CN106828116A - Four-wheel drive alternating current drive articulated truck electric control gear and differential speed control method - Google Patents
Four-wheel drive alternating current drive articulated truck electric control gear and differential speed control method Download PDFInfo
- Publication number
- CN106828116A CN106828116A CN201710109158.6A CN201710109158A CN106828116A CN 106828116 A CN106828116 A CN 106828116A CN 201710109158 A CN201710109158 A CN 201710109158A CN 106828116 A CN106828116 A CN 106828116A
- Authority
- CN
- China
- Prior art keywords
- wheel
- motor
- torque
- truck
- articulated truck
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000011217 control strategy Methods 0.000 claims abstract description 9
- 230000005284 excitation Effects 0.000 claims description 16
- 230000005611 electricity Effects 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 11
- 238000004804 winding Methods 0.000 claims description 7
- 230000009467 reduction Effects 0.000 claims description 5
- 230000000087 stabilizing effect Effects 0.000 claims 1
- 238000011897 real-time detection Methods 0.000 abstract description 6
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 230000008030 elimination Effects 0.000 abstract description 3
- 238000003379 elimination reaction Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000006641 stabilisation Effects 0.000 description 3
- 238000011105 stabilization Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000003313 weakening effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L9/00—Electric propulsion with power supply external to the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/36—Vehicles designed to transport cargo, e.g. trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of four-wheel drive alternating current drive articulated truck electric control gear and differential speed control method, it is related to articulated truck control technology field.The device and method instead of the mechanical speed difference lock of transmission, save space and cost.Four rotating speeds of wheel motor of differential control plate real-time detection, according to four speed difference situations of motor, the torque of traction electric machine are adjusted with reference to differential control strategy real-time intelligent to reach elimination differential, prevent the purposes such as wheel-slip, fast steering.So, by the present invention in that carrying out differential control with electric control gear, realize four Electronic differential controls of wheel motor rotating speed to four wheel drive truck, and then realize to four Electronic differential controls of wheel, solve in the prior art, being locked using mechanical differential carries out the problem that the differential control of truck is caused.
Description
Technical field
The present invention relates to articulated truck control technology field, more particularly to a kind of four-wheel drive alternating current drive radial type
Truck electric control gear and differential speed control method.
Background technology
Car body is coupled by splicer before and after alternating current drive articulated truck, and front and rear two parts vehicle frame is formed and folded during turning
Angle, radius of turn reduces, and turns to flexible so that vehicle P Passable in narrow passage, handling capacity is strong.Special suspension
Device and bogie enable vehicle normally travel under awful weather, extreme difference landform.
At present, articulated truck almost all uses machine driven system, by being locked equipped with mechanical differential on each axle,
The differential control of truck is carried out, and mechanical differential locks not only complex structure, and the load-carrying of truck is increased, in addition, entering
During row differential control, the heavy wear of wheel hub can be caused, reduce the service life of wheel hub, meanwhile, under wet and slippery environment,
Braking effect is poor, the potential safety hazard for causing truck to run.
The content of the invention
It is an object of the invention to provide a kind of four-wheel drive alternating current drive articulated truck electric control gear and differential control
Method processed, so as to solve foregoing problems present in prior art.
To achieve these goals, the technical solution adopted by the present invention is as follows：
A kind of double dynamical four-wheel drive alternating current drive articulated truck electric control gear, including：Trolley network, alternative electric generation
Machine, the first rectifier, the second rectifier, inversion circuit and microcontroller, first rectifier is with second rectifier simultaneously
Connection；
The trolley network is connected with first rectifier, and the alternating current generator is connected with second rectifier,
First rectifier and second rectifier are connected with the inversion circuit；The inversion circuit and the microcontroller
Connection；
The inversion circuit includes inverter, wheel motor, inversion pulse output board and inversion control plate, the inverter
It is connected with the wheel motor, the inverter is connected by the inversion pulse output board with the inversion control plate, described
Inversion control plate is connected with the microcontroller.
Preferably, the inversion circuit includes four, and four inversion circuits are in parallel, and the wheel motor is set to
Four, a wheel motor is arranged on a driving wheel, also including a differential controller, the differential controller point
It is not connected with four wheel motors and the microcontroller.
Preferably, also including energized circuit, the energized circuit includes Exciting Windings for Transverse Differential Protection and excitation con-trol plate, and the excitation is returned
Road is connected by the Exciting Windings for Transverse Differential Protection with alternating current generator, and the energized circuit is by the excitation con-trol plate and the microcontroller
Device is connected；Also include copped wave loop, the copped wave loop includes the chopper and the braking resistor that are connected in series；The copped wave loop
It is in parallel with the inversion circuit；The copped wave loop is connected with the microcontroller, and the braking resistor is fixed value resistance.
Preferably, also including the electrical parameters detection equipment and alarm and protection equipment that are connected with the microcontroller, the electricity
Parameter detection equipment includes current sensor, voltage sensor, earth detector, trolley line phase loss detector and wheel motor mistake
Thermal detector.
Preferably, also including display, the display is arranged in the driver's cabin of articulated truck, the display with
The micro controller data connection.
Preferably, also including battery and three voltage-stabilized power supplies, input and the battery of three voltage-stabilized power supply connect
Connect, in the output end of three voltage-stabilized power supply and the all-wheel drive articulated truck alternating current drive system electronic control means
Electrical part is connected.
A kind of differential speed control method of four-wheel drive alternating current drive articulated truck, using above-mentioned electric control gear reality
It is existing, comprise the following steps：
S1, the microcontroller gathers direction switch, gas pedal and the brake pedal signal of articulated truck, and
The operating condition of articulated truck is judged according to above- mentioned information；
S2, the differential controller gathers the steering angle information of truck, and sends this information to the microcontroller, institute
Torque of the microcontroller according to needed for above- mentioned information calculates the wheel motor is stated,
S3, the microcontroller is according to the wheel side electricity being calculated in the operating condition and S2 of articulated truck
Torque needed for machine, determines that the wheel motor gives torque, and the given torque is sent to the inverter；
S4, voltage and current of the inverter according to the given torque adjusting needed for wheel motor, it is right to realize
The rotating speed control of the wheel motor.
