A mine mechanical transmission self-unloading truck climbing torque self-adaptive control system and method

Abstract

The application discloses a mine mechanical transmission self-unloading vehicle climbing torque self-adaptive control system and method, which comprises the following steps: acquiring and analyzing signal data of an inclination sensor and a throttle pedal, and judging whether the self-unloading vehicle is in a climbing working condition; if the self-unloading vehicle is in the climbing working condition, acquiring and analyzing signal data of a suspension pressure sensor and a rotating speed sensor, and calculating a traction force and a resistance corresponding to different gear ratios of a gearbox; wherein, if the traction force corresponding to the highest gear ratio of the gearbox is greater than or equal to the resistance, the climbing torque self-adaptive control mode is not entered, and a gear limiting instruction is not sent to the gearbox controller; if the traction force corresponding to the highest gear ratio of the gearbox is less than the resistance, the climbing torque self-adaptive control mode is entered, and the gear limiting instruction is sent to the gearbox controller. The self-unloading vehicle climbing torque self-adaptive control is realized, the influence of improper human operation on the vehicle dynamic performance, the transportation efficiency and the driving safety is effectively solved, and the practicability is high.

Description

Technical Field

[0001] This invention relates to an adaptive control system and method for climbing torque of a mining machinery transmission dump truck, belonging to the field of engineering machinery technology. Background Technology

[0002] Mining machinery-driven dump trucks are widely used in large open-pit mines and water conservancy projects, where terrain is complex and working conditions are harsh. During transport, dump trucks frequently operate on inclines. To avoid insufficient torque during inclines and the impact of frequent high-speed gear shifts in the automatic transmission on driving comfort, and to ensure the vehicle's power and continuity, drivers need to limit the incline gears using the gear lever when operating on different slopes, thus controlling the dump truck's incline torque. To adapt to changing road conditions, drivers often need to frequently switch incline gears to maintain the dump truck's power. This requires drivers to have accurate judgment of current road conditions and extensive driving experience. Improper operation not only hinders the vehicle's power performance and affects transport efficiency but can also lead to loss of vehicle control and compromise driving safety.

[0003] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a climbing torque adaptive control system and method for mining machinery transmission dump trucks. By processing the signal data from the suspension pressure sensor, speed sensor, tilt sensor, and accelerator pedal, the system sends a gear limit command to the transmission controller, thereby realizing the climbing torque adaptive control of the dump truck.

[0005] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0006] On one hand, this invention discloses an adaptive control method for the climbing torque of a mining machinery transmission dump truck, comprising the following steps:

[0007] Acquire and analyze signal data from the tilt sensor and accelerator pedal to determine whether the dump truck is in a climbing condition;

[0008] If the vehicle is climbing, the signal data from the suspension pressure sensor and speed sensor are acquired and analyzed to calculate the traction force and resistance corresponding to different gear ratios of the transmission.

[0009] If the traction force corresponding to the highest gear ratio of the transmission is greater than or equal to the resistance, the hill-climbing torque adaptive control mode will not be entered, and a gear limit command will not be sent to the transmission controller.

[0010] If the traction force corresponding to the highest gear ratio of the transmission is less than the resistance, the transmission enters the hill-climbing torque adaptive control mode and sends a gear limit command to the transmission controller.

[0011] Furthermore, determining whether the dump truck is in a climbing condition includes the following steps:

[0012] By acquiring signal data from the tilt sensor and accelerator pedal, the tilt angle of the dump truck and the throttle opening of the engine can be obtained through analysis.

[0013] If the tilt angle is greater than a preset tilt angle threshold and the duration is greater than a preset first time threshold, and the throttle opening is greater than 0 and the duration is greater than a preset second time threshold, then the dump truck is considered to be in a climbing condition.

[0014] Furthermore, the expressions for the traction force corresponding to different gear ratios of the transmission are as follows:

[0015] F = T e i g i0η g η0 / R

[0016] In the formula, F represents the traction force corresponding to different gear ratios of the transmission, and T... e For the engine power output torque of the dump truck, i g For different gear ratios in the transmission, i0 is the rear axle ratio, and η is the gear ratio of the transmission. g η0 is the transmission efficiency of the gearbox, η0 is the transmission efficiency of the rear axle, and R is the tire radius of the dump truck.

