Independent Electric Drive Loader Drive Control System and Method with Clutch Added

Abstract

The present invention provides an independent electric drive loader drive control system and method with a clutch added. The drive control system of the loader is equipped with two main reducers on the front and rear axles, two motors on the front and rear axles, a clutch is added between the two motors, and a wheel side reducer is added to each wheel. By separating and combining the clutch and the two motors under different working conditions, different values are given to the required torques of the two motors, so that the two motors work with different driving forces, thereby meeting the four-wheel drive working needs of the loader, minimizing parasitic power to the greatest extent, improving the motor usage 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 a loaders drive control system and method with energy-saving independent electric drive and a clutch added thereto. Background Art

[0002] Loaders are used for loading, pushing 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 system of wheel loaders generally uses an internal combustion engine as the power source and a hydraulic transmission as the transmission device, which mainly consists of an engine, a torque converter, a power shift transmission, a drive shaft, a drive axle, etc. The power transmission system of this method is technically mature, and the engine is generally a diesel engine.

[0003] However, its disadvantages are as follows:

[0004] The fuel consumption of the engine is large, wasting energy and polluting 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 a four-wheel drive loader, 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 type and control method that can meet the normal operation of the loader and minimize the parasitic power.

[0005] In invention patents CN201911216703.7, CN201510559655.7 and utility model patents CN201922126881.2, CN201520682565.2, a structure of a front and rear axle independent drive loader is proposed. In particular, CN201510559655.7 also conducts corresponding research on the driving torque distribution of the front and rear axle independent drive loader, but only discusses the efficiency of the motor and the situation of motor slip, and does not realistically consider the standard operating conditions of the loader and the usage characteristics of the front and rear axle motors, which will have certain limitations in actual production. Summary of the Invention

[0006] Therefore, the present invention designs an independent electric drive loader drive control system and method with a clutch added. By setting motors and speed reducers on the front and rear axles respectively and adding a clutch between the two motors, the loader can not only meet the needs of four-wheel drive independent operation but also adjust the engagement state of the front and rear axle motors according to the working conditions, thereby rationalizing the torque distribution of the motors, improving the motor usage efficiency, and minimizing the generation of parasitic power to the greatest extent.

[0007] Therefore, the technical solution adopted by the present invention is as follows:

[0008] An independent electric drive loader drive control system with a clutch added, characterized in that:

[0009] A motor one, a main speed reducer one, and a wheel side speed reducer are provided on the front axle,

[0010] A motor two, a main speed reducer two, and a wheel side speed reducer are provided on the rear axle;

[0011] A clutch is provided between the motor one and the motor two;

[0012] The rotational speed of the motor one is calculated according to the following formula:

[0013] ω 电机_1 =(V 前轮 *i 主减 *i 轮边 ) / r 前轮 (1)

[0014] ω 电机_1 : The rotational speed of the motor one;

[0015] V 前轮 : The linear speed of the front wheels of the loader;

[0016] i 主减 : The main speed reducer ratio;

[0017] i 轮边 : The wheel side speed reducer ratio;

[0018] r 前轮 : The radius of the front wheels;

[0019] The torque of the motor one is calculated according to the following formula:

[0020] T pp_1 =(G 前轮 *μ*r 前轮 ) / (i 主减 *i 轮边 )(2)

[0021] T pp_1 : The torque of the motor one;

[0022] G 前轮: Vertical load of the front wheel;

[0023] μ: Static friction coefficient between the tire and the ground;

[0024] The rotational speed of the second motor is calculated according to the following formula:

[0025] ω 电机_2 =(V 后轮 *i 主减 *i 轮边 ) / r 后轮 (3)

[0026] ω 电机_2 : Rotational speed of the second motor;

[0027] V 后轮 : Linear speed of the rear wheel of the loader;

[0028] r 后轮 : Rear wheel radius;

[0029] The torque of the second motor is calculated according to the following formula:

[0030] T pp_2 =(G 后轮 *μ*r 后轮 ) / (i 主减 *i 轮边 )(4)

[0031] T pp_2 : Torque of the second motor;

[0032] G 后轮 : Vertical load of the rear wheel;

[0033] The type selections of the first main reducer and the second main reducer are the same, the type selections 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 about 22, generally ranging from 21 to 25.

