Energy-saving independent electric drive loader drive control system and method

Abstract

The present invention provides an energy-saving independent electric drive loader drive control system and method. The system is independently driven, with motors, main reducers and wheel-side reducers arranged at the front and rear respectively. In addition, there are two cases. One is to install a transmission between the motor one on the front axle and the main reducer to increase the driving force, and the other is to increase the driving force by changing the parameters of the motor one. In terms of the control strategy, the distribution of the required torque is determined according to the vehicle speed and the configuration of the system. The present invention can enable the two motors to work according to different required torques, so as to meet the four-wheel drive working needs of the loader, minimize the parasitic power to the greatest extent, improve the motor use efficiency and the reasonable allocation of resources.

Description

Technical Field

[0001] The present invention relates to the technical field of scraper construction machinery, and particularly relates to an energy-saving independent electric drive loader drive control system and method. Background Art

[0002] Loaders are used for the loading, unloading, handling and construction operations of bulk materials such as soil, sand and gravel, coal, etc., and are widely used in various construction sites. At present, the drive control systems of wheel loaders generally use internal combustion engines as power and hydraulic transmissions as transmission devices, which mainly consist of engines, torque converters, power shift transmissions, drive shafts, drive axles, etc. The power transmission system of this method is technically mature, and diesel engines are generally used as engines.

[0003] However, its disadvantages are as follows:

[0004] The engine has high fuel consumption, wastes energy and pollutes the environment. The transmission efficiency of the hydraulic torque converter is low, and the average efficiency during normal operation is only about 30%; the power shift transmission used in the loader is a multi-speed transmission, generally with three forward gears and three reverse gears or four forward gears and four reverse gears; the transmission shift is operated hydraulically manually, with a complex structure, high manufacturing cost and difficult maintenance. During the driving process of four-wheel drive loaders, due to the large change in the load of the front and rear axles and the large change in the tire radius of the front and rear axles, the parasitic power generated by the same angular velocity of the front and rear wheels and different linear velocities during the working process of the loader also reaches more than 20% of the driving power, resulting in huge energy waste. It is very necessary to find a loading mechanism and control method that can meet the normal operation of the loader and minimize the parasitic power.

[0005] In the invention patent application numbers 201911216703.7, 201510559655.7 and the utility model patent application numbers 201922126881.2, 201520682565.2, the structure of the front and rear axle independent drive loader is proposed. Especially in 201510559655.7, the driving torque distribution of the front and rear axle independent drive loader is also studied, but only the efficiency of the motor and the situation of motor slipping are discussed, and the standard operating conditions of the loader and the usage characteristics of the front and rear axle motors are not realistically considered, which will have certain limitations in actual production. Summary of the Invention

[0006] Therefore, the present invention provides an energy-saving independent electric drive loader drive control system and method that can not only meet the needs of four-wheel drive work, but also minimize the generation of parasitic power and improve the motor usage efficiency.

[0007] Therefore, the technical solutions adopted by the present invention are as follows:

[0008] An energy-saving independent electric drive loader drive control system, including

[0009] Install motor 1, main reducer 1 and wheel side reducer on the front axle, and install a transmission between motor 1 and main reducer 1;

[0010] Install motor 2, main reducer 2 and wheel side reducer on the rear axle;

[0011] The rotational speed of motor 1 is calculated according to the following formula:

[0012] ω 电机_1 =(V 前轮 *i 主减 *i 轮边 ) / r 前轮 (1)

[0013] ω 电机_1 : The rotational speed of motor 1;

[0014] V 前轮 : The linear speed of the front wheels of the loader;

[0015] i 主减 : The speed ratio of the main reducer;

[0016] i 轮边 : The speed ratio of the wheel side reducer;

[0017] r 前轮 : The radius of the front wheels;

[0018] The torque of motor 1 is calculated according to the following formula:

[0019] T pp_1 =(G 前轮 *μ*r 前轮 ) / (i 主减 *i 轮边 )(2)

[0020] T pp_1 : The torque of motor 1;

[0021] G 前轮 : The vertical load of the front wheels;

[0022] μ: The static friction coefficient between the tire and the ground;

[0023] The rotational speed of motor 2 is calculated according to the following formula:

[0024] ω 电机_2 =(V 后轮 *i 主减 *i 轮边 ) / r 后轮 (5)

[0025] ω 电机_2: Rotational speed of the second motor;

[0026] V 后轮 : Linear speed of the rear wheels of the loader;

[0027] r 后轮 : Rear wheel radius;

[0028] The torque of the second motor is calculated according to the following formula:

[0029] T pp_2 =(G 后轮 *μ*r 后轮 ) / (i 主减 *i 轮边 )(6)

[0030] T pp_2 : Torque of the second motor;

[0031] G 后轮 : Vertical load on the rear wheels;

[0032] μ: Static friction coefficient between the tire and the ground;

[0033] The first main reducer and the second main reducer are selected to be the same, all the wheel side reducers are selected to be the same, and the product of the speed ratios of the main reducer and the wheel side reducer is 21 - 25;

[0034] The transmission selects a transmission with a doubled transmission ratio;

[0035] The first motor uses a main bearing with a working range twice the rated speed.

[0036] Furthermore, take ω 前轮 when V 电机_1 is the largest as the rated speed ω e_1 of the first motor;

[0037] Take ω 后轮 when V 电机_2 is the largest as the rated speed ω e_2 of the second motor;

[0038] Take the torque of the first motor under the full - load condition of the loader as the maximum torque T pp_1max of the first motor;

[0039] Take the torque of the second motor under the no - load condition of the loader as the maximum torque T pp_2max of the second motor.

[0040] An energy - saving independent drive loader drive control system, including

[0041] Install the first motor, the first main reducer and the wheel side reducer on the front axle;

[0042] A second motor, a second main reducer and a wheel side reducer are provided on the rear axle.

[0043] The rotational speed of the first motor is calculated according to the following formula:

[0044] ω 电机_1 =(V 前轮 *i 主减 *i 轮边 ) / r 前轮 (3)

[0045] ω 电机_1 : The rotational speed of the first motor;

[0046] V 前轮 : The linear speed of the front wheels of the loader;

[0047] i 主减 : The main reducer ratio;

[0048] i 轮边 : The wheel side reducer ratio;

[0049] r 前轮 : The radius of the front wheels;

[0050] The torque of the first motor is calculated according to the following formula:

[0051] T pp_1 =(2*G 前轮 *μ*r 前轮 ) / (i 主减 *i 轮边 )(4)

[0052] T pp_1 : The torque of the first motor;

[0053] G 前轮 : The vertical load of the front wheels;

[0054] μ: The static friction coefficient between the tire and the ground;

[0055] The rotational speed of the second motor is calculated according to the following formula:

[0056] ω 电机_2 =(V 后轮 *i 主减 *i 轮边 ) / r 后轮 (5)

[0057] ω 电机_2 : The rotational speed of the second motor;

[0058] V 后轮 : The linear speed of the rear wheels of the loader;

[0059] r 后轮 : The radius of the rear wheels;

[0060] The torque of the second motor is calculated according to the following formula:

[0061] T pp_2 =(G 后轮 *μ*r 后轮 ) / (i 主减 *i 轮边 )(6)

[0062] T pp_2 : The torque of the second motor;

[0063] G 后轮 : The vertical load of the rear wheels;

[0064] μ: The static friction coefficient between the tire and the ground;

[0065] The first main reducer and the second main reducer are selected in the same way, all the wheel side reducers are selected in the same way, and the product of the speed ratios of the main reducer and the wheel side reducer is 21 - 25.

[0066] Furthermore, take ω 前轮 when V 电机_1 is the maximum as the rated speed ω e_1 of the first motor;

[0067] Take ω 后轮 when V 电机_2 is the maximum as the rated speed ω e_2 of the second motor;

[0068] Take the torque under the full load condition of the loader as the maximum torque T pp_1max of the first motor;

[0069] Take the torque under the no-load condition of the loader as the maximum torque T pp_2max of the second motor.

