Electronic differential control method and electrically driven mine car using same

A technology of electronic differential speed control and speed ratio, which is applied in the direction of control drive, electric vehicles, vehicle components, etc., and can solve the problems of uncoordinated actual wheel speed and torque as the control variable, inability to accurately control algorithms, and complexity

Inactive Publication Date: 2012-10-10
SANYI ROBOT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In order to solve the problem that the electronic differential control uses the speed as the control variable to cause the actual wheel speed to be uncoordinated, and the problem that the torque is t...

Method used

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  • Electronic differential control method and electrically driven mine car using same
  • Electronic differential control method and electrically driven mine car using same
  • Electronic differential control method and electrically driven mine car using same

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Embodiment Construction

[0024] In order to make the object, technical solution and advantages of the present invention clearer, the implementation manner of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0025] An embodiment of the present invention provides an electronic differential speed control method, including the following steps,

[0026] Use the torque distribution curve for open-loop control, in which the torque distribution curve is obtained through simulation calculations. When the steering is just started, the wheel angle is estimated, and then the torque distribution ratio is obtained from the torque distribution curve;

[0027] The theoretical speed ratio of the rear wheels and the actual speed ratio of the rear wheels are used for closed-loop control. The theoretical speed ratio of the rear wheels is calculated by the wheel angle, and the actual speed ratio of the rear wheels is obtained by the actual measurement of the s...

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Abstract

The invention discloses an electronic differential control method and electrically driven mine car using the same, belonging to the technical field of vehicle control systems. The method comprises the following steps of: carrying out open-loop control by using a torque distribution curve, wherein the torque distribution curve is computed through analog; estimating a wheel corner when entering the steering and then obtaining a torque distribution ratio by means of a torque distribution curve graph; and carrying out a closed-loop control by using a rear wheel theoretical velocity and a rear wheel actual velocity, wherein the rear theoretical velocity is computed through the wheel corner and the rear actual velocity is actually measured by a sensor. The invention also discloses an electrically driven mine car using the electronic differential control method. According to the invention, the torque during the steering is divided into two stages, open-loop control is carried out firstly by using the computed torque distribution curve and then closed-loop control is carried out by using the rear wheel theoretical velocity and the rear wheel actual velocity, so that the auxiliary steering is realized through a simple and easy control method and mass complicated control algorithms are saved.

Description

technical field [0001] The invention relates to the technical field of vehicle control systems, in particular to an electronic differential speed control method and an electrically driven mine car using the method. Background technique [0002] Electric vehicles have the advantages of energy saving and environmental protection, and are a trend in the development of current vehicle technology. The electric drive mine car is a new type of electric mine car. The drive motor is mounted on the wheel directly or through a reduction mechanism to form an electric wheel. When the vehicle is turning and the turning radius of the outer wheel is greater than that of the inner vehicle, the speed of the inner and outer driving wheels must be adjusted by means of a differential device so that the speed of the outer driving wheel is greater than that of the inner driving wheel. Otherwise, the driving wheel Slippage will occur, which will cause problems such as increased tire wear, difficul...

Claims

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Application Information

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IPC IPC(8): B60L15/00
Inventor 王建明滕昱棠戚烈
Owner SANYI ROBOT TECH CO LTD
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