[0034] Furthermore, take the rotational speed of the first motor when V 前轮 is maximum as the rated rotational speed ω e_1 of the first motor;

[0035] Take the rotational speed of the second motor when V 后轮 is maximum as the rated rotational speed ω e_2 of the second motor;

[0036] 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;

[0037] Take the torque of the second motor under the no-load condition of the loader as the maximum torque T pp_2max .

[0038] The form of the first motor is not limited, as long as the above requirements are met. The second motor is selected from a switched reluctance motor or an AC induction motor.

[0039] Furthermore, when the loader is unloaded, the clutch is disengaged and the two motors are separated. The required torques of the two motors are allocated in the following three cases:

[0040] (1) When the total required torque of the loader is less than the rated torque of the first motor, the total required torque is provided by the first motor and the second motor does not work;

[0041] (2) When the total required torque of the loader is greater than or equal to the rated torque of the first motor and less than or equal to the sum of the rated torques of the first motor and the second motor, both the first motor and the second motor work. The required torque of the first motor is the rated torque of the first motor, and the second motor provides the remaining required torque;

[0042] (3) When the total required torque of the loader is greater than the sum of the rated torques of the first motor and the second motor, the first motor and the second motor work according to the maximum torque ratio.

[0043] Furthermore, the required torque of the first motor is assigned as follows:

[0044]

[0045] The required torque of the second motor is assigned as follows:

[0046]

[0047] Among them,

[0048] In the formula:

[0049] T req : Total required torque;

[0050] T req_1 : Required torque of the first motor;

[0051] T req_2 : Required torque of the second motor;

[0052] T e_1 : Rated torque of the first motor;

[0053] T e_2 : Rated torque of the second motor.

[0054] Furthermore, when the loader is in the loading and transportation condition, the clutch is controlled and the required torques of the two motors are allocated in four cases:

[0055] (1) When the total required torque of the loader is less than the rated torque of the first motor, the clutch is disengaged, the first motor is separated from the second motor, the total required torque is provided by the first motor, and the second motor does not work;

[0056] (2) When the total required torque of the loader is greater than or equal to the rated torque of Motor 1 and less than or equal to the sum of the rated torque of Motor 1 and the rated torque allocated to Motor 2 according to the ratio of G 后轮_i / G 后轮-空 , the clutch disengages, Motor 1 and Motor 2 are separated, the required torque of Motor 1 is the rated torque of Motor 1, and Motor 2 provides the remaining required torque;

[0057] (3) When the total required torque of the loader is greater than the sum of the rated torque of Motor 1 and the rated torque allocated to Motor 2 according to the ratio of G 后轮_i / G 后轮-空 and less than the sum of the maximum torque of Motor 1 and the rated torque allocated to Motor 2 according to the ratio of G 后轮_i / G 后轮-空 , the clutch disengages, Motor 1 and Motor 2 are separated, the required torque of Motor 2 is the rated torque allocated to Motor 2 according to the ratio of G 后轮_i / G 后轮-空 , and Motor 1 provides the remaining required torque;

[0058] (4) When the total required torque of the loader is greater than or equal to the sum of the maximum torque of Motor 1 and the rated torque allocated to Motor 2 according to the ratio of G 后轮_i / G 后轮-空 , the clutch engages with Motor 1 and Motor 2, the required torque of Motor 1 is the maximum torque of Motor 1, and Motor 2 provides the remaining required torque;

[0059] G 后轮_i : Rear axle real-time vertical load; G 后轮-空 : Rear axle vertical load when unloaded.

