分布式电驱动装载机驱动防滑控制  

Drive Anti-skid Control of Distributed Electric Drive Loader

作　　者：严周栋 杭鹏 陈重璞 乔依然 薛卡 陈辛波[1,4] Yan Zhoudong;Hang Peng;Chen Chongpu;QiaoYiran;Xue Ka;Chen Xinbo(School of Automotive Studies,Tongji University,Shanghai 201804;College of Transportation Engineering,Tongji University,Shanghai 201804;Jiangsu Advanced Construction Machinery Innovation Center Co.,Ltd.,Xuzhou 221000;Clean Energy Automotive Engineering Center,Tongji University,Shanghai 201804)

机构地区：[1]同济大学汽车学院,上海201804 [2]同济大学交通运输工程学院,上海201804 [3]江苏汇智高端工程机械创新中心有限公司,徐州221000 [4]同济大学新能源汽车工程中心,上海201804

出　　处：《汽车工程》2023年第10期1944-1953,共10页Automotive Engineering

基　　金：江苏省科技计划项目(BE2021006-3)资助。

摘　　要：分布式电驱动装载机是电动底盘技术在工程车辆上的重要应用。装载机铲土作业时车速接近于零且不易准确获取,基于滑转率的防滑控制算法难以应用。本文通过分析车轮打滑时的角加速度特性,提出基于车轮角加速度逻辑门限的防滑控制方法和数据处理算法。首先通过装载机的实车数据验证算法的有效性。随后采用AD‐AMS和Simulink联合仿真分析,结果表明算法在装载机铲土作业工况下能有效防止车轮持续打滑,发挥路面附着条件。同时,该控制算法在低附路面加速工况下也获得良好的防滑效果,具有一定的路况适用性。Distributed electric drive loader is an important application of electric chassis technology in en‐gineering vehicles.The speed of loader is close to zero during shovel operation and it is not easy to get accurate re‐sults,making it difficult for application of the anti-slip control algorithm based on slip rate.In this paper,by analyz‐ing the angular acceleration characteristics of wheel slip,an anti-slip control method based on the logical threshold of wheel angular acceleration and data processing algorithm are proposed.Firstly,the validity of the algorithm is ver‐ified by the real vehicle data of the loader.Subsequently,the joint simulation of ADAMS and Simulink shows that the algorithm can effectively prevent the wheel from continually slipping and exert the road surface attachment condi‐tions under the working conditions of loader shovel.At the same time,the control algorithm can also achieve good anti-skid effect under the acceleration condition of low adhesion road,and has certain road conditions applicability.

关 键 词：分布式电驱动 驱动防滑控制 逻辑门限控制 离散最速微分跟踪器 

分 类 号：TH243[机械工程—机械制造及自动化]