CN210554768U

CN210554768U - Control system of series-parallel wide-body dump truck based on gradient identification

Info

Publication number: CN210554768U
Application number: CN201921709439.6U
Authority: CN
Inventors: 李昭; 赵荣; 庞亚娜; 胥帆; 何湘; 仝梦炜; 王小青
Original assignee: Xi'an Main Function Intelligent Technology Co ltd
Current assignee: Xi'an Main Function Intelligent Technology Co ltd
Priority date: 2019-10-12
Filing date: 2019-10-12
Publication date: 2020-05-19
Anticipated expiration: 2029-10-12

Abstract

The utility model discloses a series-parallel connection formula broad body tipper's control system based on slope discernment, it includes: the first power mechanism comprises a main drive motor and a main drive motor controller; the second power mechanism comprises an internal combustion engine, an internal combustion engine controller, an ISG motor and an ISG motor controller; the power battery is connected with the main drive motor controller and the ISG motor controller; and the vehicle control unit is in communication connection with the main drive motor controller, the internal combustion engine controller, the ISG motor controller, the electromagnetic clutch controller, the gearbox controller and the power battery through a bus. The utility model discloses on the basis of range extending formula and parallel scheme, provided a series-parallel connection formula broad body tipper's control system, made the internal-combustion engine be in high-efficient economic district work always, when improving the dynamic of vehicle, realized obvious effect of economizing on fuel.

Description

Control system of series-parallel wide-body dump truck based on gradient identification

Technical Field

The utility model relates to a hybrid machineshop car technical field. More specifically, the utility model relates to a series-parallel connection formula broad body tipper's control system based on slope discernment.

Background

The mining wide-body dump truck has the application scenes of coal mines, sand, stone, aggregate mines and other open mines generally, and has the working conditions that the transportation distance is short, the gradient change of a transportation road is large, the transportation route is fixed and repeated, and in order to respond to the modern green environment-friendly, energy-saving and emission-reduction calls, the dump truck mostly adopts a parallel hybrid drive system to improve the dynamic property and the fuel economy of the vehicle, the drive mode of the hybrid drive system comprises a pure electric drive mode, an engine drive mode and a hybrid drive mode, and the switching of the modes is the key of the hybrid power energy-saving and emission-reduction dump truck; in the prior art, the vehicle speed is mostly used as the basis for mode switching, and due to the working condition characteristics of the dump truck, the load condition of each driving force cannot be accurately reflected in real time only depending on the vehicle speed, so that the improvement of the dynamic property and the fuel economy of the vehicle is limited; in addition, the dump truck has higher requirement on braking of the whole truck due to larger inertia of the dump truck, and the planning and the regulation of a fresh braking system in the prior art cause that the speed controllability is poorer and the energy recovery rate is lower in the process of descending a slope of a heavy truck.

SUMMERY OF THE UTILITY MODEL

It is an object of the present invention to solve at least the above problems and to provide at least the advantages which will be described later.

The utility model discloses it is still another purpose to provide a control system of series-parallel connection formula wide-bodied tipper based on slope discernment, and it is on the basis of increasing form and parallel scheme, has provided a control system of series-parallel connection formula tipper, makes the internal-combustion engine be in high-efficient economic area work always, when improving the dynamic property of vehicle, realizes obvious effect of economizing on fuel.

In order to achieve these objects and other advantages in accordance with the present invention, there is provided a control system for a series-parallel type wide-bodied dump truck based on slope recognition, comprising:

the first power mechanism comprises a main drive motor and a main drive motor controller; the main drive motor is connected with a middle and rear drive axle of the vehicle through a gearbox and provides driving force for the middle and rear drive axle;

the second power mechanism comprises an internal combustion engine, an internal combustion engine controller, an ISG motor and an ISG motor controller, wherein the internal combustion engine is connected with the ISG motor, and the ISG motor is connected with the main drive motor through an electromagnetic clutch;

the power battery is connected with the main drive motor controller and the ISG motor controller;

and the vehicle control unit is in communication connection with the main drive motor controller, the internal combustion engine controller, the ISG motor controller, the electromagnetic clutch controller, the gearbox controller and the power battery through a bus.

Preferably, the control system of the series-parallel wide-body dump truck based on gradient identification further comprises a double-shaft inclination angle sensor which is fixedly arranged on a frame of the vehicle and is used for acquiring gradient data R of the vehicle and sending the gradient data to the vehicle control unit through a CAN bus network.

