Method and system for adaptively switching multi-point drive modes of six-wheel drive frame battery vehicle

Abstract

The present invention belongs to the technical field of traction control for mining vehicles, and aims to solve the problem of large parasitic power generated when multiple motor torques are output during the traction process of a six-wheel drive frame type battery vehicle. A method and system for adaptively switching the multi-point drive mode of a six-wheel drive frame type battery vehicle is provided. By performing a dynamic analysis on the traction and operating state of the vehicle, the number of traction motors used and the torque setting of the vehicle are reasonably switched under the premise of satisfying the performance of the vehicle under different working conditions. The present invention can realize the adaptive switching function of the multi-point drive mode of a six-wheel drive frame type battery vehicle for mining, so that the electric drive system of the whole vehicle can more reasonably distribute the six-drive energy, reduce parasitic power and reactive power loss, and improve the cruising range and maneuverability of the six-wheel drive frame type battery vehicle for mining.

Description

Technical Field

[0001] The invention belongs to the technical field of traction control of mining vehicles, and in particular relates to a method and system for adaptively switching multi-point drive modes of a six-wheel drive frame type battery vehicle. Background Art

[0002] Frame-type battery vehicles in coal mines are often responsible for the towing, handling, and retraction of heavy equipment or hydraulic supports. In the past, the electric drive traction system of such vehicles was relatively simple, mostly using a single motor to drive the entire vehicle or dual motors to drive the front and rear axles. Usually, the accelerator pedal stroke is directly linearly related to the torque given by all traction motors, and its control strategy is also relatively simple. The torque given by each traction motor is often the same without distribution, which can only meet the basic vehicle traction. The above control will cause a large parasitic power to be generated when multiple motors output torque during traction, which will not only increase reactive power consumption and reduce the vehicle's cruising range, but also make it difficult to meet the precise control of vehicle traction. Summary of the invention

[0003] In order to solve at least one of the above technical problems existing in the prior art, the present invention provides a method and system for adaptively switching multi-point drive modes of a six-wheel drive frame type battery vehicle.

[0004] The present invention is implemented by the following technical solution: a method for adaptively switching multi-point drive modes of a six-wheel drive frame battery vehicle, comprising the following steps: S1: obtaining the vehicle's load information and traction road surface state, and combining them as the first judgment information; S2: performing an initial selection of the vehicle drive mode based on the first judgment information; if the drive mode is not selected in the initial selection, executing step S3; S3: obtaining accelerator pedal travel information as the second judgment information; S4: performing a secondary selection of the vehicle drive mode based on the second judgment information, and if the drive mode is not selected in the secondary selection, executing step S5; S5: given the motor dynamic speed upper limit information, obtaining the vehicle's motor speed feedback information, and combining it with the second judgment information as the third judgment information; S6: performing a final selection of the vehicle drive mode based on the third judgment information.

[0005] Preferably, the vehicle's load information is obtained by collecting the vehicle's shovel pressure in real time, and the vehicle's load information includes empty load and heavy load; the traction road surface state is obtained by collecting the vehicle's inclination data in real time, and the traction road surface state includes uphill, downhill and flat road.

[0006] Preferably, the initial selection of the vehicle driving mode comprises the following steps:

[0007] S201: Determine whether the first judgment information is an unloaded flat road. If it is yes, the driving mode is selected as the two-wheel drive mode. If it is no, execute step S202; S202: Determine whether the first judgment information is an unloaded downhill road. If it is yes, the driving mode is selected as the two-wheel drive mode. If it is no, execute step S203; S203: Determine whether the first judgment information is a heavily loaded uphill road. If it is yes, the driving mode is selected as the six-wheel drive mode. If it is no, do not select the driving mode based on the first judgment information and execute step S3.

[0008] Preferably, the accelerator pedal travel information is obtained by collecting the accelerator pedal signal of the vehicle in real time.

[0009] Preferably, the secondary selection of the vehicle driving mode includes the following steps: determining whether the second judgment information is that the pedal travel is less than If the determination is yes, the driving mode is selected as the two-wheel drive mode. If the determination is no, the driving mode is not selected based on the second judgment information, and step S5 is executed.

