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Wheel type loading machine tire longitudinal force dynamic estimation method

A wheel loader and dynamic estimation technology, which is applied in the field of wheel loader tire longitudinal force dynamic estimation, front and rear axle independent electric drive wheel loader, can solve the problem that the change of tire radial stiffness value cannot be ignored, wheel loading It is difficult to obtain a good estimation accuracy of the longitudinal force of the tire, and the vertical force of the tire varies greatly.

Inactive Publication Date: 2018-05-04
JILIN UNIV
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Problems solved by technology

However, wheel loaders often operate in various harsh working conditions, and the vertical force of the tire changes frequently and greatly, so the change in the radial stiffness value of the tire cannot be ignored
[0006] The above reasons make it difficult for the existing estimation methods to obtain good estimation accuracy in the dynamic estimation of the wheel loader tire longitudinal force

Method used

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  • Wheel type loading machine tire longitudinal force dynamic estimation method
  • Wheel type loading machine tire longitudinal force dynamic estimation method
  • Wheel type loading machine tire longitudinal force dynamic estimation method

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specific Embodiment approach

[0064] In order to further elaborate the technical solution described in the present invention, in conjunction with the accompanying drawings, the specific implementation of the present invention is as follows:

[0065] The wheel loader tire longitudinal force dynamic estimation method of the present invention is briefly described as follows:

[0066] Based on the real-time output torque T of the front and rear motors of the wheel loader with independent electric drive on the front and rear axles f,r and the measured tire rolling radius r eff , the longitudinal velocity v is estimated by a nonlinear filter x ;According to the longitudinal acceleration measured by the sensor and slope θ, the estimated longitudinal velocity v x , The calculated front and rear tire slip ratio σ f,r And the mass m of the whole vehicle and the longitudinal component force F of the excavation resistance obtained by looking up the table or calculation x , build the state equation and measuremen...

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Abstract

The invention provides a wheel type loading machine tire longitudinal force dynamic estimation method. The method comprises the steps of firstly, based on motor output torque capable of being known inreal time of a front motor and a rear motor of a wheel type loading machine independently electrically driven by a front axle and a rear axle and the measured tire rolling radius, and through estimation of a nonlinear filter, obtaining the longitudinal speed; then, constructing a state equation and a measurement equation according to the longitudinal acceleration and slope obtained through measurement of a sensor and the estimated longitudinal speed and through the calculated front tire and rear tire slip rate and the whole vehicle mass and the spading resistance obtained by looking up a table or conducting calculation; finally, estimating dynamic front wheel longitudinal force and rear wheel longitudinal force through extended Kalman filter. By means of the method, accurate tire longitudinal force dynamic parameters are provided for wheel type loading machine intellectualized dynamics control independently electrically driven by the front axle and the rear axle, and the whole-vehiclecontrol precision and performance are improved. The method is applicable to wheel type loading machine of longitudinal motion in all working conditions, less sensors are utilized, and the price is low.

Description

technical field [0001] The invention belongs to the technical field of wheel loader state parameter estimation, in particular to a dynamic estimation method for wheel loader tire longitudinal force, which is suitable for Front / Rear Axle Electric Wheel Loader (FREWL for short) with independent electric drive of front and rear axles . Background technique [0002] In recent years, new energy wheel loaders have been increasingly valued by domestic and foreign governments and construction machinery manufacturers. Among them, the research in the field of dynamic intelligent control is one of the key research directions of new energy wheel loaders. In order to realize the intelligent control of vehicle dynamics, it is necessary to provide various key state parameters of the vehicle to the control system online. However, some of these key state parameters cannot be measured online by sensors or the measuring instruments are expensive. Among them, the tire longitudinal force is a...

Claims

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Application Information

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IPC IPC(8): B60W40/00B60W40/10B60W40/13
CPCB60W40/00B60W40/10B60W40/13
Inventor 王继新杨智宇韩云武王伟赵永玲
Owner JILIN UNIV
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