[0060] Further, the required torque of Motor 1 is assigned as follows:

[0061]

[0062] The required torque of Motor 2 is assigned as follows:

[0063]

[0064] Further, when the loader is in the digging operation condition,

[0065] According to the ratio of the rear axle real-time vertical load G 后轮_i and the rear axle vertical load G 后轮-空 when unloaded, the clutch is assigned as follows:

[0066]

[0067] S Clutch= 0 represents that the clutch is disengaged and Motor 1 is separated from Motor 2, S Clutch = 1 represents that the clutch is engaged with Motor 1 and Motor 2,

[0068] The required torque of Motor 1 is assigned as follows:

[0069]

[0070] The required torque of Motor 2 is assigned as follows:

[0071]

[0072] Due to the adoption of the above technical solutions, the present invention shows the following remarkable technical effects compared with the prior art:

[0073] 1. The present invention proposes a drive structure for a front and rear axle independent drive loader. Compared with traditional loaders, it minimizes parasitic power and reduces energy waste to the greatest extent.

[0074] 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 the power is high, but also drive with a single motor when the power of the loader is low, improving the use efficiency of the motor.

[0075] 3. Through the design of installing a clutch between the front and rear motors, by the engagement and separation of the clutch and the motor, the two motors distribute the required torque under different working conditions, so that the two motors cooperate to work and realize the reasonable allocation of resources.

[0076] 4. By installing a main reducer and a wheel side reducer and increasing the transmission ratio, the present invention can reduce the volume of the motor and lower the manufacturing cost of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] The drawings are only for the purpose of showing specific embodiments and are not considered as a limitation to the present invention. Throughout the drawings, the same reference signs denote the same components.

[0078] Figure 1 It is a structural diagram of a loader drive control system with an independent electric drive and a clutch added according to the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0079] The present invention will be described in detail below with reference to the drawings and embodiments. However, those skilled in the art should know that the following embodiments are not the only limitation to the technical solutions of the present invention. Any equivalent transformation or modification made under the spirit of the technical solutions of the present invention should be regarded as belonging to the protection scope of the present invention.

[0080] The present invention provides a drive control system for a loader. This system is a new configuration in which motors are respectively installed on the front and rear axles of the loader for independent drive of the front and rear axles, main reducers are respectively installed on the front and rear axles, wheel side reducers are installed on the wheels, and a clutch device is installed between the two motors to increase the transmission ratio, so as to meet the driving force requirements of the loader under the digging working conditions.

[0081] The drive control system, as Figure 1 shown, includes a clutch 1, motor one 2, motor two 3, main reducer one 4, main reducer two 5, wheel side reducer 6, vehicle controller 7, and accelerator pedal 8.

[0082] The front axle of the loader is equipped with motor one 2 and main reducer one 4, the rear axle is equipped with motor two 3 and main reducer two 5. The clutch 1 is connected between motor one 2 and motor two 3. One wheel side reducer 6 is installed on each wheel. The vehicle controller 7 is connected to the accelerator pedal 8 and inputs the torque command to the two motors.

[0083] According to different operating conditions, the vehicle controller 7 calculates the required demand torque according to the opening degree of the accelerator pedal 8, distributes the torque command of the demand torque to motor one 2 and / or motor two 3, and makes the clutch 1 engage or disengage with the motor under different operating conditions. The corresponding motor transmits the driving force to the wheels through the main reducer one 4, main reducer two 5, and wheel side reducer 6, so as to achieve the driving force required for the loader to dig.

[0084] 1. Selection of the reducer

[0085] The reduction of the front and rear axles can be achieved by installing main reducers on the front and rear axles of the loader and wheel side reducers 6 on the wheels, so that the total transmission ratio is about 22, generally selected between 21 - 25, that is, the product of the main reducer speed ratio and the speed ratio of the wheel side reducer 6 is 22, i 主减 *i 轮边 = 22.

[0086] i 主减 : Main reducer speed ratio;

[0087] i 轮边 : Wheel side reducer speed ratio.