Preferably, in the control system of the series-parallel wide-body dump truck based on gradient identification, the input end of the gearbox is connected with the shaft extension end of the main drive motor, and the output end of the gearbox is connected with a transmission shaft of a driving middle rear axle of a vehicle.

Preferably, in the control system of the series-parallel wide-body dump truck based on gradient identification, the transmission and the driving middle rear axle, the main drive motor and the transmission, the electromagnetic clutch and the main drive motor and the ISG motor, and the ISG motor and the internal combustion engine are all mechanically connected.

Preferably, in the control system of the series-parallel wide-body dump truck based on gradient identification, the power battery is connected with the ISG motor controller and the main drive motor controller through high-voltage cables.

Preferably, in the control system of the series-parallel wide-body dump truck based on gradient identification, the bus communication is CAN bus communication, and comprises two-channel CAN bus communication; the internal combustion engine controller, the power battery and the vehicle control unit form one of the CAN bus communication channels; the main drive motor controller, the ISG motor controller, the electromagnetic clutch controller, the gearbox controller and the vehicle control unit form another channel CAN bus communication.

The utility model discloses at least, include following beneficial effect:

1. the utility model discloses a first power unit is the motor of new forms of energy, and it is as main drive, and the second power unit is the auxiliary drive of internal-combustion engine, and through electromagnetic clutch, when needing auxiliary drive, connects first power unit and second power unit on a drive shaft, is used for driving the middle and rear axle of vehicle simultaneously to the drive vehicle goes; the vehicle control unit is used for switching the driving modes of the vehicle in real time and accurately based on the gradient of the vehicle and the load state of the vehicle, so that the energy utilization rate of the power mechanisms is maximized on the basis of ensuring the stable and safe running of the vehicle, the waste of energy is avoided, the energy consumption is reduced, and the service life of each power mechanism is prolonged; in addition, the single-shaft drive can only use one gearbox, so that the braking of the vehicle has systematic adjustability when the vehicle is in a fully loaded load state, the braking mode is intelligently switched according to real-time road conditions and vehicle conditions, the electric braking is firstly performed, the exhaust braking is secondly performed, and the pedal braking is finally involved, so that the vehicle speed can be controlled, and the electric quantity can be recovered as much as possible when the whole vehicle is in a downhill process of heavy vehicle;

2. the core of the control system for controlling the driving mode of the hybrid vehicle is a gradient recognition algorithm, so that the load of the whole vehicle can be obtained, and the gradient recognition algorithm is further applied to the algorithm for switching the mode of the whole vehicle, and in the algorithms such as electric brake recovery, when the vehicle is in an idle state and the vehicle goes up a slope, the vehicle enters a range-extended driving mode, the electric quantity of a power battery consumed by a main driving motor is independently used as driving force, an internal combustion engine and an ISG motor are mechanically connected to form a range extender, and the internal combustion engine drives the ISG motor to supplement the charging quantity of the power battery; when the vehicle is in an idle state and the vehicle goes downhill, the vehicle enters an electric braking recovery mode, a main drive motor brakes and recovers energy, a power battery is charged through a motor driver, and the internal combustion engine and the ISG motor also generate power according to real-time working condition dynamic power; when the vehicle is in full load and the vehicle goes up a slope, the vehicle enters a hybrid driving mode, an electromagnetic clutch is closed, a first power mechanism and a second power mechanism are connected to the same driving shaft and are used for driving a middle rear axle of the vehicle, a main driving motor is coaxially connected with an internal combustion engine and outputs driving force together to drive the vehicle to run, when the vehicle is in full load and the vehicle goes down the slope, a controller calls an intelligent braking system under the hybrid driving mode, three braking modes are switched according to the braking deceleration of the vehicle, the electric braking is firstly performed, the exhaust braking is secondly performed, and finally pedal braking is intervened, so that the speed of the whole vehicle can be controlled and the electric quantity can be recovered as much as possible in the process of going down the slope;

3. the utility model realizes that the driving motor assists the internal combustion engine to output driving force together in the series-parallel mode in the process of the heavy vehicle ascending in the hybrid driving mode, so that the engine always works in a high-efficiency area, and the oil consumption is reduced; in the downhill process, the electric braking mode realizes the speed slowing function, and meanwhile, the recovered electric energy is stored and used for a driving motor in the uphill process; the utility model discloses on the sample car has been successfully implemented, through the test of actual mining area, can satisfy the road conditions requirement that the mining area is complicated, and compare with traditional fuel vehicle, dynamic nature obviously promotes, and the rate of economizing on fuel is obvious, the utility model discloses a rate of economizing on fuel can reach 20%.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

Drawings

Fig. 1 is a schematic diagram illustrating the structure and principle of the control system of the present invention.

