CN105253012A - Simulating method for interaxle power distribution and differential speed control of dump truck - Google Patents
Simulating method for interaxle power distribution and differential speed control of dump truck Download PDFInfo
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- CN105253012A CN105253012A CN201510768358.3A CN201510768358A CN105253012A CN 105253012 A CN105253012 A CN 105253012A CN 201510768358 A CN201510768358 A CN 201510768358A CN 105253012 A CN105253012 A CN 105253012A
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Abstract
The invention relates to a simulating method for interaxle power distribution and differential speed control of a dump truck. The simulating method comprises the following steps of establishing an articulated type electric wheel dump truck model in first simulating analysis software, and establishing a motor system model, a controller model and a wheel rim speed reducer model in second simulating analysis software; separating the modeling of a motor system into the mathematic modeling of a motor physical model and the modeling of a motor driving control system, and connecting an interface module of the first simulating analysis software and an interface module of the second simulating analysis software to jointly simulate. A system model of a joint simulating study platform comprises a whole articulated vehicle dynamics model, a motor system model and a joint simulating model, wherein the whole articulated vehicle dynamics model is established through the first simulating analysis software; the motor system model is established through the second simulating analysis software; the joint simulating model is established through connecting of the interface module of the first simulating analysis software and the interface module of the second simulating analysis software. The simulating method has the advantages that the available real-time total power of the wheel axle is proportionally distributed, so the vehicle has good passing, acceleration and climbing properties during full load; the dynamics property during empty load and the rated power of the motor can also be realized.
Description
Technical field
The present invention relates to dumping car field of research, be specifically related to the emulation mode of a kind of dumping car between centers power division and differential control.
Background technology
Traditional mechanical drive vehicle realizes the coordination of each wheel speed and corresponding core wheel speed by diff.To the dumping car of In-wheel-motor driving, be not mechanically connected between each wheel, state of kinematic motion is separate, drag sliding to not produce between drive wheel when ensureing to turn to or travel on uneven road surface and make vehicle lose the undue wear of ground traction and tire, accurate model or actv. strategy need be adopted to carry out differential control, differential control is one of gordian technique of wheel limit electro-motive vehicle design, is also the problem that the whole-control system of electric wheel drive vehicle must solve.
Be with the driving torque of motor for controling parameters Deng direct torque, and the rotating speed of each wheel do not controlled, each wheel speed is freely rotated with each strained condition of taking turns.The kinematical equation of electric drive wheel can be expressed from the next:
In formula, I
wrepresent vehicle wheel rotation inertia, w represents vehicle wheel rotational speed, T
mrepresent motor output torque, i
grepresent electric drive wheel transmitting ratio, F
drepresent the road surface friction force between wheel and road surface, r
wrepresent vehicle wheel roll radius, T
brepresent lock torque.As long as electric drive wheel exports driving torque T
mi
gwhen not exceeding the limit of adhesion between wheel and road surface, road surface friction force must balance with wheel driving torque, and the rotating speed of electric drive wheel system is then determined by this stress balance point, automatically adapts to driving cycle when turning to.Because each electric drive wheel kinestate is separate, all can freely rotate, each wheel speed adapts to surface conditions when turning to all automatically, therefore, there is not the inharmonious and differential problem caused of rotating speed between each wheel, therefore wait Stator-Quantities Control can meet the requirement of differential control, realize auto―adaptive test.Theory due to these direct torque has obtained ripe application, and this specification sheets does not carry out deep explanation to this control theory.
In addition, the direct torque such as employing are as car load differential control strategy, and whole-control system need not again for differential problem design Electronic differential control device.
All-wheel powered electric power wheel self-discharging vehicle is different from trailing wheel electric drive or front-wheel electrically driven vehicles, and (the present invention is applicable to all-wheel powered electric drive wheel vehicle, this specification sheets is taken turns the full SCT-A261 type radial type electric power wheel self-discharging vehicles driven for six of car Guangzhou electric power locomotive Co., Ltd in the China applying this invention and is described (structure of this dumping car is as shown in Figure of description 1)), part-time case is not had to carry out between centers distribution to power or torque, and the Stator-Quantities Controls such as employing are when controlling, can be the direct torque such as coaxial two wheel employings, also can be that the torques such as all drive wheels or each between centers are all control, therefore, new problem has been there is in full-vehicle control, namely whether this car should this distribute according to certain ratio between centers gross horsepower or total torque, in fact this problem belongs to the category of polling power controlling, but be also that the direct torque such as all-wheel powered vehicle employing are as the problem must considered during differential control strategy.In fact, four-wheel, six is taken turns and even eight the all-wheel powered car load differential control such as to be taken turns and polling power controlling, control for brake are closely bound up.Such as, when turning to, when the propulsive effort that electric drive wheel exports exceeds road surface limit of adhesion and occurs skidding, just not now the soluble problem of differential control, belonged to the category of polling power controlling.