[0088] In order to reduce the types of accessories and increase the maintainability, the main reducers of the front and rear axles are selected with the same model, and all wheel side reducers are selected with the same model.

[0089] 2. Selection of the motor

[0090] The selection of the motor refers to the selection of the parameters of the two motors installed on the front and rear axles, motor one 2 and motor two 3.

[0091] (1) Selection of the parameters of motor one 2

[0092] The rotational speed of the first motor 2 is calculated according to the following formula:

[0093] ω 电机_1 =(V 前轮 *i 主减 *i 轮边 ) / r 前轮 (1)

[0094] Wherein:

[0095] ω 电机_1 : The rotational speed of the first motor;

[0096] V 前轮 : The linear speed of the front wheels of the loader;

[0097] i 主减 : The reduction ratio of the main reducer;

[0098] i 轮边 : The reduction ratio of the wheel side reducer;

[0099] r 前轮 : The radius of the front wheels.

[0100] 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 formula (1), when V 前轮 is the maximum, the value of ω 电机_1 is taken as the rated speed ω e_1 of the first motor 2.

[0101] The torque of the first motor 2 is calculated according to the following formula:

[0102] T pp_1 =(G 前轮 *μ*r 前轮 ) / (i 主减 *i 轮边 )(2)

[0103] Wherein:

[0104] T pp_1 : The torque of the first motor;

[0105] G 前轮 : The vertical load of the front wheels;

[0106] μ: The static friction coefficient between the tire and the ground.

[0107] Determination of the maximum torque: Here, the maximum driving torque of the first motor 2 is selected under the condition that the loader is fully loaded. At this time, the vertical load of the front wheels 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 of the motorpp_1max 。

[0108] (2) Selection of parameters of Motor 2-3

[0109] The rotational speed of Motor 2-3 is calculated according to the following formula:

[0110] ω 电机_2 =(V 后轮 *i 主减 *i 轮边 ) / r 后轮 (3)

[0111] Where:

[0112] ω 电机_2 : Rotational speed of Motor 2;

[0113] V 后轮 : Linear speed of the rear wheels of the loader;

[0114] r 后轮 : Rear wheel radius.

[0115] Determination of the rated speed: According to Equation (3), when V 后轮 is maximum, the value of ω 电机_2 is taken as the rated speed ω e_2 of Motor 2-3.

[0116] The torque of Motor 2-3 is calculated according to the following formula::

[0117] T pp_2 =(G 后轮 *μ*r 后轮 ) / (i 主减 *i 轮边 )(4)

[0118] Where:

[0119] T pp-2 : Torque of Motor 2;

[0120] G 后轮 : Vertical load on the rear wheels;

[0121] μ: Static friction coefficient between the tire and the ground.

[0122] Determination of the maximum torque: Here, the selection of the maximum driving torque of Motor 2-3 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 on the rear wheels generates the maximum static friction force with the ground, which is much larger than the rolling friction force generated when the loader is loaded. Therefore, the peak torque generated under the no-load condition, that is, the maximum torque T pp_2max 。

[0123] (3) Selection of motor type

[0124] The selection of Motor 1 2 is not restricted, as long as the above design parameters are met. Motor 2 3 uses a switched reluctance motor or an AC asynchronous motor, and is selected based on high cost performance.

[0125] When the loader is under a fully loaded condition, the center of gravity will shift significantly forward, and the load on the front axle accounts for about 75% of the total load. To make full use of the ground friction torque and improve the operating efficiency of the motor (the operating speed of the front axle motor is greater than or equal to that of the rear axle motor), the front axle motor is the main working motor (it works as long as the vehicle is moving), and the rear axle motor is the auxiliary working motor (only used when the wheels are lifted and the driving force is insufficient).

[0126] 3. Selection of Clutch 1

[0127] Clutch 1 is selected to be electrically controllable and capable of engaging with load. The selection of the maximum rotational speed value of Clutch 1 is based on the maximum rotational speed of Motor 1 2 or Motor 2 3 (the maximum rotational speeds of Motor 1 2 and Motor 2 3 are theoretically the same). For the maximum torque value of Clutch 1, the larger value of the maximum torques of Motor 1 2 and Motor 2 3 is selected.