[0017] Furthermore, the expression for the resistance f is as follows:

[0018] f=(m0+Δm)gsinα+u(m0+Δm)gcosα+0.5ρSk(v0 / i0) 2

[0019] In the formula, m0 is the weight of the dump truck itself, Δm is the load of the dump truck when the vehicle is climbing, g is the acceleration due to gravity, sinα is the sine function of the tilt angle α, u is the rolling resistance coefficient, cosα is the cosine function of the tilt angle α, ρ is the ambient air density, S is the vehicle's frontal area, k is the air resistance coefficient, v0 is the speed of the gearbox output shaft, and i0 is the rear axle speed ratio of the dump truck.

[0020] Furthermore, the expression for the dump truck's load capacity Δm when the vehicle is climbing a slope is as follows:

[0021] Δm={[(p1-p 10 )+(p2-p 20 )]Sf C1+[(p3-p 30 )+(p4-p 40 )]S b C2}C3 / cosα / g

[0022] In the formula, p1 is the pressure of the left front suspension when the dump truck is loaded, p2 is the pressure of the right front suspension when the dump truck is loaded, p3 is the pressure of the left rear suspension when the dump truck is loaded, p4 is the pressure of the left rear suspension when the dump truck is loaded, and p 10 p represents the pressure on the left front suspension of the dump truck when it is unloaded. 20 p represents the pressure on the right front suspension of the dump truck when it is unloaded. 30 p represents the pressure on the left rear suspension of the dump truck when it is unloaded. 40 S represents the pressure on the right rear suspension of the dump truck when it is unloaded. f S is the cross-sectional area of ​​the front suspension inner cylinder block. b C1 is the cross-sectional area of ​​the rear suspension cylinder block, C2 is the load factor of the front suspension, C3 is the load factor of the rear suspension, α is the tilt angle, cosα is the cosine function of the tilt angle α, and g is the acceleration due to gravity.

[0023] Furthermore, sending the limit instruction includes the following steps:

[0024] The traction force corresponding to other gear ratios of the transmission is compared with the resistance in turn. If the traction force corresponding to the gear ratio of g is greater than or equal to the resistance, and the traction force corresponding to the gear ratio of g+1 is less than the resistance, a gear limiting command is sent to the transmission controller. The highest gear of the transmission is limited to g.

[0025] Furthermore, the sending of the limit instruction also includes the following steps:

[0026] Based on a preset time interval, the tilt angle of the dump truck at the current time point is obtained;

[0027] Calculate the absolute value of the difference between the tilt angle of the dump truck at the current time point and the tilt angle of the dump truck at the previous time point;

[0028] If the absolute value is less than the preset tilt angle deviation threshold, the tilt angle of the dump truck at the previous time point is determined to be the climbing angle of the dump truck at the current time point, and the maximum gear limit of the transmission remains unchanged.

[0029] If the absolute value is greater than or equal to the preset tilt angle deviation threshold, the tilt angle of the dump truck at the current time point is determined as the climbing angle of the dump truck at the current time point. The resistance is recalculated and compared with the traction force corresponding to different gear ratios of the transmission to obtain the highest gear limit of the transmission.

[0030] On the other hand, this invention discloses a control system employing the above-described adaptive control method for climbing torque of a mining machinery transmission dump truck, comprising a suspension pressure sensor, a speed sensor, a tilt sensor, an accelerator pedal, a transmission controller, and a vehicle controller. The signal output terminals of the suspension pressure sensor, the speed sensor, the tilt sensor, the accelerator pedal, and the transmission controller are respectively connected to the vehicle controller.

[0031] The vehicle controller is used to receive and process signal data from the suspension pressure sensor, speed sensor, tilt sensor, and accelerator pedal, and send gear limit commands to the transmission controller to achieve adaptive control of the dump truck's climbing torque.

[0032] Furthermore, the suspension pressure sensor includes a first suspension pressure sensor, a second suspension pressure sensor, a third suspension pressure sensor, and a fourth suspension pressure sensor.

[0033] The first suspension pressure sensor is mounted on the left front of the dump truck and is used to measure the left front suspension pressure value of the dump truck.

[0034] The second suspension pressure sensor is mounted on the right front of the dump truck and is used to measure the right front suspension pressure value of the dump truck.

[0035] The third suspension pressure sensor is mounted on the left rear of the dump truck and is used to measure the left rear suspension pressure of the dump truck.