[0010] Preferably, the final selection of the vehicle driving mode includes the following steps:

[0011] Determine whether the third judgment information is that the pedal stroke is less than And the motor speed feedback within the first duration has reached the upper limit of the motor dynamic speed, if it is determined to be yes, the selected driving mode is the two-wheel drive mode;

[0012] Determine whether the third judgment information is that the pedal stroke is less than If the motor speed feedback within the first duration does not reach the upper limit of the motor dynamic speed, then the selected driving mode is the four-wheel drive mode;

[0013] Determine whether the third judgment information is that the pedal stroke is greater than or equal to And the motor speed feedback within the second duration has reached the upper limit of the motor dynamic speed, if it is determined to be yes, the selected driving mode is the two-wheel drive mode;

[0014] Determine whether the third judgment information is that the pedal stroke is greater than or equal to And the motor speed feedback within the first duration has not reached the upper limit of the motor dynamic speed. If it is determined to be yes, the drive mode is selected as the four-wheel drive mode; continue to judge whether the motor speed feedback within the second duration has reached the upper limit of the motor dynamic speed. If it is determined to be yes, the drive mode is maintained at the four-wheel drive mode; if it is determined to be no, the drive mode is selected as the six-wheel drive mode; wherein the first duration and the second duration are both preset times, the value range of the first duration is 2s-4s, and the value range of the second duration is 4s-7s.

[0015] Preferably, the method further includes obtaining a given torque coefficient of the motor based on the upper limit of the dynamic speed of the motor and the motor speed feedback in the four-wheel drive mode or the six-wheel drive mode;

[0016] Motor torque reference coefficient The calculation formula is:

[0017]

[0018] in, is the motor speed feedback, is the upper limit of the motor dynamic speed, It is the threshold of the upper limit of the motor dynamic speed.

[0019] Preferably, the steps for determining the traction road surface state are as follows: when the vehicle inclination angle is greater than If the vehicle is in an uphill state, the vehicle will be judged to be in an uphill state if the vehicle inclination angle is less than If the duration exceeds a third duration, the vehicle is determined to be in a downhill state; the third duration is a preset time, and the value range is 5s-10s; in other cases, the vehicle is determined to be in a flat road state.

[0020] According to a second aspect of the present invention, a multi-point drive mode adaptive switching system for a six-wheel drive frame battery vehicle is provided, comprising a vehicle controller, a six-electric wheel traction motor controller, a pressure sensor, an inclination sensor, a speed sensor, an accelerator pedal and a power supply for providing power to the above-mentioned devices; the pressure sensor detects the pressure data of the vehicle shovel, and the vehicle controller converts it into a shovel pressure value, and calculates the load information of the vehicle in combination with the mechanical structure of the vehicle; the inclination sensor is used to measure the angle data of the vehicle in real time during driving, and the vehicle controller obtains the traction road state of the vehicle based on the angle data, including flat road, uphill and downhill; the speed sensor is used to measure the motor speed in real time, and the speed sensor is connected to the six-electric wheel traction motor controller, and the six-electric wheel traction motor controller transmits the motor speed feedback information to the vehicle controller; the accelerator pedal is located in the cab, and the vehicle controller obtains the opening information of the accelerator pedal and converts it into the torque setting and dynamic speed upper limit information of the traction motor; the vehicle controller obtains the number of motors required for vehicle traction and their torque and speed setting by receiving and analyzing the input signals of the accelerator pedal and various sensors, and sends them to the six-electric wheel traction motor controller to drive the traction motor to operate.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The present invention performs dynamic analysis on the traction and operating states of the vehicle, and reasonably switches the number of traction motors used and the torque setting of the vehicle under the premise of satisfying the performance of the vehicle in different working conditions, so as to realize the multi-point drive mode adaptive switching function of the mining six-wheel drive frame type battery vehicle, so that the whole vehicle electric drive system can more reasonably distribute the six-drive energy, reduce parasitic power and reactive power loss, and improve the cruising range and maneuverability of the mining six-wheel drive frame type battery vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 is an overall flow chart of the multi-point drive mode adaptive switching method of the present invention;

[0025] Figure 2 is a judgment flow chart of the multi-point drive mode adaptive switching method of the present invention;