Gross horsepower carries out the essentiality of distributing and benefit between centers according to axle anharmonic ratio example:
The first, if taken the lead in distributing between centers by real-time for available wheel shaft total work, then, then the direct torque such as to carry out, then can prevent from skidding or idle running occurs time power significantly loss.If dumping car does not carry out power division before carrying out direct torque such as grade, then the torque value of each drive wheel calculates and can be expressed as
p
alwaysrepresent the real-time gross horsepower of available wheel shaft (power that electrical generator exports converts the input general power of six motors); n
irepresent the rotating speed of each drive motor; T
irepresent the input torque value of each motor.When certain drive wheel occurs to skid or dally, this rotating speed of taking turns will sharply rise, and during the direct torque such as employing, the Driving Torque value of each drive motor is equal, by formula
known, then the power that the motor skidding or dally occurs will sharply rise, much larger than the horsepower output that other are respectively taken turns.This process can be considered as, and when skidding or idle running occur, power will flow to from other drive wheel skid wheel or the wheel that dallies significantly, cause power run off significantly and lose power.If wheel flutter skids or idle running, then easily lose steering capability; If middle rear wheels slip or idle running, then easily lose lateral stability, there is phenomenons such as " whippings ", jeopardize the driving safety of vehicle.
And if first real-time for available wheel shaft gross horsepower is distributed between centers, be equivalent to the utilized power of each axle to have carried out mutually isolated, prevent circulating of power.When drive wheel skidding or the idle running generation of certain axle, the loss of power is also only limited in this axle, does not affect other axle horsepower inputs and Power output.
In addition, in traditional sense, torque or power also distribute between centers by mechanically operated all-wheel drive vehicles in proportion in real time, except the object realizing polling power controlling, are also prevent between centers circulating of power.
Therefore, described in summary, being carried out distributing at each between centers of all-wheel powered dumping car by available for wheel shaft real-time gross horsepower is favourable and necessity.
The second, if distributed by available for wheel shaft gross horsepower each between centers according to the dumping car that do not coexist of axle anharmonic ratio example, then each wheel limit of adhesion value that can road surface be utilized better to provide, reduces possibility of skidding, dynamic property, the braking ability of raising car load.Can be known by the principle of dynamics of tire, when the propulsive effort that wheel exports or braking force are greater than the limit of adhesion value that road surface provides, then there is skidding in wheel.And under the different loaded-up condition of vehicle (such as fully loaded and unloaded), the axle of each axle of dumping car is heavy different (axle redefines vertical load sum suffered by coaxial wheel), according to formula F
x_max=F
zμ, (in formula, F
x_maxrepresent the limit of adhesion of wheels, F
zrepresent the vertical load of wheel, μ represents coefficient of road adhesion) known, the limit of each wheel adhesive ability is directly proportional to each vertical load of taking turns, therefore, axle is heavily larger, the road adherence limit that road surface can be supplied to each axle is larger, i.e. the exportable larger propulsive effort of each wheel or braking force and do not occur skidding.Articulator is (such as fully loaded and unloaded) under different delivery operating modes, and very large change occurs the axle load of each axle, and therefore, the limit of adhesion value of each axle drive wheel is different.Such as, through experiment test, articulator at full load, the weight of container is almost all born by four-wheel below, greatly increase the vertical load that middle rear axle is respectively taken turns, and the variation of the vertical load of front axle two-wheeled is little.Therefore, dumping car load after in the relative front axle of each drive wheel of rear axle respectively take turns or unloaded time respectively take turns and will have more high adhesion force limit.And front axle has larger axle weight relative to axis and rear axle time unloaded, therefore, time unloaded, front axle has larger limit of adhesion value relative to axis and rear axle.Therefore, when dumping car heavy duty, power is distributed to more middle rear axle more reasonable, the larger propulsive effort provided to utilize road surface better or braking force limit value, improve the carrying capacity of dumping car.To sum up analyze and can learn, under different Loading conditions, each axle axle anharmonic ratio example is different, the limit of adhesion power of each axle is also different, if can distribute wheel shaft available between centers gross horsepower according to axle anharmonic ratio example, then can utilize road adherence limit better under different operating mode, horsepower output better, export large propulsive effort or braking force time can reduce skid occur may, dynamic property or deceleration and stopping performance better.