[0070] The control method of the energy-saving independent electric drive loader drive control system has the following situations:

[0071] (1) When the speed of the loader is higher than 0.5 times the maximum speed, the first motor does not work, the second motor works, and the second motor provides the total required torque;

[0072] (2) When the speed of the loader does not exceed 0.5 times the maximum speed, and when the total required torque is less than the rated torque of the first motor, the first motor works, the second motor does not work, and the first motor provides the total required torque;

[0073] (3) When the speed of the loader does not exceed 0.5 times the maximum speed, and when the total required torque is greater than or equal to the rated torque of the first motor and less than or equal to the maximum torque of the first motor, and the real-time vertical load G 后轮_i of the rear axle and the vertical load G of the rear axle when it is no-load后轮 When the ratio is greater than or equal to 0.8, the required torque of Motor 1 is the rated torque of Motor 1, and Motor 2 provides the remaining required torque;

[0074] (4) When the speed of the loader does not exceed 0.5 times the maximum speed, and when the total required torque is greater than or equal to the rated torque of Motor 1 and less than or equal to the maximum torque of Motor 1, and the real-time vertical load G of the rear axle 后轮_i and the vertical load G of the rear axle when unloaded 后轮 When the ratio is less than 0.8, the required torque of Motor 2 is the maximum torque allocated to Motor 2 before the rear wheels lift up, and Motor 1 provides the remaining required torque.

[0075] Furthermore, for the control method of the drive control system of the energy-saving independent electric drive loader, when a transmission is installed between Motor 1 and the first main reducer:

[0076] Assign the required torque of Motor 1 as follows:

[0077]

[0078] Assign the required torque of Motor 2 as follows:

[0079]

[0080] In the formula:

[0081] T req : Total required torque;

[0082] T req_1 : Required torque of Motor 1;

[0083] T req_2 : Required torque of Motor 2;

[0084] T e_1 : Rated torque of Motor 1;

[0085] V i : Real-time vehicle speed of the loader;

[0086] V max : Maximum vehicle speed of the loader;

[0087] i 变速 : Gear ratio of the transmission.

[0088] Furthermore, for the control method of the drive control system of the energy-saving independent electric drive loader, when no transmission is installed:

[0089] Assign the required torque of Motor 1 as follows:

[0090]

[0091] The required torque of the second motor is assigned as follows:

[0092]

[0093] In the formula:

[0094] T req : Total required torque;

[0095] T req_1 : Required torque of the first motor;

[0096] T req_2 : Required torque of the second motor;

[0097] T e_1 : Rated torque of the first motor;

[0098] V i : Real-time vehicle speed of the loader;

[0099] V max : Maximum vehicle speed of the loader.

[0100] Due to the adoption of the above technical solutions, the present invention shows the following remarkable technical effects compared with the prior art:

[0101] 1. The present invention proposes a structure of a loader with independent front and rear axle drives. Compared with traditional loaders, it minimizes parasitic power and reduces energy waste to the greatest extent.

[0102] 2. By arranging two motors on the front and rear axles, the present invention can not only meet the four-wheel drive working needs of the loader when it requires high power, but also be driven by a single motor when the loader requires low power, improving the usage efficiency of the motors.

[0103] 3. Through the design of adding a transmission between the front axle motor and the main reducer, the present invention enables the two motors to distribute different torques under different working conditions, so that the two motors cooperate to work and realize the reasonable allocation of resources.

[0104] 4. By changing the motor on the front axle, the present invention can also achieve normal driving ability without increasing the transmission ratio. BRIEF DESCRIPTION OF THE DRAWINGS

[0105] The drawings are only for the purpose of showing specific embodiments and are not considered to be a limitation of the present invention. Throughout the drawings, the same reference signs denote the same components.

[0106] Figure 1 is the structural diagram of the drive control system of the present invention with a transmission added;

[0107] Figure 2 is the structural diagram of the drive control system of the present invention without a transmission added. Detailed implementation manners

[0108] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments, wherein the accompanying drawings form a part of this application and are used together with the embodiments of the present invention to explain the present invention. However, those skilled in the art should know that the following embodiments are not the only limitations on the technical solution of the present invention. Any equivalent transformation or modification made under the spirit of the technical solution of the present invention shall be regarded as belonging to the protection scope of the present invention.

[0109] The drive control system of a four-wheel independent electric drive loader mainly realizes independent drive of the front and rear axles by installing two motors on the front and rear axles of the loader, and installing two main reducers on the front and rear axles and wheel side reducers on the wheels to meet the driving force requirements of the loader's shoveling operation.