[0128] Control methods under different working conditions

[0129] When the loader is operating under different working conditions, the required demand torque is different. The driver inputs the total demand torque to the vehicle controller 7 through the accelerator pedal 8, and the vehicle controller 7 issues torque commands to assign different demand torques to Motor 1 2 and Motor 2 3 for operation.

[0130] 1. When the loader is unloaded, the assignment of the demand torque for the motor and the assignment of Clutch 1 are divided into the following three cases:

[0131] (1) When the total demand torque is less than the rated torque of Motor 1 2, that is, when Clutch 1 is disengaged, Motor 1 2 is separated from Motor 2 3, Motor 1 2 works, and Motor 2 3 does not work.

[0132] (2) When the total demand torque is greater than or equal to the rated torque of Motor 1 2 and less than or equal to the sum of the rated torques of Motor 1 2 and Motor 2 3, that is, Clutch 1 is disengaged, Motor 1 2 is separated from Motor 2 3, both Motor 1 2 and Motor 2 3 work, the demand torque of Motor 1 2 is based on the rated torque of Motor 1, and the remaining demand torque is provided by Motor 2 3.

[0133] (3) When the total demand torque is greater than the sum of the rated torques of Motor 1 2 and Motor 2 2, that is, Clutch 1 is disengaged, Motor 1 2 is separated from Motor 2 3, and the work is distributed according to the maximum torque ratio of Motor 1 2 and Motor 2 3.

[0134] The assignment of Clutch 1 is as follows:

[0135]

[0136] Wherein:

[0137] S Clutch : is the value of the clutch.

[0138] When the value of clutch 1 is 0, it means that clutch 1 is disengaged, that is, when in no-load condition, clutch 1 is separated from motor 1-2 and motor 2-3.

[0139] The required torque of motor 1-2 is assigned as follows:

[0140]

[0141] The required torque of motor 2-3 is assigned as follows:

[0142]

[0143] Wherein:

[0144] T req : total required torque;

[0145] T req-1 : required torque of motor 1;

[0146] T e_1 : rated torque of motor 1;

[0147] T req-2 : required torque of motor 2;

[0148] T e_2 : rated torque of motor 2.

[0149] 2. When the loader is in the loading and transportation condition, a larger torque is required. For the assignment of the required torque of the motor and the assignment of clutch 1, the following four cases are divided according to the size of the total required torque:

[0150] (1) When the total required torque is less than the rated torque of motor 1-2, that is When, clutch 1 is disengaged, motor 1-2 is separated from motor 2-3, and the total required torque is provided by the operation of motor 1-2, and motor 2-3 does not operate.

[0151] (2) When the total required torque is greater than or equal to the rated torque of motor 1-2 and less than or equal to the sum of the rated torque of motor 1-2 and the rated torque assigned to motor 2-3 according to the ratio of G 后轮_i / G 后轮-空 That is (where G 后轮_i represents the real-time vertical load of the rear wheels, G 后轮-空When the vertical load of the rear wheels is the no-load vertical load (), the clutch 1 is disengaged, the first motor 2 is separated from the second motor 3, the required torque of the first motor 2 is the rated torque of the first motor 2, and the remaining required torque is provided by the second motor 3.

[0152] (3) When the total required torque is greater than the sum of the rated torque of the first motor 2 and the rated torque allocated to the second motor 3 according to the ratio of G 后轮_i / G 后轮-空 and less than the sum of the maximum torque of the first motor 2 and the rated torque allocated to the second motor 3 according to the ratio of G 后轮_i / G 后轮-空 , that is , the clutch 1 is disengaged, the first motor 2 is separated from the second motor 3, and the required torque of the second motor 3 is the rated torque allocated to the second motor 3 according to the ratio of G 后轮_i / G 后轮-空 , and the remaining required torque is provided by the first motor 2.