[0036] The fourth suspension pressure sensor is mounted on the right rear of the dump truck and is used to measure the right rear suspension pressure of the dump truck.

[0037] Furthermore, the speed sensor is installed on the output shaft at the rear end of the gearbox to measure the speed of the output shaft of the gearbox;

[0038] The tilt sensor is installed at the horizontal position of the dump truck to measure the tilt angle of the dump truck.

[0039] The accelerator pedal is installed in the cab and is used to obtain the accelerator opening to help judge the operating conditions of the dump truck.

[0040] Both the transmission controller and the vehicle controller are installed in the dump truck's electrical control cabinet.

[0041] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0042] This invention processes signal data from suspension pressure sensors, speed sensors, tilt sensors, and the accelerator pedal to calculate and analyze the operating conditions of the dump truck. It then sends gear-limiting commands to the transmission controller, achieving intelligent matching of torque parameters and further realizing adaptive torque control for the dump truck's climbing ability. This invention reduces reliance on driver skill, effectively addressing the impact of improper human operation on vehicle power, transportation efficiency, and driving safety. It also reduces frequent gear shifting by the driver, helping to prevent driver fatigue and demonstrating strong practicality. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of a slope climbing torque adaptive control system for a mining machinery transmission dump truck.

[0044] Figure 2 This is a flowchart of a method for an adaptive control system for the climbing torque of a mining machinery transmission dump truck.

[0045] Figure 3 It is a model of a mechanically driven mining dump truck climbing a slope. Detailed Implementation

[0046] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0047] Example

[0048] This embodiment discloses an adaptive control system for the climbing torque of a mining machinery transmission dump truck, such as... Figure 1 As shown, the system includes a suspension pressure sensor, a speed sensor, a tilt sensor, an accelerator pedal, a transmission controller, and a vehicle controller. The signal output terminals of the suspension pressure sensor, the speed sensor, the tilt sensor, the accelerator pedal, and the transmission controller are respectively connected to the vehicle controller.

[0049] The vehicle controller receives and processes signal data from the suspension pressure sensor, speed sensor, tilt sensor, and accelerator pedal, and sends gear limit commands to the transmission controller to achieve adaptive torque control for the dump truck's climbing ability.

[0050] The suspension pressure sensor includes a first suspension pressure sensor, a second suspension pressure sensor, a third suspension pressure sensor, and a fourth suspension pressure sensor.

[0051] The first suspension pressure sensor is mounted on the left front of the dump truck and is used to measure the left front suspension pressure value of the dump truck.

[0052] The second suspension pressure sensor is mounted on the right front of the dump truck and is used to measure the right front suspension pressure of the dump truck.

[0053] The third suspension pressure sensor is installed on the left rear of the dump truck and is used to measure the left rear suspension pressure of the dump truck.

[0054] The fourth suspension pressure sensor is mounted on the right rear of the dump truck and is used to measure the right rear suspension pressure of the dump truck.

[0055] The speed sensor is installed on the output shaft at the rear end of the gearbox to measure the speed of the output shaft of the gearbox;

[0056] The tilt sensor is installed at the horizontal position of the dump truck to measure the tilt angle of the road surface where the dump truck is located;

[0057] The accelerator pedal is installed in the cab and is used to obtain the accelerator opening to help judge the operating conditions of the dump truck;

[0058] The transmission controller is installed in the electrical control cabinet of the dump truck and is used to control the shifting mechanism of the automatic transmission so that the dump truck runs in the relevant gear.

[0059] The vehicle controller is installed in the dump truck's electrical control cabinet. It reads and processes data from four pressure sensors, speed sensors, tilt sensors, and accelerator pedals. It calculates and analyzes data such as the dump truck's operating conditions, load capacity, and stress status to establish an adaptive control model for the dump truck's climbing torque. It then sends a gear limit command to the transmission controller to achieve adaptive control of the dump truck's climbing torque.

[0060] like Figure 2 As shown, the method of the adaptive control system for climbing torque of the mining machinery transmission dump truck of the present invention is as follows:

[0061] (1) The vehicle controller reads the signal data from the tilt sensor and accelerator pedal in real time and converts and processes them to obtain the tilt angle of the road surface where the dump truck is located and the engine throttle opening.