[0026] Figure 3 is a schematic diagram of the control hardware of the present invention;

[0027] Figure 4 It is the mode switching and torque output curve of the driving mode and motor torque under extreme working conditions of the present invention. DETAILED DESCRIPTION

[0028] In conjunction with the drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0029] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention. It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0030] like Figures 1 to 4 As shown, the present invention provides a method for adaptively switching multi-point drive modes of a six-wheel drive frame battery vehicle, comprising the following steps: S1: obtaining the load information and traction road surface state of the vehicle, and combining them as the first judgment information; S2: performing an initial selection of the vehicle drive mode based on the first judgment information; if the drive mode is not selected in the initial selection, executing step S3; S3: obtaining accelerator pedal travel information as the second judgment information; S4: performing a secondary selection of the vehicle drive mode based on the second judgment information, and if the drive mode is not selected in the secondary selection, executing step S5; S5: given the upper limit information of the dynamic speed of the motor, obtaining the motor speed feedback information of the vehicle, and combining it with the second judgment information as the third judgment information; S6: performing a final selection of the vehicle drive mode based on the third judgment information.

[0031] By collecting the shovel pressure of the vehicle in real time, the load information of the vehicle is obtained, and the load information of the vehicle includes no load and heavy load; by collecting the inclination data of the vehicle in real time, the traction road surface state is obtained, and the traction road surface state includes uphill, downhill and flat road. The steps for judging the traction road surface state are as follows: when the vehicle inclination angle is greater than If the vehicle is in an uphill state, the vehicle will be judged to be in an uphill state if the vehicle inclination angle is less than If the duration exceeds the third duration, the vehicle is judged to be in a downhill state; the third duration is a preset time, ranging from 5s to 10s; in other cases, the vehicle is deemed to be in a flat road state. This method can simply and quickly determine the road surface on which the vehicle is located and eliminate interference in a bumpy state. The accelerator pedal travel information is obtained by real-time acquisition of the vehicle's accelerator pedal signal, and the accelerator pedal travel information is the accelerator pedal travel.

[0032] In this embodiment, the initial selection of the vehicle driving mode includes the following steps:

[0033] S201: Determine whether the first judgment information is an unloaded flat road. If it is yes, the driving mode is selected as the two-wheel drive mode. If it is no, execute step S202; S202: Determine whether the first judgment information is an unloaded downhill road. If it is yes, the driving mode is selected as the two-wheel drive mode. If it is no, execute step S203; S203: Determine whether the first judgment information is a heavily loaded uphill road. If it is yes, the driving mode is selected as the six-wheel drive mode. If it is no, do not select the driving mode based on the first judgment information and execute step S3.

[0034] The secondary selection of vehicle driving mode includes the following steps:

[0035] Determine whether the second judgment information is that the pedal stroke is less than If the determination is yes, the driving mode is selected as the two-wheel drive mode. If the determination is no, the driving mode is not selected based on the second judgment information, and step S5 is executed.

[0036] The final selection of the vehicle drive mode includes the following steps:

[0037] Determine whether the third judgment information is that the pedal stroke is less than and the motor speed feedback within the first duration has reached the upper limit of the motor dynamic speed, if the determination is yes, the drive mode is selected as the two-wheel drive mode; and the third determination information is whether the pedal stroke is less than and the motor speed feedback within the first duration does not reach the upper limit of the motor dynamic speed. If the determination is yes, the drive mode is selected as the four-wheel drive mode; and the third determination information is whether the pedal stroke is greater than or equal to and the motor speed feedback within the second duration has reached the upper limit of the motor dynamic speed, if the determination is yes, the drive mode is selected as the two-wheel drive mode; determine whether the third determination information is that the pedal stroke is greater than or equal to And the motor speed feedback within the first duration has not reached the upper limit of the motor dynamic speed. If it is determined to be yes, the drive mode is selected as the four-wheel drive mode; continue to judge whether the motor speed feedback within the second duration has reached the upper limit of the motor dynamic speed. If it is determined to be yes, the drive mode is maintained at the four-wheel drive mode; if it is determined to be no, the drive mode is selected as the six-wheel drive mode; wherein the first duration and the second duration are both preset times, the value range of the first duration is 2s-4s, and the value range of the second duration is 4s-7s.