[0153] (4) When the total required torque is greater than or equal to the sum of the maximum torque of the first motor 2 and the rated torque allocated to the rear-wheel second motor 3 according to the ratio of G 后轮_i / G 后轮-空 , that is , to avoid the rear axle from tilting up, the clutch 1 is combined with the first motor 2 and the second motor 3, and the two motors of the front and rear axles jointly drive the front and rear axles. The required torque of the first motor 2 is the maximum torque of the first motor 2, and the remaining required torque is provided by the second motor 3.

[0154] The assignment of the clutch 1 is as follows:

[0155]

[0156] When it is in the situation of (1)-(3), the value of the clutch 1 is 0, the clutch 1 is disengaged, and the first motor 2 is separated from the second motor 3. When it is in the situation of (4), the value of the clutch 1 is 1, and the clutch 1 is combined with the first motor 2 and the second motor 3.

[0157] The assignment of the required torque of the first motor 2 is as follows:

[0158]

[0159] The assignment of the required torque of the second motor 3 is as follows:

[0160]

[0161] 3. When the loader is in the digging operation condition, the assignment of the clutch 1 and the required torque of the motor:

[0162] During the loading and digging operation of the loader, due to factors such as the direction of the bucket and the angle of the road surface, the vertical loads on the front and rear axles of the loader become very complex. Since a large driving force is required during the loading and digging operation, the distribution of the driving force is mainly based on the center of gravity transfer here.

[0163] According to 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-空 the following is the assignment of the clutch 1:

[0164]

[0165] When 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 unloaded 后轮-空 is greater than 0.8, the clutch is assigned a value of 0, the clutch 1 is disengaged, and the motor 1-2 is separated from the motor 2-3.

[0166] The required torque of the motor 1-2 is assigned as follows:

[0167]

[0168] The required torque of the motor 2-3 is assigned as follows:

[0169]

[0170] When 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 unloaded 后轮-空 is less than or equal to 0.8, the clutch is assigned a value of 1, and the clutch is combined with the motor 1-2 and the motor 2-3.

[0171] The required torque of the motor 1-2 is assigned as follows:

[0172]

[0173] The required torque of the motor 2-3 is assigned as follows:

[0174]

[0175] When the driving force of the motor 2-3 on the rear axle is greater than the frictional force of the ground, to prevent the rear axle from tilting up, at this time the clutch 1 is combined with the motor 1-2 and the motor 2-3, and the two motors on the front and rear axles jointly drive the front and rear axles, so that the torque of the rear axle is transmitted to the front axle through the clutch.

[0176] The real-time vertical load G 后轮_i and the vertical load G of the rear axle when unloaded 后轮-空 can be obtained through the tire pressure sensor.