Detailed Description

The present invention is further described in detail below with reference to the drawings and examples so that those skilled in the art can implement the invention with reference to the description.

It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.

It is to be noted that the experimental methods described in the following embodiments are all conventional methods unless otherwise specified, and the reagents and materials are commercially available unless otherwise specified.

In the description of the present invention, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

As shown in fig. 1, the utility model provides a control system of series-parallel connection formula wide-bodied tipper based on slope discernment, it includes:

the first power mechanism comprises a main drive motor and a main drive motor controller MCU; the main drive motor is connected with a middle drive rear axle of the vehicle through a gearbox ATM and provides driving force for the middle drive rear axle;

the second power mechanism comprises an internal combustion engine, an internal combustion engine controller ECU, an ISG motor and an ISG motor controller GMCU, wherein the internal combustion engine is connected with the ISG motor, and the ISG motor is connected with the main drive motor through an electromagnetic clutch; the electromagnetic clutch can be replaced by a dry clutch structure with an automatic control function;

the power battery BMS is connected with the main drive motor controller MCU and the ISG motor controller GMCU;

and the vehicle control unit is in communication connection with the main drive motor controller MCU, the internal combustion engine controller ECU, the ISG motor controller GMCU, the electromagnetic clutch controller CCU, the gearbox controller TCU and the power battery BMS through a bus.

In the technical scheme, on the basis of the extended-range and parallel schemes, the control system of the series-parallel wide-body dumper is provided, so that the internal combustion engine always works in a high-efficiency economic area, and the obvious oil-saving effect is realized while the dynamic property of the vehicle is improved;

the utility model is provided with the range-extending motor, so that the kinetic energy of the internal combustion engine can be used as auxiliary driving force, and the range-extending motor can also be driven to generate electricity, thereby converting the kinetic energy into electric energy and charging the power battery; the utility model discloses an among the control system, introduce electromagnetic clutch for main drive motor and internal-combustion engine constitute the mode of operation of series-parallel connection, and when electromagnetic clutch closed, first power unit and second power unit are located same drive shaft, act on same gearbox, make under the heavy load downhill path state of vehicle, can carry out intelligent, systematization control to the braking mode, can guarantee that the speed of a motor vehicle is controllable, can also be as much as possible the recovery electric quantity; the high efficiency, energy conservation and environmental protection of the dumper during operation are really realized.

The utility model discloses a work flow does: the dump truck is started, a main drive motor consumes a power battery, a transmission case provides driving force for a driving rear axle to drive a vehicle to run, a vehicle controller collects a vehicle gradient value R, and the real-time gradient value R of the vehicle is filtered to obtain a vehicle gradient value i; calculating to obtain a vehicle load G through a vehicle dynamic ground running equation, judging a vehicle load state, and when G is less than G0, the vehicle load state is an unloaded state; when G is larger than or equal to G1, the vehicle load state is a full load state; when G0 is less than or equal to G < G1, the vehicle load state at the previous moment is maintained; g0 and G1 are both preset vehicle loads, and G0< G1;

the real-time gradient value R is processed by adopting a first-order inertia filtering method, wherein the time constant determination method of the filter comprises the following steps: comparing the slope value R0 obtained at the last sampling moment, wherein the real-time slope value obtained at the moment is R, when the absolute value of R-R0 is more than or equal to a, the time constant of the filter is set to be T1, and when the absolute value of R-R0 is more than or equal to b, the time constant of the filter is set to be T2; when R-R0| ≧ c, the filter time constant is set to T3, a < b < c, T1< T2< T3; the time interval between the last sampling moment and the moment is 0.1 s;

the driving equation for vehicle dynamics is as follows:

F_q-(F_i+F_f+F_w)＝m·a

wherein, F_qAs a driving force, F_iAs ramp resistance, F_WIs wind resistance, m is the vehicle mass, a is the vehicle acceleration, T_qFor driving the torque, i_gTo the speed ratio of the gearbox, i₀for the middle and rear axle speed ratio, r is the tire radius, η is the driveline efficiency, i is the finished vehicle grade, f is the rolling resistance coefficient, where 0.03, v_tThe value of the vehicle speed v at this moment_t-1The vehicle speed value of the whole vehicle at the previous moment is obtained, delta t is a vehicle speed sampling time interval, and 0.1s is taken here;

based on vehicle gradient identification and in combination with the load state of the vehicle, the vehicle drive mode is regulated and controlled:

a range-extending driving mode: when the vehicle is in an idle state and i is larger than 0, the vehicle control unit controls the electromagnetic clutch to be in a disconnected state, controls the main drive motor to consume the electric quantity of the power battery, provides driving force for driving a middle rear axle, controls the internal combustion engine to drive the ISG motor to work, converts the kinetic energy of the internal combustion engine into electric energy and charges the power battery;

electric brake recovery mode: when the vehicle is in an idle state, i is less than or equal to 0 and the opening degree of an accelerator pedal of the vehicle is 0, the vehicle control unit controls the electromagnetic clutch to be in a disconnected state, controls the main drive motor to output reverse braking torque, charges the power battery through the main drive motor controller, detects the SOC value of the power battery and the allowable charging power of the battery, analyzes the braking recovery power output by the main drive motor and the allowable charging power of the battery, and adjusts the power generation power of the internal combustion engine and the ISG motor; the vehicle control unit collects data of vehicle speed, gear of a gearbox and gradient of the whole vehicle in real time, calculates optimal electric braking torque, ensures continuity and smoothness of electric braking, and determines an initial value of the electric braking torque according to a vehicle dynamic balance equation as follows:

F_t＝F_i-F_f-F_w

in the above formula, F_tAs a driving force, F_iAs ramp resistance, F_WIs wind resistance, T_qIs moment of resistance, i_gTo the speed ratio of the gearbox, i₀the rear axle speed ratio is obtained, r is the tire radius, η is the transmission system efficiency, G is the vehicle weight of the whole vehicle, i is the gradient of the whole vehicle, and f is the rolling resistance coefficient, wherein the value is 0.03;

hybrid drive mode: when the vehicle is in a full-load state, the vehicle control unit controls the electromagnetic clutch to be in a closed state, connects the internal combustion engine, the ISG motor and the main drive motor to the same driving shaft, and provides driving force for driving a middle rear axle; in the hybrid driving mode, when the torque required by a driver is smaller than the economic torque of the engine at the current rotating speed, the engine outputs the torque value required by the driver, the main driving motor outputs 0 torque, and the engine works in an economic area at the moment; when the driver demand torque is larger than the economic torque of the engine at the current rotating speed, the engine outputs an economic torque value at the current rotating speed, and the output value of the main drive motor is the difference value of the driver demand torque value and the economic torque value at the current rotating speed of the engine;

intelligent auxiliary braking system in hybrid drive mode: when the vehicle is in a full-load state, i is less than or equal to 0 and the opening degree of an accelerator pedal of the vehicle is 0, the vehicle controller controls the electromagnetic clutch to be in a closed state, connects the internal combustion engine, the ISG motor and the main drive motor to the same driving shaft and provides driving force for driving a middle rear axle; when the vehicle control unit detects that the vehicle braking deceleration a is less than or equal to a1, the vehicle control unit controls the main drive motor to output braking torque; when a is more than a1, the vehicle control unit controls the main drive motor to brake and controls the internal combustion engine to start the exhaust braking function; when a is more than a2, the vehicle controller controls the main drive motor to brake, and simultaneously controls the internal combustion engine to start exhaust braking and a vehicle alarm to prompt a driver to step on a brake pedal; a1 and a2 are both preset brake deceleration thresholds, and a 1< a 2. The opening degree of the accelerator pedal of the vehicle is acquired by a vehicle controller, and is obtained after calibration and filtering; the vehicle braking deceleration is acquired by a vehicle controller, and is acquired after time integration; and the SOC value of the power battery is acquired from CAN bus communication by the vehicle control unit.

The coordinated action of the three braking modes ensures the braking safety in the heavy-load downhill process, and effectively reduces the abrasion of a braking system of the main brake while recycling electric energy by electric braking as much as possible.

