AMEsim-based simulation drive-by-wire mine wide-body dumper wheel angle sensor reverse calibration method

Abstract

A wire control mine wide-body dumper wheel angle sensor reverse calibration method based on AMEsim simulation comprises the following steps that (1) an AMEsim model is built according to the structural characteristics of a vehicle steering mechanism, and the sizes of wheel angles at all positions are read on a simulation curve; (2) rotating a vehicle steering wheel in situ, and recording a left limit left wheel angle A1; recording a right limit left wheel angle A2; the rotating angle A of the left steering wheel is equal to A1 + A2; (3) comparing the rotating angle A of the left steering wheel obtained in the step (2) with the sum of the left wheel angle B1 and the right wheel angle B2 on the simulation curve; when the sum of the left wheel angle and the right wheel angle at a certain position on the simulation curve is the same as the rotating angle A of the left steering wheel, the steering wheel rotates leftwards to be right, the steering wheel stops rotating until the left wheel angle rotates leftwards by B1 degrees, and then the position is set to be the zero position. AMEsim simulation calculation is utilized to obtain a left and right wheel angle change curve for wheel angle sensor zero calibration.

Description

Technical Field

[0001] The utility model relates to a dump truck, in particular to a reverse calibration method for a wheel angle sensor of a wide-body dump truck in a mine based on AMEsim simulation line control. Background Art

[0002] At present, mines are in a period of vigorous development, and various mining machinery are also flourishing. Pure electric wide-body dump trucks are favored by major mines because of their advantages of light weight, large load, and green environmental protection. However, due to the harsh working environment and high labor intensity in mines, it is becoming increasingly difficult to recruit wide-body truck drivers. Therefore, unmanned pure electric wide-body dump trucks have become a development trend of mining vehicles. Accurate control of the unmanned steering system is the basis for the safe operation of unmanned driving, and accurate calibration of the zero position of the steering wheel angle sensor is the guarantee for accurate steering control. The reason for calibrating the wheel angle sensor is that the manufacturing and installation errors cause the zero position of the initial installation position of the wheel angle sensor to deviate from the actual zero position of the wheel.

[0003] The current methods for calibrating the zero position include: a. Turning on the spot, observing the steering wheel position with the human eye and setting the position to zero, then letting the vehicle drive in a straight line in the wire control mode and observing the driving trajectory. If it is driving in a straight line, the calibration is completed. If it is not driving in a straight line, a small angle is corrected in the opposite direction of the deviation direction and set to zero, and the previous step is repeated until the vehicle drives in a straight line; b. An experienced driver drives the vehicle. When the straight-line deviation of the vehicle meets the relevant standards, the vehicle is stopped and the position of the sensor at this time is set to zero to complete the calibration.

[0004] The disadvantages of the existing technology are: a. The error of human eye observation is too large, and calibration needs to be repeated many times. The calibration efficiency is extremely low, the workload of the debugging engineer is large, and the debugging cycle is long; b. It requires high driving skills of the driver and requires a large enough venue, and calibration needs to be repeated many times; c. At least two people are required to cooperate to complete the debugging, which increases labor costs. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a reverse calibration method for a wide-body dump wheel angle sensor of a mine based on AMEsim simulation control-by-wire, so as to achieve accurate zero position calibration and improve calibration efficiency.

[0006] In order to solve the above technical problems, the technical solution of the present invention is: a reverse calibration method of a wide-body dump wheel angle sensor of a mine based on AMEsim simulation line control, comprising the following steps: (1) Build an AMEsim model based on the structural characteristics of the vehicle steering mechanism, and then assign the necessary parameters required for model calculation according to the size of the steering mechanism; AMEsim software calculates the model to obtain the simulation curve of the left and right steering wheel angle changes, and reads the size of the wheel angle at each position on the simulation curve; (2) Turn the vehicle steering wheel in place, first turn the steering wheel to the left limit, and record the left wheel angle A1 at this time; then turn the steering wheel to the right limit, and record the left wheel angle A2 at this time; calculate the angle that the left steering wheel turns from the left limit to the right limit A=A1+A2; (3) Compare the angle A of the left steering wheel obtained in step (2) with the sum of the left wheel angle B1 and the right wheel angle B2 on the simulation curve to find the actual wheel angle size when the left wheel is at the left and right limits; when the sum of the left and right wheel angles at a certain position on the simulation curve is the same as the angle A of the left steering wheel, that is, B1+B2=A, the steering wheel is turned left to return to normal until the left wheel angle turns left by B1 degrees and then the steering wheel is stopped, and then the position is set to zero.