[0038] Specifically, in this embodiment, the adaptive switching of the six driving states follows the following control method:

[0039] When the vehicle is unloaded on a flat road or going downhill, since the lead-acid battery of this series of vehicles is located in the front frame and the center of gravity of the vehicle is forward, only the output torque of the front two wheel traction motors is required to operate, so the two-wheel drive mode is adopted. When the vehicle is heavily loaded and climbing a slope, all six traction motors need to operate at high load, and the six-wheel drive mode is adopted at this time. In addition, the vehicle makes autonomous switching choices.

[0040] When the driver operates the accelerator pedal to control the operation of the vehicle, when the pedal stroke (0~100) is less than 50, the vehicle is limited to two-wheel drive mode. At this time, if the two-wheel drive torque is insufficient, it is necessary to increase the pedal stroke to increase the front two-wheel drive torque output instead of adding an additional traction motor.

[0041] When the pedal stroke is greater than or equal to 50 and less than 80, the vehicle is limited to two-wheel drive or four-wheel drive mode. If the motor speed feedback reaches the upper limit of the motor dynamic speed, the vehicle remains in two-wheel drive mode; if the motor speed feedback reaches the first duration If the motor speed feedback in four-wheel drive mode still does not reach the upper limit of the motor dynamic speed, it is necessary to increase the pedal stroke to increase the four-wheel drive torque output rather than adding an additional motor.

[0042] When the pedal stroke is greater than or equal to 80, the vehicle is in two-wheel drive, four-wheel drive or six-wheel drive mode. When the motor speed feedback reaches the upper limit of the motor dynamic speed, the vehicle remains in two-wheel drive mode. If the motor speed feedback is within the first duration If the motor dynamic speed upper limit is not reached within the second duration, it will switch to four-wheel drive mode; if the motor speed feedback in four-wheel drive mode is If the upper limit of the motor dynamic speed is still not reached within 30 seconds, it indicates that the four-wheel drive torque is insufficient and it is necessary to switch to six-wheel drive mode.

[0043] It should be noted that the accelerator pedal is not only used as an input signal to determine the torque setting and dynamic speed upper limit of the motor, but also uses the accelerator pedal stroke (0~100) as one of the bases for switching the traction mode: when the pedal stroke is less than 50, the vehicle is limited to the two-wheel drive mode; when the pedal stroke is greater than 50 and less than 80, the vehicle automatically selects the two-wheel drive or four-wheel drive mode according to the needs; when the pedal stroke is greater than 80, the vehicle selects the two-wheel drive, four-wheel drive or six-wheel drive mode. The 50, 80, and 100 in the steps are only a special case of the present invention, which can be defined as , and , and satisfies , other values ​​can be used according to actual needs.

[0044] When the vehicle's traction motor is running in torque mode, the vehicle's torque demand can be determined by comparing the motor's dynamic speed upper limit and the motor speed feedback. That is, when the motor's dynamic speed upper limit is greater than the motor speed feedback for a long time, it indicates that the torque given by the traction motor in the current mode (two-wheel drive or four-wheel drive) can no longer meet the demand, and a traction motor needs to be added to provide greater torque. The duration of the difference between the motor dynamic speed upper limit and the motor speed feedback. When the vehicle traction mode changes from two-wheel drive to four-wheel drive; when When the vehicle switches from four-wheel drive to six-wheel drive (including ).

[0045] At the same time, based on the dynamic speed upper limit of the motor and the motor speed feedback in the four-wheel drive mode or the six-wheel drive mode, the torque given coefficient of the motor is obtained; according to the standard torque given that can be obtained according to the pedal stroke, the torque given of the rear four-wheel drive motor can be calculated based on the standard torque given and the torque given coefficient of the corresponding motor.

[0046] Motor torque reference coefficient The calculation formula is:

[0047]

[0048] in, is the motor speed feedback, is the upper limit of the motor dynamic speed, is the threshold of the upper limit of the motor dynamic speed. It should be noted that the upper limit of the motor dynamic speed usually has an additional upper limit threshold , so when the motor torque setting reaches the use requirement, it satisfies ; and if Long time less than , it indicates that the torque setting is insufficient, and it is necessary to increase the current motor torque output or increase the number of traction motors.