Preferably, in S2, the torque needed for the microcontroller calculating wheel motor comprises the following steps：
S201, the resultant couple needed for calculating four wheel motors；
S202, according to the resultant couple, calculates average torque；
S203, whether the steering angle for judging truck is zero, if zero, then using the average torque as wheel each described
Torque needed for the motor of side, if be not zero, performs S204；
S204, the torque needed for calculating the wheel motor according to equation below：
In formula,
TIt is interiorTorque for needed for the wheel motor of inner side；
TOutwardTorque for needed for the wheel motor of outside；
T is average torque；
α is the steering angle of articulated truck, and on the occasion of truck left-hand rotation is represented, negative value represents that truck is turned right；
L1 is the vehicle commander of articulated truck front vehicle body；
L2 is the vehicle commander of articulated truck aftercarriage；
L3 is the overall width of articulated truck.
Preferably for each wheel motor, if the rotating speed of previous moment is n0, current rotating speed is n, if n ＞ k1*n0,
And k1>1.1, then it is judged as motor slippage, if in four wheel motors, there is skidding motor and the motor that do not skid, then, reduce
The given torque of skidding motor, and the reduction amount of given torque is evenly distributed on the motor not skidded, until skidding motor
Rotating speed be reduced to motor it is non-slip untill.
Preferably for each wheel motor, if the rotating speed of previous moment is n0, current rotating speed is n, if n ＞ k1*n0,
And k1>2, then be judged as motor slippage, if there is more than three skidding motors, then, it is necessary to take drop Torque Control strategy with
Just suppression continues to skid, and reasonably distributes the torque of motor again after skidding motor speed is reduced to complete dividing for power as early as possible
Match somebody with somebody.
The beneficial effects of the invention are as follows：The embodiment of the invention provides a kind of four-wheel drive alternating current drive articulated truck
Electric control gear and differential speed control method, the device and method instead of the mechanical speed difference lock of transmission, save space and cost.
Four rotating speeds of wheel motor of differential control plate real-time detection, according to four speed difference situations of motor, with reference to differential control
Tactful real-time intelligent ground adjusts the torque of traction electric machine to reach elimination differential, prevent the purposes such as wheel-slip, fast steering.Institute
By the present invention in that carrying out differential control with electric control gear, to realize four wheel motor rotating speeds to four wheel drive truck
Electronic differential control, and then realize to four Electronic differential controls of wheel, solve in the prior art, it is poor using machinery
Speed lock carries out the problem that the differential control of truck is caused.
Brief description of the drawings
Fig. 1 is the integrated circuit schematic diagram of the electric control gear that the present invention is provided；
Fig. 2 is the single converter circuit schematic diagram in electric control gear；
Fig. 3 is generator excitation regulation control block diagram when engine is powered；
Under Fig. 4 is traction working condition, torque, slip frequency, electric current, voltage with speed controlling curve；
Under Fig. 5 is damped condition, brake force, the voltage of wheel motor, electric current and slip frequency with speed controlling curve；
Fig. 6 is articulated truck turning analog machine articulated body position view；
Fig. 7 is differential control schematic flow sheet.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with accompanying drawing, the present invention is entered
Row is further described.It should be appreciated that specific embodiment described herein is only used to explain the present invention, it is not used to
Limit the present invention.
Embodiment one
As Figure 1-3, the embodiment of the invention provides a kind of double dynamical four-wheel drive alternating current drive articulated truck
Electric control gear, including：Trolley network, alternating current generator, the first rectifier, the second rectifier, inversion circuit and microcontroller, institute
State the first rectifier in parallel with second rectifier；
The trolley network is connected with first rectifier, and the alternating current generator is connected with second rectifier,
First rectifier and second rectifier are connected with the inversion circuit；The inversion circuit and the microcontroller
Connection；
The inversion circuit includes inverter, wheel motor, inversion pulse output board and inversion control plate, the inverter
It is connected with the wheel motor, the inverter is connected by the inversion pulse output board with the inversion control plate, described
Inversion control plate is connected with the microcontroller.During use, when articulated truck operate in trolley network it is local when,
Driver can press bow collector rising bow switch, and bow collector is lifted to trolley line, looks under automatically controlled and hydraulic controller cooperation
Rising bow is completed after to suitable wiring position.Now, trolley network starts to be powered for the electric control gear of articulated truck；And when hinge
When connecing the operation area of formula truck and there is no trolley network, by microprocessor control, switch to alternating current generator and power.
Using this double acting force mode, can both ensure in the place without trolley network, use generator powered, it is ensured that
Truck is normally used, and in the place for having trolley network, switching to power network powers, and the alternating current drive system that power network is powered
With power it is big, overload capacity is strong, tractive force is big, the low advantage of operating cost.
So, a kind of double dynamical four-wheel drive alternating current drive articulated truck electric control gear that the present embodiment is provided fills
Divide the advantage powered using power network and engine, play the speciality of alternating current drive system.
The electric control gear of the radial type card of said structure, its course of work is：
The signals such as switching value and angle by the direction switch of collection vehicle, gas pedal and brake pedal, and will adopt
The signal of collection is sent to microcontroller, and microcontroller is carried out after logical operation according to brake pedal or accelerator pedal angle signal root
Change the brake force of wheel motor or the size of tractive force according to control algolithm, give excitation controller, chopper controller, unsteady flow control
Device processed, finally goes out to instruct control wheel side motor operation in traction or damped condition by unsteady flow pulse output board, realizes radial type
The operation that the advance of truck is drawn, retreats traction, advances the various operating modes such as braking and retrogressing braking, it is possible in articulated truck
Truck operating mode is completed in operation by electric control gear according to driver intention to switch.
In the present embodiment, the inversion circuit includes four, and four inversion circuits are in parallel, and the wheel motor sets
Four are set to, a wheel motor is arranged on a driving wheel.
Using said structure, it is ensured that the independent control to each driving wheel.
