矿用分布式驱动铰接车辆差速控制策略研究  

Research on Differential Control Strategy for Mining Distributed Drive Articulated Vehicle

作　　者：范江鹏 Fan Jiangpeng(Shanxi Tiandi Coal Mining Machinery Co.,Ltd.,Taiyuan 030006,China;CCTEG Taiyuan Research Institute Co.,Ltd.,Taiyuan 030006,China;China National Engineering Laboratory for Coal Mining Machinery,Taiyuan 030032,China)

机构地区：[1]山西天地煤机装备有限公司,太原030006 [2]中国煤炭科工集团太原研究院有限公司,太原030006 [3]煤矿采掘机械装备国家工程实验室,太原030032

出　　处：《煤矿机械》2024年第11期38-41,共4页Coal Mine Machinery

基　　金：天地科技股份有限公司科技创新创业资金专项项目(2023-TD-ZD002-006)。

摘　　要：针对矿用分布式驱动铰接车辆在转向时容易打滑的问题,提出一种基于PID滑模控制的电子差速控制策略。建立了分布式驱动铰接车辆的动力学模型和基于运动学模型的滑移率计算模块,基于PID滑模面和指数趋近律设计了PID滑模控制器。通过MATLAB/Simulink对分布式驱动铰接车辆转向工况进行了仿真。结果表明:基于PID滑模控制的差速控制策略在小角度和大角度转向工况下内外侧车轮均具有良好的差速性能,即使部分车轮进入低附着路面,车轮滑移率也有效调控在0.2附近。该差速控制策略可以有效减少打滑,减轻轮胎磨损,对于提高矿用分布式电驱动铰接车的稳定性与动力性具有重要意义。A electronic differential control strategy based on PID sliding mode control was proposed to address the problem of slip during steering of mining distributed drive articulated vehicle.A dynamic model of distributed drive articulated vehicle and a slip rate calculation module based on kinematic model were established.A PID sliding mode controller was designed based on PID sliding mode surface and exponential convergence law.The steering conditions of the distributed drive articulated vehicle were simulated by the MATLAB/Simulink.The results show that the differential control strategy based on PID sliding mode control has good differential performance of the inner and outer wheels under small and large angle steering conditions.Even if some wheels enter low adhesion road surfaces,the wheel slip rate is effectively controlled around 0.2.The differential control strategy can effectively reduce the occurrence of slipping,reduce tire wear,and is of great significance for improving the stability and power performance of mining distributed electric drive articulated vehicle.

关 键 词：煤矿 分布式驱动 铰接车辆 电子差速 滑模控制 

分 类 号：TD525[矿业工程—矿山机电]