3rd, under Loading conditions, if the realtime power allocation proportion of rear axle in improving, then can reduce the sideslip of dumping car, improve the lateral stability of car load.Theoretical according to the friction circle in mechanics of tire, the longitudinal force of drive wheel and the ratio of limit of adhesion value larger, the real-time side force of wheel will reduce.The relation of side force and longitudinal force is as shown in Figure of description 2.Vertical load is larger, limit of adhesion value is then higher, vehicle exports same longitudinal force (propulsive effort or braking force), the longitudinal force of drive wheel is then relative less with the ratio of limit of adhesion value, and the available real-time side force ratio in road surface will increase, therefore, vehicle is when turning to, wheel road surface can provide enough side force to turn to needs with what meet vehicle, reduces to break away, improves lateral stability; Otherwise vehicle easily produces sideslip.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of can carrying out accurately and the dumping car between centers power division of simulation study easily and the emulation mode of differential control dumping car between centers power division and differential control easily.
In order to solve the problems of the technologies described above, the present invention includes following several step:
A, in the first simulation analysis software, set up radial type electric power wheel self-discharging vehicle model, articulated electric power wheel self-discharging vehicle model comprises the subsystems such as articulated body, front/rear frame, equalizing bar, front suspension, wheel, steering cylinder, container;
B, in the second simulation analysis software, set up motor system model, controller model and wheel reduction gear model: the mathematical modeling of physical model of electrical machine and the modeling of driving control system for electric machine are divided into the modeling of electric system;
C, the interface module of the first simulation analysis software is connected with the interface module of the second simulation analysis software and carries out associative simulation:
(1), be sent in the controller model of the second simulation analysis software by the target power data of the steering controling signal of the dumping car of simulation and Das Gaspedal, controller model process obtains data, comprises the real-time horsepower output P of the electrical generator of dumping car
send out, dumping car wheel shaft can utilize gross horsepower P in real time
alwayswith the real-time axle anharmonic ratio example 1:a:b of each axle of dumping car, wherein the span of a is 0.4 ~ 1.6 for being the scope of 0.4 ~ 1.6, b numerical value, the input general power P of skate two motor before calculating
1, computing formula is
the input general power P of skate two motor in calculating
2, computing formula is
the input general power P of skate two motor after calculating
3, computing formula is
(2), according to formula
the expected value T of the torque of front-seat turbin generator 1 and front-seat turbin generator 2 is calculated by motor system model and wheel reduction gear model
1and T
2(T
1=T
2), and by the expected value T of the torque of front-seat turbin generator 1 and front-seat turbin generator 2
1and T
2transfer to the radial type electric power wheel self-discharging vehicle model in the first simulation analysis software, after the front-seat turbin generator 1 of driving of radial type electric power wheel self-discharging vehicle model and front-seat turbin generator 2 follow the driving torque exporting this input, the rotating speed self adaptation of two front-seat turbin generators produces (n
1and n
2), be then detected, feed back to the controller model in the second simulation analysis software, motor system model and wheel reduction gear model, controller model, motor system model and wheel reduction gear model are again in conjunction with the horsepower input P of the front-seat turbin generator of current time
1, calculate the front-seat turbin generator 1 of subsequent time input and the torque target value T of front-seat turbin generator 2
1and T
2(T
1=T
2);
(3), according to formula
the expected value T of the torque of middle skate motor 3 and middle skate motor 4 is calculated by motor system model and wheel reduction gear model
3and T
4(T
3=T
4), and by the expected value T of middle skate motor 3 with the torque of middle skate motor 4
3and T
4transfer to the radial type electric power wheel self-discharging vehicle model in the first simulation analysis software, after in the driving of radial type electric power wheel self-discharging vehicle model, the driving torque exporting this input followed by skate motor 3 and middle skate motor 4, in two, the rotating speed self adaptation of skate motor produces (n
3and n
4), be then detected, feed back to the controller model in the second simulation analysis software, motor system model and wheel reduction gear model, controller model, motor system model and wheel reduction gear model are again in conjunction with skate power input to a machine P in current time