In said structure, DC conversion, according to torque instruction and truck driving requirements, is changeable frequency by inverter
Alternating current, complete the traction control of asynchronous machine, it is possible to realize traction and the quickly and smoothly switching of damped condition.It is hinged
In running under power, wheel motor operates in electric motor state to formula truck, and four inverters are by the DC inverter of intermediate link
Worked according to four wheel motors of three-phase alternating current electric drive of traction electric machine characteristic requirements into voltage, electric current and frequency, while electric
Control device will ensure that four wheel side three-phase voltages are symmetrical, and three-phase current can reduce harmonic wave and asymmetrical voltage pair close to sine
The influence of wheel motor.When vehicle operates in electric braking operating mode, four wheel motors are operated in Generator Status, by the used of vehicle
Performance amount is converted to electric energy, output to intermediate DC link., it is necessary to electricity during four Driven by inverter, four wheel motors
According to the traction of wheel motor and braking characteristic, rapidly output order reaches real-time control to it to control device.
In the present embodiment, can also include a differential controller, the differential controller respectively with four wheel sides
Motor and the microcontroller are connected.
Using said structure so that electric control gear possesses differential defencive function, wherein, differential control plate real-time detection four
The rotating speed of wheel motor, according to four speed difference situations of motor, traction is adjusted with reference to differential control strategy real-time intelligent
The torque of motor with reach eliminate differential, prevent the purposes such as wheel-slip, fast steering.
Brake force is produced to reduce the abrasion of vehicle hub using electric braking mode, it is complicated using electronic differential alternative structure
, bulky mechanical differential lock, change articulated truck using mechanically operated situation, also expanded articulated truck
Use space.
In the present embodiment, also including energized circuit, the energized circuit includes Exciting Windings for Transverse Differential Protection and excitation con-trol plate, described to encourage
Magnetic loop is connected by the Exciting Windings for Transverse Differential Protection with alternating current generator, and the energized circuit is micro- with described by the excitation con-trol plate
Controller is connected.
Also include field switch in energized circuit, prevent the diode and current-limiting resistance of reverse-conducting.The pole of counterflow-preventing two
Manage for preventing from charging battery.In low engine speed, excitation controller controls medium voltage with the rotating speed line of engine
Property change, to certain rotating speed after keep voltage stabilization, so taken into account pulling electric generator and inverter.Engine speed n is with
Between the functional relation of voltage be：U=f (n).Excitation controller send according to the given difference with the middle dc voltage value of actual measurement
Enter generator excitation pi regulator, produce trigger signal, by regulation can generator excitation winding exciting current size, and then
The output voltage of main generator is controlled, the purpose of control middle dc voltage is reached.
In the present embodiment, copped wave loop can also be included, the copped wave loop includes the chopper and the braking that are connected in series
Resistance；The copped wave loop is in parallel with the inversion circuit；The copped wave loop is connected with the microcontroller.
In use, when DC voltage exceedes upper limit setting voltage, chopper controller control copped wave IGBT conductings,
DC loop is set to release energy to reduce DC voltage by braking resistor.When DC bus-bar voltage is reduced to lower voltage limit,
Electric capacity by current transformer to intermediate link charges.When charging voltage exceedes higher limit, chopper controller controls braking resistor again
Closure, repeats charge and discharge process above, and braking resistor is in the state of intermitten operation.
In the present embodiment, the braking resistor is fixed value resistance.
In the present embodiment, also electrical parameters detection equipment and alarm and protection equipment including being connected with the microcontroller.
Wherein, the electrical parameters detection equipment includes that current sensor, voltage sensor, earth detector, trolley line lack
Phase detector and wheel motor overheat detector.
The positive and negative test side of described earth detector is respectively connecting between the both positive and negative polarity of DC loop.By detecting direct current
Both positive and negative polarity insulating resistance value over the ground determines whether earth fault, also can be judged according to the signal rule of conversion that detects
Whether generator there is earth fault.Earth detector connects microcontroller, realizes microcontroller to generator and intermediate dc
There is the detection of earth fault in loop both positive and negative polarity.When microcontroller detects earth fault, send alarm command to point out behaviour
There is earth fault as personnel, while jerk energy measure is taken current transformer if necessary to prevent failure according to ground fault condition
Expand.
Whether trolley line phase loss detector, there is phase shortage, and indicate three-phase electricity in real time for dynamic detection three-phase trolley line
State, with convenient use, accurate detection, the advantages of low-power consumption.When any phase voltage phase shortage in the input of three-phase trolley line
When, phase loss detector output phase shortage caution signal, by the treatment to alarm signal, it is ensured that during trolley line offer power
Reliability and stability, power when abnormal electrical power supply occurs in trolley line, to switch to engine as early as possible.
The multiple voltage sensors of microcontroller connection and current sensor of the system.Voltage sensor connects intermediate loop
Both positive and negative polarity, with real-time detection intermediate dc loop electricity pressure.Electric control gear receives the low of 0~10V from voltage sensor
Pressure signal.By the calculating of microcontroller, the real-time voltage in intermediate dc loop is obtained, the voltage sends current-variable controller confession to
Motor control is used.The voltage signal that the current signal that current detection circuit will be measured is converted to 0~10V is conveyed to microcontroller
Device, by the computing of microcontroller, obtains electric current, power limitation control when being powered for engine.Traction electric machine three-phase electricity spreads
The electric current of sensor real-time detection traction electric machine three-phase, by detecting that circuit is ultimately delivered to microcontroller for the real-time of wheel motor
Control.
In the present embodiment, also including display, the display is arranged in the driver's cabin of articulated truck, the display
Device is connected with the micro controller data.
In use, electric control gear is by vehicle working condition, the voltage and current of two three-phase rectifiers, four traction electricity
The electric quantity signals such as the three-phase current of machine, power, are sent to the display screen of driver's cabin to facilitate in real time by CAN communication mode information
Driver grasps vehicle and four operation conditions of motor.
In the present embodiment, also including battery and three voltage-stabilized power supplies, input and the electric power storage of three voltage-stabilized power supply
Pond connection, the output end of three voltage-stabilized power supply and the all-wheel drive articulated truck alternating current drive system electronic control means
In electrical part connection.