[0110] When the loader is performing a shoveling operation, due to the independent drive of the front and rear axles and the transfer of the vehicle's center of gravity to the front axle, the frictional force between the front wheels and the ground cannot be fully utilized, and the driving force of the rear wheels exceeds the frictional force and slips. To make full use of the ground friction and ensure sufficient driving force, the following solutions can be adopted:

[0111] One method is to install a transmission 1. On the basis of installing conventional main reducers on the front and rear axles and wheel side reducers on the wheels, the transmission ratio is increased by installing a transmission. This method can reduce the volume of the motor, reduce the manufacturing cost of the motor, and partially improve the use efficiency of the motor. As Figure 1 shown, the control system sets motor one 2 and main reducer one 4 on the front axle, motor two 3 and main reducer two 5 on the rear axle, a transmission 1 is set between motor one 2 and main reducer one 4, a wheel side reducer 6 is set on each wheel, and the vehicle controller 7 controls the two motors according to the opening signal of the accelerator pedal 8.

[0112] For this method, installing a transmission can change the transmission ratio. However, it should be noted that when installing the transmission, on the basis of the normal selection of motor one 2, the main bearing needs to be replaced so that its working range is twice the rated speed to ensure that the motor is not damaged.

[0113] Another method is not to install a transmission 1. As Figure 2 shown, the control system remains unchanged in the conventional structure, including setting motor one 2 and main reducer one 4 on the front axle, motor two 3 and main reducer two 5 on the rear axle, a wheel side reducer 6 is set on each wheel, and the vehicle controller 7 controls the two motors according to the opening signal of the accelerator pedal 8.

[0114] This method requires redesigning the motor parameters to ensure that the vehicle still has sufficient driving torque when the vertical load is fully concentrated on the front axle. According to the above settings, in the operating conditions of the loader, the torque command of the required torque is distributed to the first motor 2 and / or the second motor 3 by the vehicle controller 7 according to the opening degree of the accelerator pedal 8. The corresponding first motor 2 and second motor 3 transmit the driving force to the wheels through the first main reducer 4, the second main reducer 5, and the wheel side reducer 6, thereby achieving the force required for excavation.

[0115] Selection of Components

[0116] 1. Selection of Reducers

[0117] In both methods, to ensure that the loader has sufficient driving force, it can be achieved by installing a main reducer on the front and rear axles and a wheel side reducer on the wheels, so that the total transmission ratio is 21 - 25, generally taking 22, that is, the product of the main reducer ratio and the wheel side reducer ratio is 22. To reduce the variety of accessories and increase maintainability, the front and rear axle main reducers are selected with the same ratio.

[0118] i 主减 *i 轮边 = 22

[0119] i 主减 : Main reducer ratio;

[0120] i 轮边 : Wheel side reducer ratio.

[0121] 2. Selection of Motors

[0122] Since the transmission is installed on the front axle, whether the transmission is installed or not affects the first motor 2, rather than the second motor 3. The parameter selection of the first motor 2 is different in both methods, mainly including speed and torque.

[0123] (1) Selection of Parameters of the First Motor 2

[0124] 1) When the transmission is installed,

[0125] The calculation formula for the speed of the first motor 2 is as follows:

[0126] ω 电机_1 =(V 前轮 *i 主减 *i 轮边 ) / r 前轮 (1)

[0127] In the formula:

[0128] ω 电机_1 : Speed of the first motor;

[0129] V 前轮: Linear velocity of the front wheel of the loader;

[0130] i 主减 : Reduction ratio of the main reducer;

[0131] i 轮边 : Reduction ratio of the wheel side reducer;

[0132] r 前轮 : Radius of the front wheel.

[0133] Determination of the rated speed: Since the peak torque of the loader only appears at the moment of shoveling and starting, and there are various working conditions such as transfer during high-speed driving, therefore, according to Equation (1), select the ω when V 前轮 is the maximum as the rated speed ω 电机_1 of Motor-2. e_1 .