[0049] The torque settings of the rear four drive motors are:

[0050]

[0051] in , , , They are the torque settings of the left center, right center, left rear, and right rear motors respectively. , , , is the calculated torque reference coefficient of the left center, right center, left rear, and right rear motors, The torque given by the motor in four-wheel drive and six-wheel drive modes is dynamically allocated based on the standard torque given by the pedal stroke and the optimal driving mode under different vehicle working conditions.

[0052] Figure 4 The mode switching process and motor torque output curve under extreme working conditions are given, with the horizontal axis representing the pedal stroke and the vertical axis representing the torque setting. is the front wheel single motor torque given, The torque of the intermediate wheel single motor is given. The torque setting of the rear wheel single motor is set in the range of 0~100. is the torque given by the vehicle traction system, that is The curve shown in the figure is the maximum torque output by the motor under different pedal strokes.

[0053] The present invention also provides a multi-point drive mode adaptive switching system for a six-wheel drive frame type battery vehicle, which is used to implement a multi-point drive mode adaptive switching method for a six-wheel drive frame type battery vehicle, including a vehicle controller, a six-electric wheel traction motor controller, a pressure sensor, an inclination sensor, a speed sensor, an accelerator pedal and a power supply for providing power to the above devices; the pressure sensor detects the pressure data of the vehicle shovel, and the vehicle controller converts it into a shovel pressure value, and calculates the load information of the vehicle in combination with the mechanical structure of the vehicle, and this calculation is only performed when the vehicle is in a flat road and stationary state; the inclination sensor is used to measure the angle data of the vehicle in real time during driving, and the vehicle controller obtains the traction road surface state of the vehicle based on the angle data, including flat road, uphill and downhill; the speed sensor is used to measure the motor speed in real time, and the speed sensor is connected to the six-electric wheel traction motor controller, and the six-electric wheel traction motor controller transmits the motor speed feedback information to the vehicle controller; the accelerator pedal is located in the cab, and the vehicle controller obtains the opening information of the accelerator pedal and converts it into the torque setting and dynamic speed upper limit information of the traction motor;

[0054] The vehicle controller receives and analyzes input signals from the accelerator pedal and various sensors to obtain the number of motors required for vehicle traction and their torque and speed settings, and sends them to the six-wheel electric traction motor controller to drive the traction motors.

[0055] It should be noted that the above are only the core components of the multi-point driving mode adaptive switching control device and not all the components. Conventional general components such as steering wheels, operating handles, displays, switches, relays, etc. are not repeated here.