Voltage-stabilized power supply input connects the battery of articulated truck, and output end connects automatically controlled dress by connecting terminal block
Put, earth detector, excitation controller, current-variable controller, Electronic differential control device, chopper controller etc., and be with upper-part
The 24V direct currents of stabilization are provided.Battery on articulated truck is connected with four road trip switch, is respectively used to break-make the system
In each control loop circuit, when there is excessively stream, the phenomenon of the failure such as short circuit in loop, after trip switch action it is automatic disconnect it is corresponding
Control circuit, reaches the purpose for protecting the circuit device.
Embodiment two
A kind of differential speed control method of four-wheel drive alternating current drive articulated truck is the embodiment of the invention provides, it is special
Levy and be, realized using the electric control gear described in embodiment one, comprise the following steps：
S1, the microcontroller gathers direction switch, gas pedal and the brake pedal signal of articulated truck, and
The operating condition of articulated truck is judged according to above- mentioned information；
S2, the differential controller gathers the steering angle information of truck, and sends this information to the microcontroller, institute
Torque of the microcontroller according to needed for above- mentioned information calculates the wheel motor is stated,
S3, the microcontroller is according to the wheel side electricity being calculated in the operating condition and S2 of articulated truck
Torque needed for machine, determines that the wheel motor gives torque, and the given torque is sent to the inverter；
S4, voltage and current of the inverter according to the given torque adjusting needed for wheel motor, it is right to realize
The rotating speed control of the wheel motor.
The actual control process of the above method is：
Driver operates direction switch, gas pedal and the brake pedal of articulated truck, and electric control gear is according to collection side
To signals such as switch, gas pedal and brake pedals, the work of the operation of truck is judged after carrying out logical operation and treatment
Condition, after the corresponding control instruction for then being sent by electric control gear according to signals such as the voltage, the electric currents that collect, microcontroller is matched somebody with somebody
Close current-variable controller and realize the traction to articulated truck or control for brake.
When articulated truck draws, the three-phase alternating current that generator or trolley line power network are provided is by Power Diode Pumped
The uncontrollable rectifier rectification of three-phase of composition filters into stable direct current into direct current through Support Capacitor, there is provided meet current transformer
The voltage and current of input requirements.Under traction working condition, cut by chopper controller control during intermediate dc bus electric voltage over press
Ripple device is preventing busbar voltage too high；When articulated truck operates in damped condition, when engine is powered, main generator passes through
Intermediate DC link and current transformer provide pre-excitation voltage to asynchronous machine, once motor starts under this pre-excitation voltage
Work, then the energy that feeds back is rapidly reached setting value when middle dc voltage is by pulling motor braking, and at this moment main generator is not
This process is not needed when being powered to intermediate DC link and braking resistor offer energy, and trolley line again.Under damped condition, four
The stator frequency of individual current transformer control asynchronous machine is less than rotor frequency so that traction electric machine works under being operated in generating state,
Articulated truck is in damped condition under damped condition, and chopper starts working to maintain direct current according to the size of busbar voltage
Busbar voltage fluctuates in certain scope.
As shown in figure 4, in traction working condition full speed range, in wheel motor low speed segment sample vector control mode, medium velocity
The synchronous modulation module of sample segment, the hybrid modulation method of high regime sampling square wave pattern.
The torque of motor and the relation of frequency are shown below：
In formula：F is the frequency of motor, and g is overload magnification, equal to torque capacity is divided by motor characteristic curve in Fig. 4 and turns
Torque at square intersections of complex curve, U is voltage.
The mechanical property (torque) of control system control articulated truck wheel motor is with its rotating speed or frequency according to one
The rule for determining Fig. 4 changes to meet requirement of the vehicle to tractive force.
, it is necessary to larger drag torque, now control wheel side is electric when articulated truck starts under the road conditions such as muddy, soft
Machine runs according to permanent torque, and the slip frequency of current-variable controller controlled motor realizes the permanent torque control of motor for fixed numbers,
And then realize the high pulling torque fast starting of vehicle and run.In the stage, under engine and three-phase trolley line power supply mode, slip
Frequency is closer to critical slip frequency, and the torque that both are obtained is all bigger.According to the angle of driver pedal, Linear Control should
The slip frequency in stage realizes permanent torque control.Control system uses big inverter small machine match pattern, gives full play to electricity
The characteristic of machine.
Such as Fig. 4's is shown, and the speed with articulated truck increases, and the permanent work(of boosting is entered in order to give full play to motor characteristic
Rate and constant pressure and constant work(stage, according to different velocity amplitude or frequency values, the torque of traction motor is adjusted by current-variable controller
To ensure its output-constant operation.Realized to motor according to the voltage of the Characteristics Control motor of Fig. 4, electric current and slip in this stage
Power limitation control, keeps during this
When the rotating speed of motor rises to rated voltage, motor enters the constant pressure and constant work(stage, and voltage is no longer with frequency
Rate rises but stabilization is in rated value, keeps constant, it is necessary to control to keep because electric moter voltage reaches rated value during this
Overload magnificationTo realize motor constant power control.
As shown in figure 4, the system also includes weak magnetic control function, when the operating voltage of four traction electric machines reaches specified electricity
During pressure, because motor is limited by ceiling voltage, electric moter voltage loses regulating power, and current-variable controller controlled motor output voltage is steady
It is scheduled on maximum constant.With the raising of frequency of supply, motor is operated in field weakening area, and magnetic flux and frequency of supply are inversely proportional drop
It is low.Now inversion control plate is inversely proportional change with frequency of supply using the torque of specific weak magnetic control strategy controlled motor,
So that traction electric machine is operated under weak magnetic state, and suitable traction can be provided or braking moment drives truck to operate in traction
Or damped condition is meeting the operation of articulated truck.
As shown in figure 5, under damped condition, the stator frequency of current-variable controller control wheel motor is less than rotor frequency, makes
Obtain motor and be operated in Generator Status, articulated truck operates in damped condition.Resistive braking operating mode is divided into three workspaces：It is permanent
Braking power area, Heng Zhidongliqu and drop brake force area.The depth that different brake pedals is depressed, corresponding braking force characteristic is bent
Line is different, but each characteristic curve shape is similar, and principle is identical.
