Multi-shaft mine car torque distribution method and device
A mining vehicle and torque technology, applied in the field of vehicles, can solve the problems of poor wheel dynamics and steering operability, and achieve the effect of improving wheel dynamics and steering operability
Active Publication Date: 2016-05-04
AEROSPACE HEAVY IND
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Problems solved by technology
[0006] Embodiments of the present invention provide a multi-axle mining vehicle torque distribution method and device, which are used to solve the technical problem of poor wheel dynamics and steering operability caused by the fixed ratio distribution of driving torque of mining vehicles in the prior art
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Embodiment
[0044] An embodiment of the present application provides a torque distribution method for a multi-axis mining vehicle, which is particularly suitable for torque distribution of a multi-axis electric wheel mining vehicle. Please refer to figure 1 , the embodiment of the present application provides a multi-axle mining vehicle torque distribution method including:
[0045] S11. Collect and obtain the current vehicle steering angle of the multi-axle mining vehicle, the suspension cylinder pressure of the suspension cylinder, and the vehicle output torque;
[0046] S12. Calculate and obtain the longitudinal acceleration of the vehicle according to the output torque of the vehicle, the tire radius of the multi-axle mining vehicle and the mass of the vehicle;
[0047] S13. Calculate and obtain the lateral acceleration of the vehicle according to the steering angle of the vehicle, the current vehicle speed of the multi-axle mining vehicle, and the tire radius;
[0048] S14. Calcula...
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The invention discloses a multi-shaft mine car torque distribution method and device. The method includes the steps that the overall car steering angle, the suspension oil cylinder pressure of a suspension oil cylinder and an overall car output torque of a multi-shaft mine car at present are collected; according to the overall car output torque and the tire radius of the multi-shaft mine car and the overall car mass, the overall car longitudinal acceleration is obtained through calculation; according to the overall car steering angle, the current car speed of the multi-shaft mine car and the tire radius of the multi-shaft mine car, the overall car side acceleration is obtained through calculation; according to the overall car mass center, the overall car longitudinal acceleration, the overall car side acceleration and the overall car mass, current load weight of all car wheels of the multi-shaft mine car is obtained through calculation; and according to the current load weight, the overall car mass and the overall car output torque, the output torque is distributed to all car wheels. By means of the technical scheme, the technical problems of the poor car wheel dynamic property and the poor steering operation performance caused by fixed proportion distribution of driving torque of a mine car in the prior art are solved, and the car wheel dynamic property and the steering operation performance of the multi-shaft mine car are improved.
Description
technical field [0001] The invention relates to the technical field of vehicles, in particular to a torque distribution method and device for a multi-axle mining vehicle. Background technique [0002] The driving force distribution technology means that the vehicle can distribute the torque output by the transmitter or motor to all driving wheels in different proportions according to the road surface state or driving conditions. The rational distribution of driving force is an important factor affecting the traction performance, directional stability and steering operability of the vehicle. [0003] At present, the four-wheel drive system used in high-end passenger cars is an all-wheel drive mode, and its application is relatively mature. Torque control, cannot be used for mining vehicles. [0004] Because of the slow driving speed of mining vehicles, the distribution of driving torque of most mining vehicles is a fixed ratio, that is, the fixed distribution is made throug...
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IPC IPC(8): B60L15/38
CPCB60L15/38B60L2200/36B60L2240/24B60L2240/26
Inventor 刘同平方雷何适徐代友
Owner AEROSPACE HEAVY IND