The utility model discloses a control system can realize the control method of the series-parallel connection formula new forms of energy broad body based on slope discernment to the tipper, realizes that the vehicle gets into the electric braking mode at the downhill path in-process and retrieves the electric energy, and driving motor assists the common output drive power of internal-combustion engine when the heavy load goes up a slope, through the optimization strategy of vehicle control unit to the energy, makes the internal-combustion engine be in high-efficient economic district work always, when improving the dynamic property of vehicle, realizes obvious fuel economy effect.

In another technical scheme, the control system of the series-parallel wide-body dump truck based on gradient identification further comprises a double-shaft inclination angle sensor which is fixedly arranged on a frame of the vehicle and used for acquiring gradient data R of the vehicle and sending the gradient data to the vehicle control unit through a CAN bus network. The real-time gradient data of the vehicle can be accurately acquired through the double-shaft tilt angle sensor.

In another technical scheme, in the control system of the series-parallel wide-body dump truck based on gradient identification, the input end of the gearbox is connected with the shaft extension end of the main drive motor, and the output end of the gearbox is connected with a transmission shaft of a driving middle rear axle of a vehicle.

In another technical scheme, in the control system of the series-parallel wide-body dump truck based on gradient identification, the transmission and the driving middle rear axle, the main drive motor and the transmission, the electromagnetic clutch and the main drive motor and the ISG motor, and the ISG motor and the internal combustion engine are all mechanically connected.

In another technical scheme, in the control system of the series-parallel wide-body dump truck based on gradient identification, the power battery is connected with the ISG motor controller and the main drive motor controller through high-voltage cables.

In another technical scheme, in the control system of the series-parallel wide-body dump truck based on gradient identification, bus communication is CAN bus communication and comprises two-channel CAN bus communication; the internal combustion engine controller, the power battery and the vehicle control unit form one of the CAN bus communication channels; the main drive motor controller, the ISG motor controller, the electromagnetic clutch controller, the gearbox controller and the vehicle control unit form another channel CAN bus communication. The dual-channel CAN bus communication CAN improve the safety and efficiency of the CAN communication of the whole vehicle, reduce the bus load rate of a power source communication loop (one CAN bus), and realize the coordinated output of two power sources of an internal combustion engine and a driving motor and the communication and data exchange between other controllers.

The number of apparatuses and the scale of the process described here are intended to simplify the description of the present invention. Applications, modifications and variations of the present invention will be apparent to those skilled in the art.

While the embodiments of the invention have been described above, it is not intended to be limited to the details shown, or described, but rather to cover all modifications, which would come within the scope of the appended claims, and all changes which come within the meaning and range of equivalency of the art are therefore intended to be embraced therein.

Claims

1. Control system of series-parallel connection formula wide-bodied tipper based on slope discernment, its characterized in that, it includes:

2. The control system of the series-parallel wide-body dump truck based on gradient identification as claimed in claim 1, further comprising a dual-axis tilt sensor fixedly arranged on a frame of the vehicle, wherein the dual-axis tilt sensor is configured to collect gradient data R of the vehicle and send the gradient data R to the vehicle controller through a CAN bus network.

3. The gradient identification-based control system of the series-parallel wide-body dump truck according to claim 2, wherein an input end of the gearbox is connected with a shaft extension end of the main drive motor, and an output end of the gearbox is connected with a transmission shaft of a driving middle rear axle of the vehicle.

4. The gradient identification-based control system of the series-parallel wide-body dump truck as claimed in claim 3, wherein the transmission and the driving middle and rear axles, the main drive motor and the transmission, the electromagnetic clutch and the main drive motor and the ISG motor, and the ISG motor and the internal combustion engine are all mechanically connected.

5. The control system of the gradient identification-based series-parallel wide-body dump truck as claimed in claim 4, wherein the power battery is connected with the ISG motor controller and the main drive motor controller through high-voltage cables.

6. The control system of the gradient identification-based series-parallel wide-body dump truck according to claim 1, wherein the bus communication is CAN bus communication, which comprises two-channel CAN bus communication; the internal combustion engine controller, the power battery and the vehicle control unit form one of the CAN bus communication channels; the main drive motor controller, the ISG motor controller, the electromagnetic clutch controller, the gearbox controller and the vehicle control unit form another channel CAN bus communication.