During wheel motor high speed electric braking, current-variable controller controlled motor output torque capacity is not reaching to volume in motor
Before determining torque so that motor is operated in Heng Zhidonggongshuaiqu.After motor reaches nominal torque, with the reduction motor of rotating speed
Not in more torque, now current-variable controller carries out permanent torque control, and the wheel motor of articulated truck operates in permanent system
Power-section.When wheel motor rotating speed is relatively low, the frequency of supply and motor terminal voltage of wheel motor are all smaller, by current-variable controller control
The brake force of asynchronous machine processed is run by linear decline, and motor is operated in drop brake force area.
In the embodiment of the present invention, in S2, the torque needed for the microcontroller calculating wheel motor, including following step
Suddenly：
S201, the resultant couple needed for calculating four wheel motors；
S202, according to the resultant couple, calculates average torque；
S203, whether the steering angle for judging truck is zero, if zero, then using the average torque as wheel each described
Torque needed for the motor of side, if be not zero, performs S204；
S204, the torque needed for calculating the wheel motor according to equation below：
In formula,
TIt is interiorTorque for needed for the wheel motor of inner side；
TOutwardTorque for needed for the wheel motor of outside；
T is average torque；
α is the steering angle of articulated truck, and on the occasion of truck left-hand rotation is represented, negative value represents that truck is turned right；
L1 is the vehicle commander of articulated truck front vehicle body；
L2 is the vehicle commander of articulated truck aftercarriage；
L3 is the overall width of articulated truck.
In the embodiment of the present invention, mechanical speed difference instead of using Electronic differential control device and lock, with four wheel motors
Torque is control object.The path miriness of double dynamical articulated truck, hollow, wet and slippery etc., control system pass through control strategy reality
When constantly adjust and reasonably dynamically distributes four torques of wheel motor realize fast steering, the stepless speed control to vehicle
And dynamic control.
In steering procedure, because the speed of inside and outside wheel motor is different, car of the distance that inboard wheel is passed by less than outside
The distance that wheel is passed by, so as to realize that vehicle turns to the inside, radius of turn is smaller.As shown in fig. 6, being double dynamical articulated truck
Steering model.Steering angle is obtained by installed in the rotary angle transmitter of the direct hinge portion of front and rear car body.Wheel motor speed
Direction is tangential direction of the front-wheel to turning center line, according to the model and mathematical knowledge, with reference to the vehicle body of articulated truck
The parameters such as width, length, vehicle average speed, obtain the torque of the interior outboard wheel side motor in articulated body steering angle α, such as S204
In formula shown in.
When truck is when turning to, control system obtains articulated body difference steering angle and four according to above-mentioned computing formula
The Torque distribution relation of wheel motor rotating speed, and then control wheel motor to be run according to new Torque distribution relation, control flow
Figure is as shown in Figure 7.Differential controller detection direction, gas pedal, brake pedal, articulated body corner, four wheel motors turn
The signals such as speed carry out logic operation and judge the operating mode residing for vehicle, and electricity is determined with reference to the traction of Fig. 4 or Fig. 5 or braking characteristic
Torque needed for machine.When articulated body corner is more than 0, mine car is turned right, and when articulated body corner is less than 0, mine car turns left, turn side
Motor be inner side motor.Differential controller obtains the torque differences of inside and outside wheel motor and delivers to master controller according to model, main
Controller combination current working redistributes four torques of motor, and torque is given the current transformer for delivering to four wheel motors
Controller carrys out motor and realizes differential control function.
In normally travel, four torques of wheel motor are mean allocation to truck.It is usually interior during truck is turned
The torque that side motor needs causes the rotating speed liter of outside wheel motor less than the torque of outside motor after the increase of outside motor torque
Height, so that outboard wheels are turned to accelerating, realizes flipper turn.
In the embodiment of the present invention, for each wheel motor, if the rotating speed of previous moment is n0, current rotating speed is n, if
N ＞ k1*n0, and k1>1.1, then it is judged as motor slippage, if in four wheel motors, there is skidding motor and the electricity that do not skid
Machine, then, reduce the given torque of skidding motor, and the reduction amount of given torque is evenly distributed on the motor not skidded, directly
To the rotating speed of skidding motor be reduced to motor it is non-slip.
In a preferred embodiment, for each wheel motor, if the rotating speed of previous moment is n0, current rotating speed is n,
If n ＞ k1*n0, and k1>2, then it is judged as motor slippage, if there is more than three skidding motors, then, it is necessary to take drop power
Square control strategy reasonably distributes the torque of motor with complete as early as possible again to suppress to continue to skid after skidding motor speed is reduced
Into the distribution of power.
Under engine or power network electric power thus supplied, in the road conditions such as wet and slippery, muddy and sleety weather, truck is when mining area travels
The phenomenons such as one or more wheel-slips, sideslip occur, it is necessary to control system takes steps to suppress skidding.Four wheels
The rotating speed of side motor is followed successively by n1, n2, n3 and n4.When occur four motor slippages when, take skid before motor speed on the basis of
n0；When there is more than one motor non-slip, speed n on the basis of non-slip motor speed is taken0。
The rotating speed of skidding motor：N ＞ k1*n0。
Work as k1>Wheel-slip is thought when 1.1, the torque for reducing skidding motor gives, and the torque mean allocation for reducing
It is constant to ensure the tractive force of vehicle on without the motor for skidding, untill skidding motor speed is reduced to normal value.
If can not suppress to skid, when coefficient k 1>2 or occur more than three motor slippages when, it is necessary to take drop torque
Control strategy reasonably distributes the torque of motor to complete as early as possible again to suppress to continue to skid after skidding motor speed is reduced
The distribution of power.