[0134] The torque calculation formula of Motor-2 is as follows:

[0135] T pp_1 =(G 前轮 *μ*r 前轮 ) / (i 主减 *i 轮边 )(2)

[0136] In the formula:

[0137] T pp_1 : Torque of Motor-1;

[0138] G 前轮 : Vertical load of the front wheel;

[0139] μ: Static friction coefficient between the tire and the ground.

[0140] Determination of the maximum torque: Here, the maximum driving torque of Motor-2 is selected under the condition of the loader being fully loaded. At this time, the vertical load of the front wheel generates the maximum static friction force with the ground, which is much larger than the rolling friction force generated during the loading of the loader. Therefore, the peak torque generated under the fully loaded condition is the maximum torque T pp_1max of the motor.

[0141] 2) When the transmission is not installed,

[0142] The speed calculation formula of Motor-2 is as follows:

[0143] ω 电机_1 =(V 前轮 *i 主减 *i 轮边 ) / r 前轮 (3)

[0144] The principle for determining the rated speed is the same as above. According to Equation (3), when V 前轮ω when it is maximum 电机_1 The value is taken as the rated speed ω of Motor 1-2 e_1 .

[0145] The calculation formula for the torque of Motor 1-2 is as follows:

[0146] T pp_1 =(2*G 前轮 *μ*r 前轮 ) / (i 主减 *i 轮边 )(4)

[0147] The principle for determining the maximum torque is the same as above. According to Equation (4), the peak torque generated under the full-load condition is the maximum torque T of Motor 1-2 pp_1max .

[0148] (2) Selection of parameters for Motor 2-3

[0149] Whether to install a transmission or not has the same effect on the selection of parameters for Motor 2-3

[0150] The calculation formula for the speed of Motor 2-3 is as follows:

[0151] ω 电机_2 =(V 后轮 *i 主减 *i 轮边 ) / r 后轮 (5)

[0152] In the formula:

[0153] ω 电机_2 : The speed of Motor 2;

[0154] V 后轮 : The linear speed of the rear wheels of the loader;

[0155] r 后轮 : The radius of the rear wheels.

[0156] Determination of the rated speed: According to Equation (5), when V 后轮 is maximum, the value of ω 电机_2 is taken as the rated speed ω of Motor 2-3 e_2 .

[0157] The calculation formula for the torque of Motor 2-3 is as follows:

[0158] T pp_2 =(G 后轮 *μ*r 后轮 ) / (i 主减 *i 轮边 )(6)

[0159] In the formula:

[0160] Tpp_2 : Torque of Motor 2

[0161] G 后轮 : Vertical load of the rear wheel

[0162] μ: Static friction coefficient between the tire and the ground

[0163] Determination of the maximum torque: Here, the selection of the maximum driving torque of Motor 2 is under the no-load condition of the loader, that is, the vertical load is only the weight of the vehicle. At this time, the vertical load of the rear wheel generates the maximum static friction force with the ground, which is much larger than the rolling friction force generated during loading of the loader. Therefore, the peak torque generated under the no-load condition, that is, the maximum torque T pp_2max .

[0164] (3) Selection of motor type

[0165] For Motor 1 and Motor 2, an AC asynchronous motor or a switched reluctance motor is selected, with the principle of high cost performance. Especially when a transmission is added to the front axle, for Motor 1, on the basis of normal selection, the main bearing needs to be replaced to make its working range twice the selected rated speed.

[0166] 3. Selection of transmission

[0167] In the present invention, it is sufficient to select a transmission with a gear ratio that can be doubled, because assuming that when all the loads are concentrated on the front axle, the driving force required by the front axle is twice the original, so adding a transmission that can double the speed increase is sufficient.

[0168] 4. Selection of wheel side reducer

[0169] All wheel side reducers are selected in the same way. The selection of other components is the same as the existing ones without change.

[0170] According to the above description of the loader structure, the specific content of the control method of the control system of the present invention is as follows:

[0171] When a transmission is added, when the vehicle speed exceeds 0.5 times the maximum vehicle speed, the front axle drive motor 1 exceeds the rated speed and cannot work properly. At this time, only the rear axle drive motor 2 can work alone; when no transmission is added, when the vehicle speed exceeds 0.5 times the maximum vehicle speed, the required torque of the vehicle has also reached the level to meet the rolling friction. At this time, Motor 1 does not need to work either, and only the rear axle drive motor 2 needs to work alone. Therefore, the control method for the case where the vehicle speed of the loader is higher than 0.5 times the maximum vehicle speed needs to be considered.