2, calculate the middle skate motor 3 of subsequent time input and the torque target value T of middle skate motor 4
3and T
4(T
3=T
4);
(4), according to formula
the torque target value T of rear skate motor 5 and rear skate motor 6 is calculated by motor system model and wheel reduction gear model
5and T
6(T
5=T
6), and by the torque target value T of rear skate motor 5 and rear skate motor 6
5and T
6transfer to the radial type electric power wheel self-discharging vehicle model in the first simulation analysis software, after after the driving of radial type electric power wheel self-discharging vehicle model, the driving torque exporting this input followed by skate motor 5 and rear skate motor 6, after two, the rotating speed self adaptation of skate motor produces (n
5and n
6), be then detected, feed back to the controller model in the second simulation analysis software, motor system model and wheel reduction gear model, controller model, motor system model and wheel reduction gear model are again in conjunction with skate power input to a machine P after current time
3, calculate the rear skate motor 5 of subsequent time input and the torque target value T of rear skate motor 6
5and T
6(T
5=T
6).
In order to realize to radial type Whole Electric-Wheel Dump Car more convenient with control accurately to research and analyse, establish completely based on the car load Virtual Sample Vehicle simulation study platform of this car actual parameter.This research adopts the method for associative simulation, and the system model of this associative simulation research platform is comprised and sets up articulator Full Vehicle Dynamics model by the first simulation analysis software, set up the interface module of motor system model and the first simulation analysis software be connected with the interface module of the second simulation analysis software and carry out associative simulation model by the second simulation analysis software.Real-time for available wheel shaft gross horsepower allocation proportion is decided to be 1:a:b, wherein the span of a is for being 0.4 ~ 1.6, the scope of b numerical value is 0.4 ~ 1.6, vehicle at full load is made to have better crossing ability, acceleration capability, grade climbing performance, dynamic performance when simultaneously taking into account zero load and the rating horsepower of motor.
As a further improvement on the present invention, in step, described first simulation analysis software is Dynamics Simulation Analysis software Simpack, in stepb, described second simulation analysis software is Matlab/Simulink, and the interface module of Dynamics Simulation Analysis software Simpack is SIMAT module.
In sum, advantage of the present invention to be carried out accurately and simulation study easily dumping car between centers power division and differential control easily.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention will be further described in detail.
Fig. 1 is the structure diagram of all-wheel powered electric power wheel self-discharging vehicle.
Fig. 2 is the schematic diagram of car load combined simulation system of the present invention.
Fig. 3 is the physical model figure of articulator electric drive wheel AC induction motor of the present invention.
Fig. 4 is motor vector control system constructional drawing of the present invention.
Fig. 5 be between centers power division of the present invention with etc. torque control scheme program flow diagram.
Fig. 6 is the speed curves of each drive wheel under certain operating mode.
Fig. 7 is the horsepower curve of each drive wheel under certain operating mode.
Fig. 8 is the dumping car of employing power division and differential control and the driving trace correlation curve of the dumping car of direct torque such as entirely taking turns.
Detailed description of the invention
Step of the present invention is as follows:
A, at the first simulation analysis software, namely radial type electric power wheel self-discharging vehicle model is set up in Dynamics Simulation Analysis software Simpack, articulated electric power wheel self-discharging vehicle model comprises the subsystems such as articulated body, front/rear frame, equalizing bar, front suspension, wheel, steering cylinder, container, and this model comprises 12 revolutes, 3 ball pairs, 6 slippage pairs, 2 fixed joints amount to 42 degree of freedom.
B, at the second simulation analysis software, namely motor system model, controller model and wheel reduction gear model is set up in Matlab/Simulink: the mathematical modeling of physical model of electrical machine and the modeling of driving control system for electric machine are divided into the modeling of electric system, this articulator electric drive wheel motor used is AC induction motor, as shown in Figure 3, the drived control strategy of motor adopts vector controlled to its physical model.The vector control system structure of this motor as shown in Figure 4.