[0062] Based on the tilt angle α, throttle opening, and duration, it is determined whether the dump truck is in a climbing condition. To eliminate the influence of rough roads and accidental driver operation, a tilt angle threshold α0 is set for the dump truck. When the tilt angle α > the tilt angle threshold α0 and the duration is greater than the preset first time threshold t1, and the throttle opening is greater than 0 and the duration is greater than the preset second time threshold t2, the dump truck is considered to be in a climbing condition. (2) When the dump truck is in a climbing condition, the vehicle controller reads the data from the speed sensor and suspension pressure sensor to calculate the vehicle speed and vehicle load. The formula for calculating the dump truck load Δm is as follows:

[0063] Δm={[(p1-p10 )+(p2-p 20 )]S f C1+[(p3-p 30 )+(p4-p 40 )]S b C2}C3 / cosα / g

[0064] p1 represents the pressure on the left front suspension when the dump truck is loaded, p2 represents the pressure on the right front suspension when the dump truck is loaded, p3 represents the pressure on the left rear suspension when the dump truck is loaded, and p4 represents the pressure on the left rear suspension when the dump truck is loaded. 10 p represents the pressure on the left front suspension of the dump truck when it is unloaded. 20 p represents the pressure on the right front suspension of the dump truck when it is unloaded. 30 p represents the pressure on the left rear suspension of the dump truck when it is unloaded. 40 S represents the pressure on the right rear suspension of the dump truck when it is unloaded. f S is the cross-sectional area of ​​the front suspension inner cylinder block. b C1 is the cross-sectional area of ​​the rear suspension cylinder block, C2 is the load factor of the front suspension, C3 is the load factor of the rear suspension, α is the tilt angle, cosα is the cosine function of the tilt angle α, and g is the acceleration due to gravity.

[0065] (3) The vehicle controller calculates the resistance f of the dump truck when it is climbing, as well as the vehicle power torque T and traction force F corresponding to different gear ratios of the transmission.

[0066] like Figure 3 As shown, when the vehicle is climbing, the resistance f experienced by the dump truck under this condition consists of rolling resistance, air resistance, and climbing resistance.

[0067] f=(m0+Δm)gsinα+u(m0+Δm)gcosα+0.5ρSk(v0 / i0) 2

[0068] In the formula, m0 is the weight of the dump truck itself, Δm is the load of the dump truck when the vehicle is climbing, g is the acceleration due to gravity, sinα is the sine function of the tilt angle α, u is the rolling resistance coefficient, which is mainly determined by the dump truck tires and road conditions, cosα is the cosine function of the tilt angle α, ρ is the ambient air density, S is the vehicle's frontal area, k is the air resistance coefficient, which is determined by the vehicle body shape characteristics, v0 is the speed of the gearbox output shaft, and i0 is the rear axle speed ratio of the dump truck.

[0069] The total torque T provided by the transmission system of a dump truck under different gear ratios is:

[0070] T = T e i g i0η g η0

[0071] In the formula, T e is the power output torque of the dump truck engine, i g is the speed ratio of different gears of the gearbox, i0 is the speed ratio of the rear axle, η g is the transmission efficiency of the gearbox, and η0 is the transmission efficiency of the rear axle.

[0072] The traction force F corresponding to the speed ratio of different gears of the gearbox of the dump truck is:

[0073] F = T / R = T e i g i0η g η0 / R

[0074] In the formula, R is the radius of the dump truck tire.

[0075] (4) Compare the traction force F corresponding to the speed ratio of the highest gear of the gearbox with the resistance f, and judge whether the traction force F is greater than the resistance f at this time. If the traction force F is greater than or equal to the resistance f at this time, the dump truck does not enter the climbing torque adaptive control mode, and the gearbox controller does not limit the gear of the dump truck gearbox.

[0076] (5) When the traction force F corresponding to the speed ratio of the highest gear of the gearbox is less than the resistance f, the dump truck enters the climbing torque adaptive control mode, and the vehicle controller sends a gear limit instruction to the gearbox controller. The gearbox controller limits the gearbox to a suitable gear to ensure the vehicle power performance.

[0077] Compare the traction force F corresponding to the speed ratios of other gears of the gearbox with the resistance f in turn. If when the gearbox is in gear g, the traction force F corresponding to the speed ratio of gear g of the gearbox g ≥f, and the traction force F corresponding to the speed ratio of gear g + 1 of the gearbox g+1 <f, the vehicle controller sends a gear limit instruction to the gearbox controller, and the gearbox controller limits the highest gear of the gearbox to gear g.