[0172] Since the center of gravity of the loader will shift forward to the front wheel when the loader bucket loads materials or performs excavation, the vertical load of the rear axle will become smaller at this time, and the maximum static friction force that can be provided will also become lower accordingly. Considering comprehensively after the loader jolts, the real-time vertical load G of the rear axle is set后轮_i The critical value of the ratio to the vertical load G of the rear axle when the vehicle is unloaded 后轮 is 0.8 (the value of 0.8 can fluctuate slightly up and down). When this critical value is greater than or equal to 0.8, it is considered that the vehicle's center of gravity has no offset, and the front and rear axles can normally provide driving force. When this critical value is less than 0.8, the vehicle's center of gravity is offset. At this time, the rear axle motor can only provide the torque that is the product of this ratio and its rated torque, and the rest is provided by the front axle motor. Therefore, it is necessary to consider the control method for the critical value situation of the real-time vertical load G of the rear axle 后轮_i to the vertical load G of the rear axle when the vehicle is unloaded 后轮 .

[0173] Based on the above analysis, the following four situations are considered:

[0174] (1) When the speed of the loader is higher than 0.5 times the maximum speed, Motor 1 does not work, and Motor 2 works. Motor 2 provides the total required torque

[0175] (2) When the speed of the loader does not exceed 0.5 times the maximum speed, when the total required torque is less than the rated torque of Motor 1, Motor 1 works, and Motor 1 provides the total required torque, and Motor 2 does not work

[0176] (3) When the speed of the loader does not exceed 0.5 times the maximum speed, when the total required torque is greater than or equal to the rated torque of Motor 1 and less than or equal to the maximum torque of Motor 1, and the ratio of the real-time vertical load G of the rear axle 后轮_i to the vertical load G of the rear axle when the vehicle is unloaded 后轮 is greater than or equal to 0.8, Motor 1 is the main working motor, and Motor 2 is the auxiliary working motor. The required torque of Motor 1 is the rated torque of Motor 1, and Motor 2 provides the remaining required torque

[0177] (4) When the speed of the loader does not exceed 0.5 times the maximum speed, when the total required torque is greater than or equal to the rated torque of Motor 1 and less than or equal to the maximum torque of Motor 1, and the ratio of the real-time vertical load G of the rear axle 后轮_i to the vertical load G of the rear axle when the vehicle is unloaded 后轮 is less than 0.8, Motor 2 is the main working motor, and Motor 1 is the auxiliary working motor. The required torque of Motor 2 is the maximum torque allocated to Motor 2 before the rear wheels lift, and Motor 1 provides the remaining required torque

[0178] Therefore, when a transmission is installed

[0179] Assign the required torque of Motor 1 as follows

[0180]

[0181] The required torque of the second motor 3 is assigned as follows:

[0182] When the transmission is not installed:

[0183] The required torque of the first motor 2 is assigned as follows:

[0184]

[0185] The required torque of the second motor 3 is assigned as follows:

[0186]

[0187] In the above formulas:

[0188] T req : The total required torque;

[0189] T req_1 : The required torque of the first motor; T req_2 : The required torque of the second motor; T e_1 : The rated torque of the first motor; V i : The real-time vehicle speed of the loader;

[0190] V max : The maximum vehicle speed of the loader; i 变速 : The speed ratio of the transmission.