[0056] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for adaptively switching multi-point drive modes of a six-wheel drive frame battery vehicle, characterized in that: The following steps are involved: S1: obtaining the load information and the traction road surface state of the vehicle, and combining them as the first judgment information; By collecting the shovel pressure of the vehicle in real time, the load information of the vehicle is obtained, and the load information of the vehicle includes no load and heavy load; by collecting the inclination data of the vehicle in real time, the state of the traction road surface is obtained, and the state of the traction road surface includes uphill, downhill and flat road; S2: Performing an initial selection of a vehicle driving mode based on the first judgment information; the initial selection of the vehicle driving mode comprises the following steps: S201: Determining whether the first judgment information is an unloaded flat road, if it is determined to be yes, the driving mode is selected as a two-wheel drive mode, if it is determined to be no, executing step S202; S202: Determining whether the first judgment information is an unloaded downhill, if it is determined to be yes, the driving mode is selected as a two-wheel drive mode, if it is determined to be no, executing step S203; S203: Determining whether the first judgment information is a heavily loaded uphill, if it is determined to be yes, the driving mode is selected as a six-wheel drive mode, if it is determined to be no, the driving mode is not selected based on the first judgment information, and executing step S3; S3: Acquire accelerator pedal travel information as second judgment information; acquire the accelerator pedal travel information by real-time acquisition of the accelerator pedal signal of the vehicle; S4: Perform secondary selection of the vehicle driving mode based on the second judgment information; the secondary selection of the vehicle driving mode includes the following steps: judging whether the second judgment information is that the pedal travel is less than If the determination result is yes, the driving mode is selected as the two-wheel drive mode. If the determination result is no, the driving mode is not selected based on the second determination information, and step S5 is executed; S5: Given the upper limit information of the dynamic speed of the motor, obtaining the motor speed feedback information of the vehicle, and combining it with the second judgment information as the third judgment information; S6: Performing a final selection of the vehicle driving mode based on the third judgment information; the final selection of the vehicle driving mode includes the following steps: Determine whether the third judgment information is that the pedal stroke is less than And the motor speed feedback within the first duration has reached the upper limit of the motor dynamic speed, if it is determined to be yes, the selected driving mode is the two-wheel drive mode; Determine whether the third judgment information is that the pedal stroke is less than If the motor speed feedback within the first duration does not reach the upper limit of the motor dynamic speed, then the selected driving mode is the four-wheel drive mode; Determine whether the third judgment information is that the pedal stroke is greater than or equal to And the motor speed feedback within the second duration has reached the upper limit of the motor dynamic speed, if it is determined to be yes, the selected driving mode is the two-wheel drive mode; Determine whether the third judgment information is that the pedal stroke is greater than or equal to And the motor speed feedback within the first duration has not reached the upper limit of the motor dynamic speed. If it is determined to be yes, the drive mode is selected as the four-wheel drive mode; continue to judge whether the motor speed feedback within the second duration has reached the upper limit of the motor dynamic speed. If it is determined to be yes, the drive mode is maintained at the four-wheel drive mode; if it is determined to be no, the drive mode is selected as the six-wheel drive mode; wherein the first duration and the second duration are both preset times, the value range of the first duration is 2s-4s, and the value range of the second duration is 4s-7s.

2. The method for adaptively switching multi-point drive modes of a six-wheel drive frame battery vehicle according to claim 1, characterized in that: It also includes obtaining the motor torque reference coefficient based on the motor dynamic speed upper limit and motor speed feedback in the four-wheel drive mode or the six-wheel drive mode; Motor torque reference coefficient The calculation formula is: in, is the motor speed feedback, is the upper limit of the motor dynamic speed, It is the threshold of the upper limit of the motor dynamic speed.

3. The method for adaptively switching multi-point drive modes of a six-wheel drive frame battery vehicle according to claim 2, characterized in that: The steps to determine the traction road condition are as follows: When the vehicle inclination angle is greater than If the vehicle is in an uphill state, the vehicle will be judged to be in an uphill state if the vehicle inclination angle is less than If the duration exceeds a third duration, the vehicle is determined to be in a downhill state; the third duration is a preset time, and the value range is 5s-10s; in other cases, the vehicle is determined to be in a flat road state.

4. A six-wheel drive frame type battery vehicle multi-point drive mode adaptive switching system, used to implement the six-wheel drive frame type battery vehicle multi-point drive mode adaptive switching method as described in any one of claims 1 to 3 above, characterized in that: It includes vehicle controller, six electric wheel traction motor controller, pressure sensor, inclination sensor, speed sensor, accelerator pedal and power supply; The pressure sensor detects the pressure data of the vehicle shovel, and the vehicle controller converts it into the shovel pressure value, and combines it with the mechanical structure of the vehicle to calculate the load information of the vehicle; The inclination sensor is used to measure the angle data of the vehicle in real time during driving. The vehicle controller obtains the traction road status of the vehicle based on the angle data, including flat road, uphill and downhill. The speed sensor is used to measure the motor speed in real time. The speed sensor is connected to the six-wheel electric traction motor controller, and the six-wheel electric traction motor controller transmits the motor speed feedback information to the vehicle controller. The accelerator pedal is located in the cab. The vehicle controller obtains the opening information of the accelerator pedal and converts it into the torque setting and dynamic speed upper limit information of the traction motor. The vehicle controller receives and analyzes input signals from the accelerator pedal and various sensors to obtain the number of motors required for vehicle traction and their torque and speed settings, and sends them to the six-wheel electric traction motor controller to drive the traction motors.

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