[0007] As an improvement, in step (1), the AMEsim model includes a hydraulic oil tank, a steering pump, a relief valve, a check valve, a three-position four-way reversing valve, a control signal, a hydraulic steering cylinder, a steering knuckle, a kingpin and a wheel, and a tie rod; wherein the control signal and the three-position four-way valve together constitute the function of the steering gear, controlling the extension and retraction of the steering cylinder.

[0008] As an improvement, in step (1), the necessary parameters include: the displacement of the steering pump, the speed of the steering motor, the diameter of the one-way valve, the diameter of the three-position four-way valve, the strength and period of the control signal, the diameter and length of each hose, the cylinder diameter of the steering cylinder, the rod diameter of the steering cylinder, the stroke of the steering cylinder, the initial position of the steering cylinder piston, the initial horizontal coordinate and vertical coordinate of the connection points at both ends of the steering cylinder, the horizontal coordinate and vertical coordinate of the kingpin, the weight and initial coordinate of the center of gravity of the wheel, the resistance torque of the wheel, the initial horizontal coordinate and vertical coordinate of each connection point of the steering knuckle, the weight and initial coordinate of the center of gravity of the steering knuckle, the weight and initial coordinate of the center of gravity of the tie rod, the initial coordinate of the connecting bearings at both ends of the tie rod, the calculation time and the calculation step size.

[0009] Compared with the prior art, the utility model has the following beneficial effects: The wheel angle change curves of the left and right wheels are obtained by AMEsim simulation calculation to perform zero-position calibration of the wheel angle sensor, with high calibration accuracy. One engineer can perform zero-position calibration of the wheel angle sensor, reducing labor costs. This improves the efficiency of zero-position calibration of the wheel angle sensor and reduces the workload of engineers. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is the AMEsim model diagram of the steering mechanism of a wide-body mining vehicle.

[0011] Figure 2 It is the simulation curve of the left and right steering wheel angle changes. DETAILED DESCRIPTION

[0012] The present invention will be further described below in conjunction with the accompanying drawings.

[0013] A reverse calibration method for a wide-body dump wheel angle sensor of a mine based on AMEsim simulation line control includes the following steps: (1) Build an AMEsim model based on the structural characteristics of the vehicle steering mechanism, and then assign the necessary parameters required for model calculation according to the size of the steering mechanism; AMEsim software calculates the model to obtain the simulation curve of the left and right steering wheel angle changes, and reads the size of the wheel angle at each position on the simulation curve; (2) Turn the vehicle steering wheel in place, first turn the steering wheel to the left limit, and record the left wheel angle A1 at this time; then turn the steering wheel to the right limit, and record the left wheel angle A2 at this time; calculate the angle that the left steering wheel turns from the left limit to the right limit A=A1+A2; (3) If Figure 2 As shown, the angle A of the left steering wheel obtained in step (2) is compared with the sum of the left wheel angle B1 and the right wheel angle B2 on the simulation curve to find the actual wheel angle size when the left wheel is at the left and right limits; when the sum of the left and right wheel angles at a certain position on the simulation curve is the same as the angle A of the left steering wheel, that is, B1+B2=A, the steering wheel is turned left to return to normal until the left wheel angle turns left by B1 degrees and then the steering wheel is stopped, and then the position is set to zero.

[0014] like Figure 1 As shown, in step (1), the AMEsim model includes a vehicle frame 2, a steering motor 8, a relief valve 9, a spherical bearing 11, a hydraulic oil tank 7, a steering pump 6, a relief valve 9, a non-return valve 5, a three-position four-way reversing valve 4, a control signal 3, a hydraulic steering cylinder 1, a steering knuckle 13, a kingpin and a wheel 14, and a tie rod 10; wherein the control signal 3 and the three-position four-way reversing valve 4 together constitute the function of the steering gear, controlling the extension and retraction of the hydraulic steering cylinder 1; and the entire model simulates the steering action process of the vehicle steering mechanism.

