CN118753298A - Engineering vehicle uphill and downhill sensing system and control method - Google Patents

Abstract

The invention provides an up-down slope induction system and method for an engineering vehicle, comprising a VCU, a motor controller, a driving motor and a plurality of pressure sensors, wherein the pressure sensors are respectively arranged at a left front tire, a right front tire, a left rear tire and a right rear tire of the vehicle, the internal pressure of each tire is independently detected and transmitted to the VCU in real time, the motor controller monitors the state of the motor and transmits information to the VCU through a communication line, a detection algorithm is prestored in the VCU, gradient state information is obtained after the received internal pressure of the tire and motor state signals are summarized and processed, and the current sensors and parts of the whole vehicle are utilized to integrate the system into an up-down slope induction system, so that reliable gradient information is output for the whole vehicle control, and the applicability, the reliability and the safety of the whole vehicle are improved.

Description

Engineering vehicle uphill and downhill sensing system and control method

Technical Field

The invention relates to the technical field of engineering vehicle control, in particular to an up-down slope induction system and a control method of an engineering vehicle.

Background

During the running of a vehicle, auxiliary driving, braking, gear shifting, energy recovery control, etc. of the vehicle are generally required to use the gradient of the road surface on which the vehicle is running, i.e., the running gradient.

At present, a rigid body model is mostly adopted for analysis when the gradient estimation is carried out on a running vehicle, so that influences of pitching, rolling, vibration and the like of a vehicle body on the gradient estimation are ignored, and an estimation result is inaccurate. Under certain special working scenes, the existing gradient sensor is influenced by the bump and acceleration of the whole vehicle, the output gradient value is inaccurate, and the judgment error of the vehicle is easy to mislead. The special scene driving safety is considered, the problem of gradient information accuracy is solved, and the control strategy is improved, so that the method is a key and necessary condition for popularization of the special scene vehicle.

The application utilizes the existing sensors and parts of the whole vehicle to manufacture an up-down slope induction system, outputs reliable gradient information, is used for controlling the whole vehicle, and improves the applicability, reliability and safety of the whole vehicle.

Disclosure of Invention

The invention provides an up-down slope induction system and a control method of an engineering vehicle, which solve the problems that when a vehicle running at present carries out slope estimation, a rigid body model is mostly adopted for analysis and neglects the influence of pitching, rolling, vibration and the like of the vehicle body on the slope estimation, so that an estimation result is inaccurate and the judgment error of the vehicle is easy to mislead. The technical scheme of the invention is realized as follows: the utility model provides an engineering vehicle goes up downhill path induction system, includes VCU, motor controller, driving motor and a plurality of pressure sensor, a plurality of pressure sensor install respectively in the left front tire of vehicle, right front tire, left back tire and right back tire department, independent internal pressure to each tire detects and carries to in real time VCU department, motor controller monitors the motor state and passes information to VCU through the communication line, prestore has detection algorithm in the VCU, gathers and obtains slope state information after receiving the internal pressure of tire and motor state signal.

As a preferred technical solution, the four pressure sensors are provided, which are a first pressure sensor, a second pressure sensor, a third pressure sensor and a fourth pressure sensor, wherein the first pressure sensor is installed at the left front tire and can be connected with the VCU through a first low voltage line, the second pressure sensor is installed at the right front tire and can be connected with the VCU through a second low voltage line, the third pressure sensor is installed at the left rear tire and can be connected with the VCU through a third low voltage line, and the fourth pressure sensor is installed at the right rear tire and can be connected with the VCU through a fourth low voltage line.