Claims

1. A drive control method for an energy-saving independent electric drive loader, characterized in that: Implemented based on the following control system, the control system includes: Install motor 1, main reducer 1 and wheel side reducer on the front axle, and install a transmission between motor 1 and main reducer 1, or do not install a transmission; Install motor 2, main reducer 2 and wheel side reducer on the rear axle; When a transmission is installed, the selected transmission has a transmission ratio doubled, and the main bearing of motor 1 has a working range twice the rated speed; The types of main reducer 1 and main reducer 2 are the same, the types of all wheel side reducers are the same, and the product of the speed ratios of the main reducer and the wheel side reducer is 21 - 25; The rotational speed of motor 1 is calculated according to the following formula: ω 电机_1 =(V 前轮 *i 主减 *i 轮边 ) / r 前轮 (1) ω 电机_1 : Rotational speed of Motor 1; V 前轮 : Linear velocity of the front wheel of the loader; i 主减 : Reduction gear ratio; i 轮边 : Reduction ratio of the wheel side reducer; r 前轮 : Front wheel radius; The torque of motor 1 is calculated according to the following formula: When a transmission is installed between motor 1 and main reducer 1, it is: T pp_1 = (G 前轮 * μ * r 前轮 ) / (i 主减 * i 轮边 ) (2) When no transmission is installed between motor 1 and main reducer 1, it is: T pp_1 = (2 * G 前轮 * μ * r 前轮 ) / (i 主减 * i 轮边 ) (4) T pp_1 : Torque of Motor 1; G 前轮 : Vertical load of the front wheel; μ: static friction coefficient between the tire and the ground; The rotational speed of motor 2 is calculated according to the following formula: ω 电机_2 = (V 后轮 * i 主减 * i 轮边 ) / r 后轮 (5) ω 电机_2 : Rotational speed of the second motor; V 后轮 : Linear velocity of the rear wheel of the loader; r 后轮 : Rear wheel radius; The torque of motor 2 is calculated according to the following formula: T pp_2 = (G 后轮 * μ * r 后轮 ) / (i 主减 * i 轮边 ) (6) T pp_2 : Torque of the second motor; G 后轮 : Vertical load on the rear wheel; Take the ω when V 前轮 is at its maximum 电机_1 as the rated speed ω of Motor 1 e_1 ; Take when V 后轮 is at its maximum, ω 电机_2 as the rated speed ω of the second motor e_2 ; Take the torque of the first motor under the full-load condition of the loader as the maximum torque T of the first motor pp_1max ; Take the torque of the second motor under the no-load condition of the loader as the maximum torque T of the second motor pp_2max ; Then: (1) When the speed of the loader is higher than 0.5 times the maximum speed, motor 1 does not work, motor 2 works, and motor 2 provides the total required torque; (2) When the speed of the loader does not exceed 0.5 times the maximum speed, and when the total required torque is less than the rated torque of motor 1, motor 1 works, motor 2 does not work, and motor 1 provides the total required torque; (3) When the speed of the loader does not exceed 0.5 times the maximum vehicle speed, and when the total required torque is greater than or equal to the rated torque of Motor 1 and less than or equal to the maximum torque of Motor 1, and the real-time vertical load G of the rear axle 后轮_i and the vertical load G of the rear axle when unloaded 后轮 the ratio is greater than or equal to 0.8, the required torque of Motor 1 is the rated torque of Motor 1, and Motor 2 provides the remaining required torque; (4) When the speed of the loader does not exceed 0.5 times the maximum speed, and when the total required torque is greater than or equal to the rated torque of Motor 1 and less than or equal to the maximum torque of Motor 1, and the real-time vertical load G of the rear axle 后轮_i and the vertical load G of the rear axle when unloaded 后轮 The ratio is less than 0.8, the required torque of Motor 2 is the maximum torque allocated to Motor 2 before the rear wheels lift, and Motor 1 provides the remaining required torque.

2. The energy-saving independent electric drive loader drive control method according to claim 1, characterized in that: When a transmission is installed between motor 1 and main reducer 1: Assign the required torque of motor 1 as follows: Assign the required torque of motor 2 as follows: In the formula: T req : Total demand torque; T req_1 : Required torque of Motor 1; T req_2 : The required torque of the second motor; T e_1 : Rated torque of Motor 1; V i : Real-time vehicle speed of the loader; V max : The maximum speed of the loader; i 变速 : Gear ratio of the transmission.

3. The drive control method of the energy-saving independent electric drive loader according to claim 1, characterized in that: When no transmission is installed: Assign the required torque of motor 1 as follows: Assign the required torque of motor 2 as follows: In the formula: T req : Total demand torque; T req_1 : Required torque of Motor 1; T req_2 : Required torque of the second motor; T e_1 : Rated torque of motor 1; V i : Real-time vehicle speed of the loader; V max : The maximum speed of the loader.

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