The motor system model set up in the Full Vehicle Dynamics model set up in C, Simpack and Matlab/Simulink also must carry out Real Data Exchangs to complete associative simulation by interface module, and namely this interface module adopts the SIMAT module in Simpack.The combined simulation system of car load as shown in Figure 2.As shown in Figure 5, the between centers power division of carrying out dumping car in car load combined simulation system with etc. the analysis of torque control scheme:
(1), be sent in the controller model of the second simulation analysis software by the target power data of the steering controling signal of the dumping car of simulation and Das Gaspedal, controller model process obtains data, comprises the real-time horsepower output P of the electrical generator of dumping car
send out, dumping car wheel shaft can utilize gross horsepower P in real time
alwayswith the real-time axle anharmonic ratio example 1:a:b of each axle of dumping car, wherein the span of a is 0.4 ~ 1.6 for being the scope of 0.4 ~ 1.6, b numerical value, the input general power P of skate two motor before calculating
1, computing formula is
the input general power P of skate two motor in calculating
2, computing formula is
the input general power P of skate two motor after calculating
3, computing formula is
(2), according to formula
the expected value T of the torque of front-seat turbin generator 1 and front-seat turbin generator 2 is calculated by motor system model and wheel reduction gear model
1and T
2(T
1=T
2), and by the expected value T of the torque of front-seat turbin generator 1 and front-seat turbin generator 2
1and T
2transfer to the radial type electric power wheel self-discharging vehicle model in the first simulation analysis software, after the front-seat turbin generator 1 of driving of radial type electric power wheel self-discharging vehicle model and front-seat turbin generator 2 follow the driving torque exporting this input, the rotating speed self adaptation of two front-seat turbin generators produces (n
1and n
2), be then detected, feed back to the controller model in the second simulation analysis software, motor system model and wheel reduction gear model, controller model, motor system model and wheel reduction gear model are again in conjunction with the horsepower input P of the front-seat turbin generator of current time
1, calculate the front-seat turbin generator 1 of subsequent time input and the torque target value T of front-seat turbin generator 2
1and T
2(T
1=T
2);
(3), according to formula
the expected value T of the torque of middle skate motor 3 and middle skate motor 4 is calculated by motor system model and wheel reduction gear model
3and T
4(T
3=T
4), and by the expected value T of middle skate motor 3 with the torque of middle skate motor 4
3and T
4transfer to the radial type electric power wheel self-discharging vehicle model in the first simulation analysis software, after in the driving of radial type electric power wheel self-discharging vehicle model, the driving torque exporting this input followed by skate motor 3 and middle skate motor 4, in two, the rotating speed self adaptation of skate motor produces (n
3and n
4), be then detected, feed back to the controller model in the second simulation analysis software, motor system model and wheel reduction gear model, controller model, motor system model and wheel reduction gear model are again in conjunction with skate power input to a machine P in current time
2, calculate the middle skate motor 3 of subsequent time input and the torque target value T of middle skate motor 4
3and T
4(T
3=T
4);
(4), according to formula
the torque target value T of rear skate motor 5 and rear skate motor 6 is calculated by motor system model and wheel reduction gear model
5and T
6(T
5=T
6), and by the torque target value T of rear skate motor 5 and rear skate motor 6
5and T
6transfer to the radial type electric power wheel self-discharging vehicle model in the first simulation analysis software, after after the driving of radial type electric power wheel self-discharging vehicle model, the driving torque exporting this input followed by skate motor 5 and rear skate motor 6, after two, the rotating speed self adaptation of skate motor produces (n
5and n
6), be then detected, feed back to the controller model in the second simulation analysis software, motor system model and wheel reduction gear model, controller model, motor system model and wheel reduction gear model are again in conjunction with skate power input to a machine P after current time
3, calculate the rear skate motor 5 of subsequent time input and the torque target value T of rear skate motor 6
5and T
6(T
5=T
6).