By using above-mentioned technical proposal disclosed by the invention, following beneficial effect has been obtained：The embodiment of the present invention is carried
A kind of four-wheel drive alternating current drive articulated truck electric control gear and differential speed control method have been supplied, the mechanical of transmission has been instead of
Differential lock, saves space and cost.Four rotating speeds of wheel motor of differential control plate real-time detection, according to turning for four motors
Fast difference condition, the torque of traction electric machine is adjusted with reference to differential control strategy real-time intelligent to reach elimination differential, prevent car
The purposes such as wheel skidding, fast steering.So, by the present invention in that carrying out differential control with electric control gear, realize to four wheel drivings
Four Electronic differential controls of wheel motor rotating speed of dynamic truck, and then realize to four Electronic differential controls of wheel, solution
Determine in the prior art, being locked using mechanical differential carries out the problem that the differential control of truck is caused.
Each embodiment in this specification is described by the way of progressive, what each embodiment was stressed be with
The difference of other embodiment, between each embodiment identical similar part mutually referring to.
Those skilled in the art should be understood that the sequential of the method and step that above-described embodiment is provided can be entered according to actual conditions
Row accommodation, is concurrently carried out also dependent on actual conditions.
All or part of step in the method that above-described embodiment is related to can be instructed by program correlation hardware come
Complete, described program can be stored in the storage medium that computer equipment can read, for performing the various embodiments described above side
All or part of step described in method.The computer equipment, for example：Personal computer, server, the network equipment, intelligent sliding
Dynamic terminal, intelligent home device, wearable intelligent equipment, vehicle intelligent equipment etc.；Described storage medium, for example：RAM、
ROM, magnetic disc, tape, CD, flash memory, USB flash disk, mobile hard disk, storage card, memory stick, webserver storage, network cloud storage
Deng.
Finally, in addition it is also necessary to explanation, herein, such as first and second or the like relational terms be used merely to by
One entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operation
Between there is any this actual relation or order.And, term " including ", "comprising" or its any other variant meaning
Covering including for nonexcludability, so that process, method, commodity or equipment including a series of key elements not only include that
A little key elements, but also other key elements including being not expressly set out, or also include for this process, method, commodity or
The intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence "including a ...", does not arrange
Except also there is other identical element in the process including the key element, method, commodity or equipment.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
Depending on protection scope of the present invention.
Claims (10)
1. a kind of double dynamical four-wheel drive alternating current drive articulated truck electric control gear, it is characterised in that including：Stringing electricity
Net, alternating current generator, the first rectifier, the second rectifier, inversion circuit and microcontroller, first rectifier and described
Two rectifiers are in parallel；
The trolley network is connected with first rectifier, and the alternating current generator is connected with second rectifier, described
First rectifier and second rectifier are connected with the inversion circuit；The inversion circuit connects with the microcontroller
Connect；
The inversion circuit includes inverter, wheel motor, inversion pulse output board and inversion control plate, the inverter and institute
Wheel motor connection is stated, the inverter is connected by the inversion pulse output board with the inversion control plate, the inversion
Control panel is connected with the microcontroller.
2. double dynamical four-wheel drive alternating current drive articulated truck electric control gear according to claim 1, its feature exists
In the inversion circuit includes four, and four inversion circuits are in parallel, and the wheel motor is set to four, an institute
Wheel motor is stated to be arranged on a driving wheel, also including a differential controller, the differential controller respectively with four institutes
State wheel motor and microcontroller connection.
3. double dynamical four-wheel drive alternating current drive articulated truck electric control gear according to claim 1, its feature exists
In also including energized circuit, the energized circuit includes Exciting Windings for Transverse Differential Protection and excitation con-trol plate, and the energized circuit is encouraged by described
Magnetic winding is connected with alternating current generator, and the energized circuit is connected by the excitation con-trol plate with the microcontroller；Also wrap
Copped wave loop is included, the copped wave loop includes the chopper and the braking resistor that are connected in series；The copped wave loop and the inversion
Loop is in parallel；The copped wave loop is connected with the microcontroller, and the braking resistor is fixed value resistance.
4. double dynamical four-wheel drive alternating current drive articulated truck electric control gear according to claim 1, its feature exists
In also including the electrical parameters detection equipment and alarm and protection equipment that are connected with the microcontroller, the electrical parameters detection equipment
Including current sensor, voltage sensor, earth detector, trolley line phase loss detector and wheel motor overheat detector.
5. double dynamical four-wheel drive alternating current drive articulated truck electric control gear according to claim 1, its feature exists
In also including display, the display is arranged in the driver's cabin of articulated truck, the display and the microcontroller
Data cube computation.
6. double dynamical four-wheel drive alternating current drive articulated truck electric control gear according to claim 1, its feature exists
In also including battery and three voltage-stabilized power supplies, the input of three voltage-stabilized power supply is connected with the battery, three voltage stabilizing
The output end of power supply is connected with the electrical part in the all-wheel drive articulated truck alternating current drive system electronic control means.
7. a kind of differential speed control method of four-wheel drive alternating current drive articulated truck, it is characterised in that utilize claim
Electric control gear described in any one of 1-6 is realized, comprised the following steps：
S1, the microcontroller gathers direction switch, gas pedal and the brake pedal signal of articulated truck, and according to
Above- mentioned information judges the operating condition of articulated truck；
S2, the differential controller gathers the steering angle information of truck, and sends this information to the microcontroller, described micro-
Torque of the controller according to needed for above- mentioned information calculates the wheel motor,
S3, the microcontroller is according to the wheel motor institute being calculated in the operating condition and S2 of articulated truck
The torque for needing, determines that the wheel motor gives torque, and the given torque is sent to the inverter；
S4, voltage and current of the inverter according to the given torque adjusting needed for wheel motor is realized to described
The rotating speed control of wheel motor.