[0078] It should be noted that in the climbing torque adaptive mode of the dump truck, in order to avoid frequent switching of climbing gears in the subsequent process, and to ensure the power continuity and driving comfort of the dump truck, after the vehicle runs, the judgment of the climbing working condition is carried out at the time nodes in turn. Among them, the time nodes are obtained based on the preset time interval Δt, and the adjacent time nodes differ by a preset time interval Δt.

[0079] According to the signal data of the tilt sensor at the current time node, obtain the tilt angle α of the dump truck at the current time node t+Δt ;

[0080] Calculate the tilt angle α of the dump truck at the current time node t+Δt and the tilt angle α of the dump truck at the previous time nodet The absolute value of the difference;

[0081] If the absolute value is less than the preset tilt angle deviation threshold β, i.e. |α t+Δt -α t If |<β, then the tilt angle α of the dump truck at the previous time point is considered to be... t The current time point represents the dump truck's climbing angle. The maximum gear limit of the transmission remains unchanged, and the dump truck's climbing torque is not adjusted.

[0082] If the absolute value is greater than or equal to the preset tilt angle deviation threshold β, i.e. |α t+Δt -α t If |≥β, then the tilt angle α of the dump truck at the current time point is determined. t+Δt Given the current climbing angle of the dump truck, the resistance is recalculated and compared with the traction force corresponding to different gear ratios of the transmission to obtain the transmission's highest gear limit, thus controlling the transmission to achieve the corresponding gear matching. It should be noted that the tilt angle used in this resistance recalculation is the current climbing angle of the dump truck, i.e., the tilt angle α of the dump truck at the current time point. t+Δt .

[0083] As described above, the mining machinery transmission dump truck climbing torque adaptive control system and method disclosed in this invention can intelligently match torque parameters according to the climbing conditions of the dump truck, reducing the dependence on the driver's driving ability, effectively solving the impact of improper human operation on vehicle power, transportation efficiency and driving safety, reducing the driver's frequent gear shifting operation, and helping to avoid driver fatigue driving. It is highly practical.

[0084] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0085] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0086] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for adaptive control of climbing torque of a mine truck with mechanical transmission, characterized in that, Comprising the following steps, Obtaining and analyzing the signal data of the inclination sensor and the accelerator pedal to determine whether the dump truck is in a climbing working condition; If it is in a climbing working condition, obtaining and analyzing the signal data of the suspension pressure sensor and the speed sensor to calculate the traction force and the resistance corresponding to the speed ratio of different gears of the gearbox; If the traction force corresponding to the highest gear ratio of the gearbox is greater than or equal to the resistance, the climbing torque adaptive control mode is not entered, and the gear limiting instruction is not sent to the gearbox controller; If the traction force corresponding to the highest gear ratio of the gearbox is less than the resistance, the climbing torque adaptive control mode is entered, and the gear limiting instruction is sent to the gearbox controller; The gear limiting instruction includes the following steps: The traction forces corresponding to the speed ratios of other gears of the gearbox are compared with the resistance in turn, and if the traction force corresponding to the gth gear ratio of the gearbox is greater than or equal to the resistance and the traction force corresponding to the g+1th gear ratio of the gearbox is less than the resistance, the gear limiting instruction is sent to the gearbox controller, wherein the highest gear of the gearbox is limited to the gth gear; The gear limiting instruction also includes the following steps: Based on a preset time interval, the inclination angle of the dump truck at the current time node is obtained; The absolute value of the difference between the inclination angle of the dump truck at the current time node and the inclination angle of the dump truck at the previous time node is calculated; If the absolute value is less than a preset inclination angle deviation threshold, it is determined that the inclination angle of the dump truck at the previous time node is the climbing angle of the dump truck at the current time node, and the highest gear limit of the gearbox remains unchanged; If the absolute value is greater than or equal to the preset inclination angle deviation threshold, it is determined that the inclination angle of the dump truck at the current time node is the climbing angle of the dump truck at the current time node, the resistance is recalculated and compared with the traction forces corresponding to the speed ratios of different gears of the gearbox to obtain the highest gear limit of the gearbox.