Found by simulation software, dumping car is when there is complicated change in the input of different deflection angles, the input of different Das Gaspedals, road surface attachment, auto―adaptive test can be realized, the actual Driving Torque of drive motor can be made to follow input accurately simultaneously, and between coaxial two drive motor, realize power adaptive distribution.Set up the Dynamics Simulation Model of car load, simulation analysis draws Fig. 6 to Fig. 8 curve.As shown in Figure 6, for the speed curves of each drive wheel of dumping car under certain steering situation, comprise the speed curves 7 of driving the near front wheel, drive the speed curves 8 of off front wheel, drive the speed curves 9 of left center, drive right speed curves 10, the speed curves 11 of driving left rear wheel, the speed curves 12 of driving off hind wheel of taking turns; As shown in Figure 7, the horsepower curve of each drive wheel of dumping car under certain steering situation, comprises the horsepower curve 13 of driving the near front wheel, drives the horsepower curve 14 of off front wheel, drives the horsepower curve 15 of left center, drives right horsepower curve 16, the horsepower curve 17 of driving left rear wheel, the horsepower curve 18 of driving off hind wheel of taking turns.(identical deflection angle input under identical input condition, Das Gaspedal input etc.), steady-state quantities is carried out by adopting the dumping car of between centers power division and differential control, and the direct torque such as all to adopt with all drive wheels and the dumping car carrying out steady-state quantities is analyzed, as shown in Figure 8, in figure, curve 19 represents the driving trace of the dumping car adopting between centers power division and differential control, in figure, curve 20 represents the driving trace of the dumping car adopting the direct torque such as full wheel, can learn, the dumping car driving trace of between centers power division and differential control is adopted more to restrain, change in radius is little, dumping car can reduce the sideslip (analyze dumping car used and have slight understeer) when turning to, dynamic performance is better.Collective diagram 6, Fig. 7, Fig. 8 and theoretical analysis and train experiment checking known, the method of this kind of dumping car between centers power division and differential control can realize self-adjusted block and the auto―adaptive test of between centers power, and, available for wheel shaft gross horsepower is carried out distributing between centers can reduce from principle the possibility that drive wheel skids or idle running occurs according to axle anharmonic ratio example, the significantly loss of power when suppressing to skid or dally generation, and can drive wheel export comparatively large driving force or braking force time utilize road adherence limit better, improve the dynamic property of dumping car, braking ability, reduce the sideslip of wheel, improve the lateral stability of car load.
Claims (2)
1. an emulation mode for dumping car between centers power division and differential control, is characterized in that, comprises following several step:
A, in the first simulation analysis software, set up radial type electric power wheel self-discharging vehicle model, articulated electric power wheel self-discharging vehicle model comprises the subsystems such as articulated body, front/rear frame, equalizing bar, front suspension, wheel, steering cylinder, container;
B, in the second simulation analysis software, set up motor system model, controller model and wheel reduction gear model: the mathematical modeling of physical model of electrical machine and the modeling of driving control system for electric machine are divided into the modeling of electric system;
C, the interface module of the first simulation analysis software is connected with the interface module of the second simulation analysis software and carries out associative simulation:
(1), be sent in the controller model of the second simulation analysis software by the target power data of the steering controling signal of the dumping car of simulation and Das Gaspedal, controller model process obtains data, comprises the real-time horsepower output P of the electrical generator of dumping car
send out, dumping car wheel shaft can utilize gross horsepower P in real time
alwayswith the real-time axle anharmonic ratio example 1:a:b of each axle of dumping car, wherein the span of a is 0.4 ~ 1.6 for being the scope of 0.4 ~ 1.6, b numerical value, the input general power P of skate two motor before calculating
1, computing formula is
the input general power P of skate two motor in calculating
2, computing formula is
the input general power P of skate two motor after calculating
3, computing formula is
(2), according to formula
the expected value T of the torque of front-seat turbin generator 1 and front-seat turbin generator 2 is calculated by motor system model and wheel reduction gear model
1and T
2(T
1=T
2), and by the expected value T of the torque of front-seat turbin generator 1 and front-seat turbin generator 2
1and T
2transfer to the radial type electric power wheel self-discharging vehicle model in the first simulation analysis software, after the front-seat turbin generator 1 of driving of radial type electric power wheel self-discharging vehicle model and front-seat turbin generator 2 follow the driving torque exporting this input, the rotating speed self adaptation of two front-seat turbin generators produces (n