8. the differential speed control method of four-wheel drive alternating current drive articulated truck according to claim 7, its feature exists
In in S2, the torque needed for the microcontroller calculating wheel motor comprises the following steps：
S201, the resultant couple needed for calculating four wheel motors；
S202, according to the resultant couple, calculates average torque；
S203, whether the steering angle for judging truck is zero, if zero, then using the average torque as wheel side electricity each described
Torque needed for machine, if be not zero, performs S204；
S204, the torque needed for calculating the wheel motor according to equation below：
In formula,
TIt is interiorTorque for needed for the wheel motor of inner side；
TOutwardTorque for needed for the wheel motor of outside；
T is average torque；
α is the steering angle of articulated truck, and on the occasion of truck left-hand rotation is represented, negative value represents that truck is turned right；
L1 is the vehicle commander of articulated truck front vehicle body；
L2 is the vehicle commander of articulated truck aftercarriage；
L3 is the overall width of articulated truck.
9. the differential speed control method of four-wheel drive alternating current drive articulated truck according to claim 8, its feature exists
In for each wheel motor, if the rotating speed of previous moment is n0, current rotating speed is n, if n ＞ k1*n0, and k1>1.1, then
It is judged as motor slippage, if in four wheel motors, there is skidding motor and the motor that do not skid, then, reduces skidding motor
Given torque, and the reduction amount of given torque is evenly distributed on the motor not skidded, until the rotating speed reduction of skidding motor
To motor it is non-slip.
10. the differential speed control method of four-wheel drive alternating current drive articulated truck according to claim 8, its feature exists
In for each wheel motor, if the rotating speed of previous moment is n0, current rotating speed is n, if n ＞ k1*n0, and k1>2, then sentence
It is motor slippage to break, if there is more than three skidding motors, then, it is necessary to take drop Torque Control strategy to suppress to continue to beat
It is sliding, the torque of motor is reasonably distributed again after skidding motor speed is reduced to complete the distribution of power as early as possible.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710109158.6A CN106828116B (en) | 2017-02-27 | 2017-02-27 | Four-wheel drive alternating current transmission articulated truck electric control device and differential control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710109158.6A CN106828116B (en) | 2017-02-27 | 2017-02-27 | Four-wheel drive alternating current transmission articulated truck electric control device and differential control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106828116A true CN106828116A (en) | 2017-06-13 |
| CN106828116B CN106828116B (en) | 2023-11-24 |
Family
ID=59134158
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710109158.6A Active CN106828116B (en) | 2017-02-27 | 2017-02-27 | Four-wheel drive alternating current transmission articulated truck electric control device and differential control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106828116B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108528226A (en) * | 2018-03-23 | 2018-09-14 | 北汽福田汽车股份有限公司 | Drive system, control method and the vehicle of freight truck |
| CN109056686A (en) * | 2018-06-29 | 2018-12-21 | 武汉船用机械有限责任公司 | A kind of guard method of jacking system |
| CN109412469A (en) * | 2018-10-15 | 2019-03-01 | 中车大连机车车辆有限公司 | Traction current transformation system main circuit, control method and its system |
| CN109747436A (en) * | 2019-03-13 | 2019-05-14 | 江苏迈吉易威电动科技有限公司 | A kind of distributed electrical driving limiting vehicle speed control method |
| CN111277000A (en) * | 2020-02-26 | 2020-06-12 | 国网浙江省电力有限公司电力科学研究院 | Dynamic top voltage control method for flexible excitation system |
| WO2021170074A1 (en) * | 2020-02-26 | 2021-09-02 | 国网浙江省电力有限公司电力科学研究院 | Flexible excitation system and control method therefor |
| US12149199B2 (en) | 2020-02-26 | 2024-11-19 | State Grid Zhejiang Electric Power Co., Ltd. Research Institute | Flexible excitation system and control method therefor |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04230432A (en) * | 1990-12-28 | 1992-08-19 | Mitsubishi Motors Corp | Differential limiting device for drive wheel |
| JPH04232126A (en) * | 1990-12-28 | 1992-08-20 | Mitsubishi Motors Corp | Differential limit control unit |
| US20040026148A1 (en) * | 2002-08-07 | 2004-02-12 | Koji Matsuno | Control apparatus and method for four wheel drive vehicle |
| CN2925948Y (en) * | 2006-02-27 | 2007-07-25 | 华南理工大学 | Multi-bridge driving system of mixed-dynamic vehicle |
| CN101716952A (en) * | 2009-09-22 | 2010-06-02 | 浙江工业大学 | Electronic differential steering control system for realizing four-wheel steering by four-hub motor driving for electrical vehicle |
| CN102935815A (en) * | 2012-12-04 | 2013-02-20 | 湘潭电机股份有限公司 | Electric differential control device and method for electric wheel vehicle |
| CN103112365A (en) * | 2013-01-30 | 2013-05-22 | 武汉新能车桥技术发展有限公司 | Self-adaption electronic differential control system |
| CN203254979U (en) * | 2013-05-06 | 2013-10-30 | 杭州搏今机电科技有限公司 | Four-wheel driving and four-wheel steering electronic differential control equipment of electric automobile |
| CN103717431A (en) * | 2011-08-10 | 2014-04-09 | 本田技研工业株式会社 | Drive force control device for four-wheel-drive vehicle |
| CN103863103A (en) * | 2014-02-26 | 2014-06-18 | 北京科技大学 | Hybrid electric drive underground mining car |
| CN204347481U (en) * | 2015-01-20 | 2015-05-20 | 北京东风机车电器厂 | A kind of articulated truck alternating current drive system electric control device |
| CN104786804A (en) * | 2015-04-30 | 2015-07-22 | 郑州宇通客车股份有限公司 | Vehicle and wheel edge drive system and wheel edge drive torque distributing method thereof |
| CN105253012A (en) * | 2015-11-10 | 2016-01-20 | 广州电力机车有限公司 | Simulating method for interaxle power distribution and differential speed control of dump truck |