2. The method of claim 1, wherein the method further comprises: The determination of whether the dump truck is in a climbing working condition includes the following steps: Obtaining the signal data of the inclination sensor and the accelerator pedal to analyze the inclination angle of the dump truck and the throttle opening of the engine; If the inclination angle is greater than a preset inclination angle threshold and the maintenance time is greater than a preset first time threshold, and the throttle opening is greater than 0 and the maintenance time is greater than a preset second time threshold, it is determined that the dump truck is in a climbing working condition.

3. The method of claim 1, wherein, The expression of the traction force corresponding to the speed ratio of different gears of the gearbox is as follows: ； In the formula, T is the traction force corresponding to the different gear ratios of the gearbox, e T is the engine power output torque of the dump truck, g i is the different gear ratios of the gearbox, i0 is the rear axle ratio, g η is the transmission efficiency of the gearbox, η0 is the transmission efficiency of the rear axle, and R is the tire radius of the dump truck.

4. The method of claim 1, wherein, The expression of the resistance is as follows: ； wherein, is the resistance; m0 is the self-weight of the dump truck, is the load of the dump truck when the vehicle is in the climbing working condition, g is the acceleration of gravity, is the sine function of the inclination angle u is the rolling resistance coefficient, is the cosine function of the inclination angle ρ is the environmental air density, S is the vehicle windward area, k is the air resistance coefficient, v0 is the output shaft speed of the gearbox, and i0 is the speed ratio of the rear axle of the dump truck.

5. The method of claim 4, wherein, The vehicle load weight of the dump truck when the vehicle is in a climbing working condition The expression is as follows: ； wherein p1 is the left front suspension pressure when the dump truck is loaded, p2 is the right front suspension pressure when the dump truck is loaded, p3 is the left rear suspension pressure when the dump truck is loaded, p4 is the right rear suspension pressure when the dump truck is loaded, p 10 is the left front suspension pressure when the dump truck is empty, p 20 is the right front suspension pressure when the dump truck is empty, p 30 is the left rear suspension pressure when the dump truck is empty, p 40 is the right rear suspension pressure when the dump truck is empty, S f is the cross-sectional area of the inner cylinder of the front suspension, S b is the cross-sectional area of the inner cylinder of the rear suspension, C1 is the load coefficient of the front suspension, C2 is the load coefficient of the rear suspension, C3 is the load coefficient of the body structure, is the cosine function of the inclination angle, is the cosine function of the inclination angle is the gravitational acceleration.

6. A control system for the adaptive control of the hill climb torque of a mine haulage vehicle with mechanical drive according to the method of any one of claims 1 to 5, characterised in that, The suspension pressure sensor, the speed sensor, the inclination sensor, the accelerator pedal, the gearbox controller and the vehicle controller are connected to the vehicle controller, The vehicle controller is used to receive and process the signal data of the suspension pressure sensor, the speed sensor, the inclination sensor and the accelerator pedal, send the gear limiting instruction to the gearbox controller, and realize the climbing torque adaptive control of the dump truck.

7. The control system for the method of adaptive control of the climbing torque of a mine truck with mechanical transmission according to claim 6, characterized in that, The suspension pressure sensor includes a first suspension pressure sensor, a second suspension pressure sensor, a third suspension pressure sensor and a fourth suspension pressure sensor, The first suspension pressure sensor is suspended and installed at the left front position of the dump truck, and is used for measuring the left front suspension pressure value of the dump truck. The second suspension pressure sensor is suspended and installed at the right front position of the dump truck, and is used for measuring the right front suspension pressure value of the dump truck. The third suspension pressure sensor is suspended and installed at the left rear position of the dump truck, and is used for measuring the left rear suspension pressure value of the dump truck. The fourth suspension pressure sensor is suspended and installed at the right rear position of the dump truck, and is used for measuring the right rear suspension pressure value of the dump truck.

8. The control system for the method of adaptive control of the climbing torque of a mine truck with mechanical transmission according to claim 7, characterized in that, The rotation speed sensor is installed at the rear end output shaft of the gearbox, and is used for measuring the rotation speed of the output shaft of the gearbox. The inclination angle sensor is installed at the horizontal position of the dump truck, and is used for measuring the inclination angle of the dump truck. The accelerator pedal is installed in the cab, and is used for obtaining the accelerator opening degree to assist in judging the running condition of the dump truck. The gearbox controller and the vehicle controller are both installed in the electric control cabinet of the dump truck.

Images