1and n
2), be then detected, feed back to the controller model in the second simulation analysis software, motor system model and wheel reduction gear model, controller model, motor system model and wheel reduction gear model are again in conjunction with the horsepower input P of the front-seat turbin generator of current time
1, calculate the front-seat turbin generator 1 of subsequent time input and the torque target value T of front-seat turbin generator 2
1and T
2(T
1=T
2);
(3), according to formula
the expected value T of the torque of middle skate motor 3 and middle skate motor 4 is calculated by motor system model and wheel reduction gear model
3and T
4(T
3=T
4), and by the expected value T of middle skate motor 3 with the torque of middle skate motor 4
3and T
4transfer to the radial type electric power wheel self-discharging vehicle model in the first simulation analysis software, after in the driving of radial type electric power wheel self-discharging vehicle model, the driving torque exporting this input followed by skate motor 3 and middle skate motor 4, in two, the rotating speed self adaptation of skate motor produces (n
3and n
4), be then detected, feed back to the controller model in the second simulation analysis software, motor system model and wheel reduction gear model, controller model, motor system model and wheel reduction gear model are again in conjunction with skate power input to a machine P in current time
2, calculate the middle skate motor 3 of subsequent time input and the torque target value T of middle skate motor 4
3and T
4(T
3=T
4);
(4), according to formula
the torque target value T of rear skate motor 5 and rear skate motor 6 is calculated by motor system model and wheel reduction gear model
5and T
6(T
5=T
6), and by the torque target value T of rear skate motor 5 and rear skate motor 6
5and T
6transfer to the radial type electric power wheel self-discharging vehicle model in the first simulation analysis software, after after the driving of radial type electric power wheel self-discharging vehicle model, the driving torque exporting this input followed by skate motor 5 and rear skate motor 6, after two, the rotating speed self adaptation of skate motor produces (n
5and n
6), be then detected, feed back to the controller model in the second simulation analysis software, motor system model and wheel reduction gear model, controller model, motor system model and wheel reduction gear model are again in conjunction with skate power input to a machine P after current time
3, calculate the rear skate motor 5 of subsequent time input and the torque target value T of rear skate motor 6
5and T
6(T
5=T
6).
2. press the emulation mode of dumping car between centers power division according to claim 1 and differential control, it is characterized in that: in step, described first simulation analysis software is Dynamics Simulation Analysis software Simpack, in stepb, described second simulation analysis software is Matlab/Simulink, and the interface module of Dynamics Simulation Analysis software Simpack is SIMAT module.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106515442A (en) * | 2016-11-23 | 2017-03-22 | 杭州衡源汽车科技有限公司 | Automobile power distribution system and automobile using automobile power distribution system |
| CN106828116A (en) * | 2017-02-27 | 2017-06-13 | 北京东风电器有限公司 | Four-wheel drive alternating current drive articulated truck electric control gear and differential speed control method |
| CN110132585A (en) * | 2019-06-20 | 2019-08-16 | 山东理工大学 | A kind of Electric Motor Wheel multi-function test stand based on virtual instrument and sound state vertical loading device |
| CN110132586A (en) * | 2019-06-20 | 2019-08-16 | 山东理工大学 | A kind of Electric Motor Wheel multi-function test stand based on sound state vertical loading device and real-time simulation |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106515442A (en) * | 2016-11-23 | 2017-03-22 | 杭州衡源汽车科技有限公司 | Automobile power distribution system and automobile using automobile power distribution system |
| CN106515442B (en) * | 2016-11-23 | 2019-03-19 | 杭州衡源汽车科技有限公司 | The automobile of power of vehicle distribution system and application the power of vehicle distribution system |
| CN106828116A (en) * | 2017-02-27 | 2017-06-13 | 北京东风电器有限公司 | Four-wheel drive alternating current drive articulated truck electric control gear and differential speed control method |
| CN106828116B (en) * | 2017-02-27 | 2023-11-24 | 北京东风电器有限公司 | Four-wheel drive alternating current transmission articulated truck electric control device and differential control method |
| CN110132585A (en) * | 2019-06-20 | 2019-08-16 | 山东理工大学 | A kind of Electric Motor Wheel multi-function test stand based on virtual instrument and sound state vertical loading device |
| CN110132586A (en) * | 2019-06-20 | 2019-08-16 | 山东理工大学 | A kind of Electric Motor Wheel multi-function test stand based on sound state vertical loading device and real-time simulation |
| CN110132585B (en) * | 2019-06-20 | 2021-07-02 | 山东理工大学 | Electric wheel comprehensive test bed based on virtual instrument and dynamic and static vertical loading device |
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|---|---|
| CN105253012B (en) | 2017-10-17 |
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