The method for controlling the up-down slope induction of the engineering vehicle uses the up-down slope induction system of the engineering vehicle, and comprises the following steps: obtaining left front wheel pressure Na through the first pressure sensor, obtaining right front wheel pressure Nb through the second pressure sensor, obtaining left rear wheel pressure Nc through the third pressure sensor, and obtaining right rear wheel pressure Nd through the fourth pressure sensor; calculating the pressure change delta N in a single period; obtaining a direct-current end current I of a driving motor through a motor controller; the vehicle state is determined according to the following method:

When the conditions of delta Na > 0, delta Nb > 0, delta Nc < 0 and delta Nd < 0 are simultaneously satisfied for a time T, and the current I is less than 0, determining that the vehicle is in a downhill state;

when the conditions of delta Na < 0, delta Nb < 0, delta Nc > 0 and delta Nd > 0 are met at the same time and the time is lasting for T, and the current I is greater than 0, determining that the current is in an ascending slope state; wherein T is a fixed constant.

As a preferable technical scheme, the pressure variation calculation formula is:

ΔN＝N1﹣N0；

Wherein Δn is the amount of pressure change; n1 is the pressure value collected in the current period; n0 is the pressure value acquired in the last period.

Compared with the prior art, the scheme has the following beneficial effects:

1) Various information is collected through the existing sensors of the whole vehicle and sent to the VCU for data processing, so that reliable gradient information is obtained, and the problem that the gradient is affected by jolt and acceleration of the whole vehicle and the output gradient is unreliable is solved;

2) By collecting various sensor and part data and performing calculation processing, high-reliability gradient information is obtained, the problem that the practicability is affected due to unstable gradient induction of engineering machinery in a severe working environment is solved, a driver can control vehicles more stably, the vehicles can judge road conditions more accurately, a strategy is updated, and information guarantee is provided for unmanned operation.

3) The existing sensor is subjected to data processing to obtain gradient information, so that the cost of the gradient sensor can be saved and the reliability problem can be avoided.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic block diagram of an engineering vehicle uphill and downhill sensing system of the present invention.

Detailed Description

The technical solutions of the present invention will be clearly and completely described in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1, the present invention provides an up-down slope sensing system of an engineering vehicle, comprising: VCU, motor controller, driving motor, first low voltage line, second low voltage line, third low voltage line, fourth low voltage line, communication line, high pressure three-phase line, first pressure sensor, second pressure sensor, third pressure sensor, fourth pressure sensor, pressure sensor should tire internal pressure and transmit VCU, motor controller monitors the motor state and passes information to VCU through the communication line, and VCU gathers and obtains slope state information after handling corresponding data.

The VCU is used as a brain of the system and is responsible for collecting information of each sensor and processing corresponding data to obtain a gradient state; the motor controller is used as a control end of the driving motor, monitors the state of the motor and transmits data to the VCU; the driving motor is a three-phase motor, the working state of the driving motor is controlled by a motor controller, and the rear end of the driving motor is mechanically connected with a load wheel to drive the wheel to rotate;

The two ends of the first low-voltage line are respectively connected with the first pressure sensor and the VCU, and the VCU receives real-time data of the first pressure sensor through the low-voltage line; the two ends of the second low-voltage line are respectively connected with the second pressure sensor and the VCU, and the VCU receives real-time data of the second pressure sensor through the low-voltage line; the two ends of the third low-voltage line are respectively connected with a third pressure sensor and the VCU, and the VCU receives real-time data of the third pressure sensor through the low-voltage line; and the two ends of the fourth low-voltage line are respectively connected with the fourth pressure sensor and the VCU, and the VCU receives real-time data of the fourth pressure sensor through the low-voltage line.

The first pressure sensor is in charge of monitoring the pressure of the left front wheel and providing acquired information for the VCU; the second pressure sensor is in charge of monitoring the pressure of the right front wheel and providing acquired information for the VCU; the third pressure sensor is in charge of monitoring the pressure of the left rear wheel and providing collected information for the VCU; the fourth pressure sensor is responsible for monitoring the right rear wheel pressure and providing the VCU with the collected information.

Two ends of the communication line are respectively connected with the motor controller and the VCU, and the VCU receives real-time data of the motor controller through the communication line; two ends of the high-voltage three-phase line are respectively connected with the motor controller and the driving motor, and three-phase alternating current is transmitted between the motor controller and the motor.