Claims

1. An independent electric drive loader drive control method with a clutch added, characterized in that: Based on the following system implementation: a motor, a main reducer and a wheel-side reducer are set on the front axle. The rear axle is provided with a second motor, a second main reducer and a wheel-side reducer; A clutch is arranged between the motor 1 and the motor 2; The main reducer 1 and the main reducer 2 are of the same type, all wheel reducers are of the same type, and the speed ratio product of the main reducer and the wheel reducer is in the range of 21 to 25; The speed of the 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 wheel side reducer; r 前轮 : Front wheel radius; The torque of the motor 1 is calculated according to the following formula: T pp_1 = (G 前轮 * μ * r 前轮 ) / (i 主减 * i 轮边 ) (2) T pp_1 : Torque of the first motor; G 前轮 : Vertical load on the front wheel; μ: static friction coefficient between tire and ground; The speed of the 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 (3) ω 电机_2 : Rotational speed of motor two; V 后轮 : Linear velocity of the rear wheel of the loader; r 后轮 : Rear wheel radius; The torque of the 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 ) (4) T pp_2 : Torque of the second motor; G 后轮 : Vertical load on the rear wheel; Take the rotational speed of the first motor when V 前轮 is at its maximum as the rated rotational speed ω of the first motor e_1 ; Take the rotational speed of the second motor when V 后轮 is at its maximum as the rated rotational speed ω of the second motor e_2 ; Take the torque of Motor 1 under the full-load condition of the loader as the maximum torque T of Motor 1 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 ; When the loader is in loading and transporting condition, the clutch control and distribution of the required torque of the two motors are as follows: (1) When the total required torque of the loader is less than the rated torque of motor 1, the clutch is disconnected, motor 1 is separated from motor 2, the total required torque is provided by motor 1, and motor 2 does not work; (2) When the total required torque of the loader is greater than or equal to the rated torque of Motor 1 and less than or equal to the sum of the rated torque of Motor 1 and the rated torque allocated to Motor 2 according to the ratio of G 后轮_i / G 后轮-空 , the clutch disconnects, Motor 1 and Motor 2 are separated, the required torque of Motor 1 is the rated torque of Motor 1, and Motor 2 provides the remaining required torque; (3) When the total required torque of the loader is greater than the sum of the rated torque of Motor 1 and the rated torque allocated to Motor 2 according to the ratio of G 后轮_i / G 后轮-空 and less than the sum of the maximum torque of Motor 1 and the rated torque allocated to Motor 2 according to the ratio of G 后轮_i / G 后轮-空 the clutch disconnects, Motor 1 and Motor 2 are separated, the required torque of Motor 2 is the rated torque allocated to Motor 2 according to the ratio of G 后轮_i / G 后轮-空 and Motor 1 provides the remaining required torque; (4) When the total required torque of the loader is greater than or equal to the sum of the maximum torque of the first motor and the rated torque allocated by the second motor according to the ratio of G 后轮_i / G 后轮-空 , the clutch engages with the first motor and the second motor. The required torque of the first motor is the maximum torque of the first motor, and the second motor provides the remaining required torque; G 后轮_i : Rear axle real-time vertical load; G 后轮-空 : Rear axle vertical load when unloaded; When the loader is in the shoveling operation condition, according to the ratio of G 后轮_i to G 后轮-空 , the control of the clutch and the demand torque distribution of the two motors are as follows: S Clutch = 0 represents that the clutch is disengaged, and Motor 1 is separated from Motor 2. S Clutch = 1 represents that the clutch is engaged, and Motor 1 and Motor 2 are engaged. At this time, The required torque of motor 1 is assigned as follows: The required torque of motor 2 is assigned as follows: T req : Total demand torque; T req_1 : The required torque of the first motor; T req_2 : The required torque of the second motor; When the loader is unloaded, the clutch is disconnected and the two motors are separated. The required torque of the two motors is distributed in the following three situations: (1) When the total required torque of the loader is less than the rated torque of motor 1, the total required torque is provided by motor 1 and motor 2 does not work; (2) When the total required torque of the loader is greater than or equal to the rated torque of motor 1 and less than or equal to the sum of the rated torque of motor 1 and the rated torque of motor 2, both motor 1 and motor 2 are working, and the required torque of motor 1 is the rated torque of motor 1, and motor 2 provides the remaining required torque; (3) When the total required torque of the loader is greater than the sum of the rated torque of motor 1 and the rated torque of motor 2, motor 1 and motor 2 are allocated to work according to the maximum torque ratio.

2. The driving control method of the independent electric drive clutch-equipped loader according to claim 1 is characterized in that: When the loader is unloaded, the required torque of motor 1 is assigned as follows: The required torque of motor 2 is assigned as follows: T e_1 : Rated torque of motor 1; T e_2 : Rated torque of the second motor.

3. The driving control method of an independent electric drive clutch-equipped loader according to claim 1, characterized in that: When the loader is in the loading and transporting condition, the required torque of motor 1 is assigned as follows: The required torque of motor 2 is assigned as follows: T e_1 : Rated torque of the first motor; T e_2 : Rated torque of the second motor.

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