Wheel-side-driven wheel slip rate detection method, device and equipment and storage medium

Abstract

The invention provides a wheel slip rate detection method, device and equipment for wheel rim driving and a storage medium, and the method comprises the steps: constructing a wheel kinetic equation including wheel driving torque and rotating speed, expressing the adhesion characteristic between a tire and a road surface, and calculating the derivative change to detect the wheel slip state. Therefore, the slip rate corresponding to the maximum adhesion coefficient is obtained, whether the wheel slips or not is accurately judged in real time, and the optimal slip rate and the maximum adhesion coefficient are output. According to the invention, the stability of the vehicle in the moving process can be ensured, the deviation from the track and the collision damage are prevented, the smoothness of the transportation link is ensured, the complexity of hydraulic control can be avoided, the cost is saved, and a basic key role is played on the automation of vehicle operation.

Description

technical field [0001] The present invention relates to the technical field of deep learning, in particular to a method for detecting the wheel slip rate driven by a wheel, a device, computer equipment, and a storage medium. Background technique [0002] As the most basic transportation equipment in the mine, the shuttle car is a trackless rubber-tyred vehicle for short-distance rapid transportation in coal mines. As one of the important equipment for short-wall mechanized mining, its main function is to transfer coal from continuous coal mining machines. to the feed breaker. However, due to the complex road conditions during the work process, the vehicle has been running on dark, wet, gravel and muddy mine roads, which can easily cause the tires to slip and cause the vehicle to slip or even lose control. It is very necessary to improve the anti-skid control ability of the transport unit. Smooth operation is critical. For the anti-skid control of the transport unit, there ...

AI Technical Summary

Problems solved by technology

However, due to the complex road conditions during the work process, the vehicle has been running on dark, wet, gravel and muddy mine roads, which can easily cause the tires to slip and cause the vehicle to slip or even lose control. It is very necessary to improve the anti-skid control ability of the transport unit. Smooth operation is critical

For the anti-skid control of the transport unit, there is currently a lack of an effective and suitable synchronous control method to achieve the stable walking of the transport unit.

Images