The invention also provides a control method based on the engineering vehicle uphill and downhill induction system, which comprises the following steps:

The left front wheel pressure Na is obtained by the first pressure sensor: the right front wheel pressure Nb is obtained by the second pressure sensor: the left rear wheel pressure Nc is obtained by the third pressure sensor: the right rear wheel pressure Nd is obtained by a fourth pressure sensor:

the pressure variation calculation formula is:

ΔN＝N1﹣N0；

Wherein Δn is the amount of pressure change; n1 is the pressure value collected in the current period; n0 is the pressure value collected in the last period;

according to the pressure variation calculation formula, it can be calculated that:

The pressure variation Δna of the left front wheel; the pressure variation Δnb of the right front wheel; the pressure change amount Δnc of the left rear wheel; the pressure change amount Δnd of the right rear wheel.

And obtaining the direct-current end current I of the driving motor through the motor controller.

The state of the vehicle is determined according to the following method:

When the conditions of delta Na > 0, delta Nb > 0, delta Nc < 0 and delta Nd < 0 are met and the time is continued for T, and the current I is less than 0, determining that the slope is in a downhill state;

when the conditions of delta Na < 0, delta Nb < 0, delta Nc > 0 and delta Nd > 0 are met and the time is lasting for T, and the current I is greater than 0, determining that the current is in an ascending state;

the time T can be adjusted according to the actual project, and parameters are not fixed;

when the vehicle runs, the VCU acquires feedback information of each sensor in real time and processes the feedback information, and outputs a relevant state when the ascending or descending condition is met, and the state can be used for remote information display or vehicle control strategy application, so that the running reliability of the vehicle can be better ensured.

Through the control system and the control method, the gradient state can be monitored in real time, the aim of reliably detecting gradient information is fulfilled, and the whole vehicle control is more stable.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.

Claims (4)

1. The utility model provides a downhill path induction system on engineering vehicle, its characterized in that includes VCU, motor controller, driving motor and a plurality of pressure sensor, a plurality of pressure sensor install respectively in the left front tire of vehicle, right front tire, left back tire and right back tire department, independent internal pressure to each tire detects and carries to in real time VCU department, motor controller control motor state and with information transmission for VCU, VCU gathers and obtains slope state information after the internal pressure and the motor state signal of receiving.

2. The system of claim 1, wherein four pressure sensors are provided, namely, a first pressure sensor installed at a front left tire and capable of being connected to the VCU through a first low voltage line, a second pressure sensor installed at a front right tire and capable of being connected to the VCU through a second low voltage line, a third pressure sensor installed at a rear left tire and capable of being connected to the VCU through a third low voltage line, and a fourth pressure sensor installed at a rear right tire and capable of being connected to the VCU through a fourth low voltage line.

3. An up-down slope induction control method of an engineering vehicle, characterized in that the up-down slope induction system of the engineering vehicle according to any one of claims 1-2 is used, comprising the following steps: obtaining left front wheel pressure Na through the first pressure sensor, obtaining right front wheel pressure Nb through the second pressure sensor, obtaining left rear wheel pressure Nc through the third pressure sensor, and obtaining right rear wheel pressure Nd through the fourth pressure sensor; calculating the pressure change delta N in a single period; obtaining a direct-current end current I of a driving motor through a motor controller; the vehicle state is determined according to the following method:

When the conditions of delta Na > 0, delta Nb > 0, delta Nc < 0 and delta Nd < 0 are simultaneously satisfied for a time T, and the current I is less than 0, determining that the vehicle is in a downhill state;

when the conditions of delta Na < 0, delta Nb < 0, delta Nc > 0 and delta Nd > 0 are met at the same time and the time is lasting for T, and the current I is greater than 0, determining that the current is in an ascending slope state; wherein T is a fixed constant;

And then the vehicle is controlled in real time according to the state.

4. The method for controlling the induction of the ascending and descending slope of the engineering vehicle according to claim 3, wherein the pressure variation calculation formula is:

ΔN＝N1-N0；

Wherein Δn is the amount of pressure change; n1 is the pressure value collected in the current period; n0 is the pressure value acquired in the last period.