed of the vehicle. Results showed that the filtered signal had small delay and fast response and could be directly used to estimate the speed.Equal slip rate control strategy was superior to equal torque control strategy because it could make full use of the ground adhesion coefficient and achieved the reasonable distribution of drive power. Two sides wheel slip ratio could be stable on -0.08 and the sliping phenomenon was avoided in experimental turning. This control strategy has practical effect for reducing tire wear and improving driving power utilization.

关 键 词：铰接式矿用汽车 轮边电驱动 电子差速控制策略 滑移率 

分 类 号：TD525[矿业工程—矿山机电]