[0015] In the step (1), the necessary parameters include: the displacement of the steering pump 6, the speed of the steering motor 8, the diameter of the one-way valve 5, the diameter of the three-position four-way reversing valve 4, the strength and period of the control signal 3, the diameter and length of each hose 15, the cylinder diameter of the hydraulic steering cylinder 1, the rod diameter of the hydraulic steering cylinder 1, the stroke of the hydraulic steering cylinder 1, the initial position of the piston of the hydraulic steering cylinder 1, the initial horizontal coordinate and vertical coordinate of the connection points at both ends of the hydraulic steering cylinder 1, the horizontal coordinate and vertical coordinate of the kingpin, the weight and initial coordinate of the center of gravity of the wheel, the resistance torque of the wheel, the initial horizontal coordinate and vertical coordinate of each connection point 12 of the steering knuckle, the weight and initial coordinate of the center of gravity of the steering knuckle 13, the weight and initial coordinate of the center of gravity of the tie rod 10, the initial coordinate of the bearings connected at both ends of the tie rod 10, the calculation time and the calculation step size.

Claims

1. A reverse calibration method for the angle sensor of wide-body dump wheel in mining based on AMEsim simulation line control, characterized in that: The following steps are involved: (1) Build an AMEsim model based on the structural characteristics of the vehicle steering mechanism, and then assign the necessary parameters required for model calculation according to the size of the steering mechanism; AMEsim software calculates the model to obtain the simulation curve of the left and right steering wheel angle changes, and reads the size of the wheel angle at each position on the simulation curve; (2) Turn the vehicle steering wheel in place, first turn the steering wheel to the left limit, and record the left wheel angle A1 at this time; then turn the steering wheel to the right limit, and record the left wheel angle A2 at this time; Calculate the angle A=A1+A2 that the left steering wheel rotates from the left limit to the right limit; (3) Compare the angle A of the left steering wheel obtained in step (2) with the sum of the left wheel angle B1 and the right wheel angle B2 on the simulation curve to find the actual wheel angle size when the left wheel is at the left and right limits; when the sum of the left and right wheel angles at a certain position on the simulation curve is the same as the angle A of the left steering wheel, that is, B1+B2=A, the steering wheel is turned left to return to normal until the left wheel angle turns left by B1 degrees and then the steering wheel is stopped, and then the position is set to zero.

2. According to claim 1, a reverse calibration method for a wide-body dump wheel angle sensor in a mine based on AMEsim simulation control-by-wire is characterized in that: In the step (1), the AMEsim model includes a hydraulic oil tank, a steering pump, a relief valve, a non-return valve, a three-position four-way reversing valve, a control signal, a hydraulic steering cylinder, a steering knuckle, a kingpin and a wheel, and a tie rod; wherein the control signal and the three-position four-way valve together constitute the function of the steering gear, controlling the extension and retraction of the steering cylinder.

3. According to claim 2, a reverse calibration method for a wide-body dump wheel angle sensor in a mine based on AMEsim simulation control-by-wire is characterized in that: In the step (1), the necessary parameters include: the displacement of the steering pump, the speed of the steering motor, the diameter of the one-way valve, the diameter of the three-position four-way valve, the strength and period of the control signal, the diameter and length of each hose, the cylinder diameter of the steering cylinder, the rod diameter of the steering cylinder, the stroke of the steering cylinder, the initial position of the steering cylinder piston, the initial horizontal coordinate and vertical coordinate of the connection points at both ends of the steering cylinder, the horizontal coordinate and vertical coordinate of the kingpin, the weight and initial coordinate of the center of gravity of the wheel, the resistance torque of the wheel, the initial horizontal coordinate and vertical coordinate of each connection point of the steering knuckle, the weight and initial coordinate of the center of gravity of the steering knuckle, the weight and initial coordinate of the center of gravity of the tie rod, the initial coordinate of the connecting bearings at both ends of the tie rod, the calculation time and the calculation step size.

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