| CN206644659U (en) * | 2017-02-27 | 2017-11-17 | 北京东风电器有限公司 | A kind of double dynamical four-wheel drive alternating current drive articulated truck electric control gear |
-
2017
- 2017-02-27 CN CN201710109158.6A patent/CN106828116B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04232126A (en) * | 1990-12-28 | 1992-08-20 | Mitsubishi Motors Corp | Differential limit control unit |
| JPH04230432A (en) * | 1990-12-28 | 1992-08-19 | Mitsubishi Motors Corp | Differential limiting device for drive wheel |
| US20040026148A1 (en) * | 2002-08-07 | 2004-02-12 | Koji Matsuno | Control apparatus and method for four wheel drive vehicle |
| CN2925948Y (en) * | 2006-02-27 | 2007-07-25 | 华南理工大学 | Multi-bridge driving system of mixed-dynamic vehicle |
| CN101716952A (en) * | 2009-09-22 | 2010-06-02 | 浙江工业大学 | Electronic differential steering control system for realizing four-wheel steering by four-hub motor driving for electrical vehicle |
| CN103717431A (en) * | 2011-08-10 | 2014-04-09 | 本田技研工业株式会社 | Drive force control device for four-wheel-drive vehicle |
| CN102935815A (en) * | 2012-12-04 | 2013-02-20 | 湘潭电机股份有限公司 | Electric differential control device and method for electric wheel vehicle |
| CN103112365A (en) * | 2013-01-30 | 2013-05-22 | 武汉新能车桥技术发展有限公司 | Self-adaption electronic differential control system |
| CN203254979U (en) * | 2013-05-06 | 2013-10-30 | 杭州搏今机电科技有限公司 | Four-wheel driving and four-wheel steering electronic differential control equipment of electric automobile |
| CN103863103A (en) * | 2014-02-26 | 2014-06-18 | 北京科技大学 | Hybrid electric drive underground mining car |
| CN204347481U (en) * | 2015-01-20 | 2015-05-20 | 北京东风机车电器厂 | A kind of articulated truck alternating current drive system electric control device |
| CN104786804A (en) * | 2015-04-30 | 2015-07-22 | 郑州宇通客车股份有限公司 | Vehicle and wheel edge drive system and wheel edge drive torque distributing method thereof |
| CN105253012A (en) * | 2015-11-10 | 2016-01-20 | 广州电力机车有限公司 | Simulating method for interaxle power distribution and differential speed control of dump truck |
| CN206644659U (en) * | 2017-02-27 | 2017-11-17 | 北京东风电器有限公司 | A kind of double dynamical four-wheel drive alternating current drive articulated truck electric control gear |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108528226A (en) * | 2018-03-23 | 2018-09-14 | 北汽福田汽车股份有限公司 | Drive system, control method and the vehicle of freight truck |
| CN109056686A (en) * | 2018-06-29 | 2018-12-21 | 武汉船用机械有限责任公司 | A kind of guard method of jacking system |
| CN109056686B (en) * | 2018-06-29 | 2021-07-27 | 武汉船用机械有限责任公司 | Protection method of lifting system |
| CN109412469A (en) * | 2018-10-15 | 2019-03-01 | 中车大连机车车辆有限公司 | Traction current transformation system main circuit, control method and its system |
| CN109747436A (en) * | 2019-03-13 | 2019-05-14 | 江苏迈吉易威电动科技有限公司 | A kind of distributed electrical driving limiting vehicle speed control method |
| CN109747436B (en) * | 2019-03-13 | 2020-09-04 | 江苏迈吉易威电动科技有限公司 | Distributed electric drive vehicle speed limit control method |
| CN111277000A (en) * | 2020-02-26 | 2020-06-12 | 国网浙江省电力有限公司电力科学研究院 | Dynamic top voltage control method for flexible excitation system |
| WO2021170074A1 (en) * | 2020-02-26 | 2021-09-02 | 国网浙江省电力有限公司电力科学研究院 | Flexible excitation system and control method therefor |
| CN111277000B (en) * | 2020-02-26 | 2021-10-01 | 国网浙江省电力有限公司电力科学研究院 | Dynamic top voltage control method for flexible excitation system |
| US12149199B2 (en) | 2020-02-26 | 2024-11-19 | State Grid Zhejiang Electric Power Co., Ltd. Research Institute | Flexible excitation system and control method therefor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106828116B (en) | 2023-11-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106828116A (en) | Four-wheel drive alternating current drive articulated truck electric control gear and differential speed control method | |
| CN101209683B (en) | Electric automobile driving electric motor control method and control system thereof | |
| US9527406B2 (en) | Control system for an all-wheel drive electric vehicle | |
| CN101814876B (en) | Drive control system of double motors of rear axle of electric automobile | |
| US7317295B2 (en) | Electric motor driving system, electric four-wheel drive vehicle, and hybrid vehicle | |
| US9641106B2 (en) | Electric vehicle and control method of electric vehicle | |
| CN101134441B (en) | Control apparatus for vehicle | |
| US10680540B2 (en) | Apparatus for controlling motorized vehicle | |
| JP4111629B2 (en) | Hybrid dump truck | |
| US11267346B2 (en) | Wye-delta all-wheel electric drive system for electrified vehicles | |
| US10875408B2 (en) | Apparatus for controlling motorized vehicle | |
| JP6832854B2 (en) | Wheel stability control based on the moment of the electric motor | |
| CN102267459A (en) | Driving antiskid adjustment and control method for motor-driven vehicle | |
| US11065966B2 (en) | Apparatus for controlling motorized vehicle | |
| CN108621861A (en) | A kind of electric vehicle of the intelligent and high-efficiency safety of dual-motor combination takes turns control method entirely | |
| US20150053435A1 (en) | Drive system for vehicle pulling a towed vehicle | |
| JP4348783B2 (en) | Vehicle motor control device | |
| KR101237317B1 (en) | Propulsion device and method for four wheel drive hybrid vehicles | |
| US6914410B2 (en) | Electric differential traction-control drive system | |
| CN204712854U (en) | A kind of vehicle and Direct wheel drives system thereof | |
| CN206644659U (en) | A kind of double dynamical four-wheel drive alternating current drive articulated truck electric control gear | |
| JPH07250403A (en) | Controller for electric vehicle | |
| KR20210028034A (en) | Method of controlling inverter for parallel drive system of variable capacity electric vehicle | |
| Schael et al. | Comparison of powertrain concepts for electric vehicles using distributed induction motors | |
| CN204551561U (en) | The speed self trim device of the bulldozer that a kind of permanent magnet synchronous AC motor drives |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |