Ramp hovering control system and method for underground electrically-driven material transport vehicle

Abstract

The invention provides a ramp hovering control system and method for an underground electrically-driven material transport vehicle, and relates to the technical field of intelligent control, and the method comprises an electric control management module which is used for controlling the working state of a motor, managing the distribution and conversion of a power supply, and monitoring the insulation state of an electrical system, and comprises a motor controller, a power supply distribution unit and a converter; the vehicle control module is used for receiving and processing the state information of each part of the vehicle, outputting a corresponding control instruction according to a preset control scheme, coordinating the cooperative work of each part of the vehicle, and realizing ramp adaptive hovering and downhill automatic speed limiting functions; and the signal communication module is used for converting different signal types, so that each module in the vehicle performs data communication and information exchange. The functions of ramp adaptive hovering, downhill automatic speed limiting and the like are achieved, the safety, the stability and the intelligent level of the vehicle are improved, and the risk and the cost of underground transportation operation are effectively reduced.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to a ramp hovering control system and method for an underground electric-driven material transport vehicle. Background Art

[0002] Traditional auxiliary transportation in coal mines mainly relies on diesel-powered trackless rubber-wheeled vehicles. These vehicles generate a large amount of exhaust emissions during operation, including harmful particulate matter, carbon monoxide, nitrogen oxides, etc., which seriously pollute the air underground, pose a long-term threat to the health of miners, and also aggravate the deterioration of the mine environment. There are obvious deficiencies in intelligent control, and it is impossible to achieve precise speed control, path planning, and automatic obstacle avoidance functions, resulting in low transportation efficiency. In some complex or emergency situations, it is impossible to respond quickly and effectively, increasing the risk of safety accidents.

[0003] In slope operations in coal mines, traditional diesel locomotives are prone to sliding down the slope due to the lack of effective hovering and anti-skid mechanisms, especially when the slope is steep or the road conditions are poor. This risk is more significant and seriously threatens the safety of vehicles and personnel. In the process of going downhill, traditional diesel locomotives often find it difficult to accurately control the speed and are prone to overspeeding or stalling, which not only increases the risk of vehicle loss of control, but may also cause the vehicle to collide with the tunnel wall or obstacles, causing serious safety accidents. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a ramp hovering control system and method for an underground electric-driven material transport vehicle, so as to realize adaptive hovering of the vehicle on a ramp and automatic downhill speed limit control.

[0005] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0006] First, the ramp hovering control system of the underground electric-driven material transport vehicle includes:

[0007] The electric control management module is used to control the working state of the motor, manage the distribution and conversion of power, and monitor the insulation state of the electrical system, including the motor controller, power distribution unit and converter;

[0008] The vehicle control module is used to receive and process the status information of various vehicle components, and output corresponding control instructions according to the preset control scheme, coordinate the collaborative work of various vehicle components, and realize the functions of adaptive hovering on slopes and automatic speed limit on downhill slopes;

[0009] Signal communication module, used to convert between different signal types, so that various modules inside the vehicle can communicate data and exchange information;

[0010] Human-computer interaction module, used to display vehicle status, receive driver operation instructions, and issue sound and light warning signals;

[0011] An early warning module, which monitors vehicle surrounding parameters in real time and takes actions, including alarm and power off, when abnormal conditions are detected, including a methane sensor and a pressure transmitter;

[0012] The power supply module includes a 24V starting power supply and a main power supply, which are used to provide power to various components of the vehicle.

[0013] Furthermore, it controls the working status of the motor, manages the distribution and conversion of power, and monitors the insulation status of the electrical system, including:

[0014] Receive motor control commands from the vehicle control unit, including start, stop, acceleration and deceleration;

[0015] Parse and process the motor control instructions to determine the target working state of the motor, including speed and torque, and output corresponding control signals to the motor controller to adjust the working state of the motor;

[0016] Feedback the working status of the motor to the electronic control management module, monitor the voltage, current and remaining power parameters of the vehicle power supply in real time, and distribute power according to the power requirements and priorities of each component of the vehicle; when each component of the vehicle requires power of different voltage levels, the power supply is converted to the corresponding voltage level through the converter, and the converted power is distributed to each component through the power distribution unit;

[0017] The electric control management module has a built-in insulation monitoring module to monitor the insulation status of the electrical system in real time.

[0018] Furthermore, the status information of each component of the vehicle is received and processed, and corresponding control instructions are output according to the preset control scheme to coordinate the coordinated work of each component of the vehicle to realize the functions of adaptive hovering on the slope and automatic speed limit on the downhill slope, including:

[0019] Define control instructions according to the vehicle's control requirements, including motor torque and brake force, and determine the search space for control instructions;

[0020] A certain number of artificial fish are randomly generated in the search space, and each fish represents an initial control instruction;

[0021] For each artificial fish, simulate the vehicle’s response in the current state, including vehicle speed changes and motor energy consumption, and calculate a performance index to evaluate the corresponding command;

[0022] Simulate the behaviors of fish gathering, fish chasing, and fish foraging, and update the position of each artificial fish based on the gathering, chasing, and foraging behaviors;

[0023] Repeat the process of simulating vehicle response, evaluating performance indicators, and updating the position of the artificial fish until a preset number of iterations is reached, determine the final artificial fish from the fish school based on the performance indicators of the artificial fish, and use the control instructions represented by the final artificial fish as the optimized control scheme;

[0024] The optimized control scheme is sent to various vehicle components, including the motor controller and braking system, to achieve slope-adaptive hovering and downhill automatic speed limit functions.

[0025] Furthermore, the calculation formula of the performance index is:

[0026]

[0027] Where P represents the performance index; w1, w2, w3, w4 represent weight coefficients; T represents the evaluation time period; t represents the specific time; v a (t) represents the actual speed of the vehicle at time t; v s (t) represents the set speed of the vehicle at time t; P represents the rated power of the motor; η represents the working efficiency of the motor; E a Represents the actual energy consumption of the motor measured; dv(t) represents the small change in vehicle speed v(t) at time t; dt represents the small change in time t; R represents the system response time.

[0028] Furthermore, different signal types are converted to enable data communication and information exchange among modules inside the vehicle, including:

[0029] Various sensors inside the vehicle collect various raw signals, including analog signals, digital signals, and pulse signals;

[0030] Preprocess various original signals to obtain processed signals, and convert the processed signals, including changing the signal type and adjusting the signal format, to obtain processed and converted signals;

[0031] The processed and converted signals are transmitted between modules inside the vehicle through communication protocols and buses.

[0032] Furthermore, the vehicle status is displayed, the driver's operation instructions are received, and sound and light warning signals are issued, including:

[0033] Collect vehicle status data and operation instructions in real time. Vehicle status data includes vehicle speed, motor temperature, and battery power, and send the vehicle status data to the intelligent display terminal;

[0034] The direction switch, accelerator pedal and brake pedal convert the corresponding operation instructions into electrical signals and send them to the control unit;

[0035] The control unit receives and analyzes the command signal to identify the driver's intention, which includes forward, reverse, acceleration and deceleration;

[0036] Based on the driver's intention and real-time vehicle status data, determine whether to issue a warning signal; if the warning conditions are met, generate and issue a corresponding sound and light warning signal.

[0037] Furthermore, the vehicle's surrounding environment parameters are monitored in real time, and measures are taken when abnormal conditions are detected, including alarms and power failures, including methane sensors and pressure transmitters, including:

[0038] The methane sensor and pressure transmitter collect environmental data, including methane concentration and pressure value, and convert the environmental data into electrical signals and transmit them to the vehicle control unit;

[0039] The vehicle control unit receives and analyzes the environmental data to extract the methane concentration and pressure values;

[0040] According to the preset thresholds, the control unit performs real-time analysis of the methane concentration and pressure values. By comparing the actual methane concentration and pressure values ​​with the thresholds, the control unit determines whether there are any abnormalities in the environmental data, including whether the methane concentration exceeds the standard and whether the pressure is abnormal. When the control unit detects that the environmental data is abnormal, an alarm signal is generated; when the methane concentration exceeds the standard, power-off measures are implemented.

[0041] In the second aspect, a ramp hovering control method for an underground electric-driven material transport vehicle includes:

[0042] Initialize the vehicle control system and related modules, including communication interfaces, sensors, actuators, and establish a bus communication connection between the vehicle control unit and the traction controller to perform system fault diagnosis;

[0043] If a fault occurs, the fault information is output; if there is no fault, it is determined whether it is in automatic driving mode according to the current conditions; if it is in automatic driving mode, the automatic driving module is used for control; otherwise, it enters manual driving mode;

[0044] In the autonomous driving mode, the traction inverter is automatically enabled to control the motor, and action commands are configured, including the throttle set value and speed upper limit parameters, and the traction motor is judged to be working properly.

[0045] If the traction motor works normally, the traction inverter is controlled to drive the vehicle according to the configured action command; otherwise, the traction inverter fault code is analyzed and the fault is handled according to the fault code;

[0046] When the motor is working normally and the vehicle is in torque mode, the vehicle control unit collects the current actual speed and compares it with the target speed. According to the difference between the actual speed and the target speed, the corresponding torque control command is output to control the acceleration or deceleration of the vehicle;

[0047] When the vehicle is in a ramp driving state, the anti-slip control module is used to detect whether the vehicle speed is consistent with the direction switch, and whether the motor speed is less than the preset value to obtain the detection result; the ramp hovering control is performed according to the detection result;

[0048] When the vehicle speed reaches the set upper speed limit during downhill driving, the speed limit control module is used to output negative torque to control the vehicle to decelerate.

[0049] Furthermore, when the motor is working normally and the vehicle is in torque mode, the vehicle control unit collects the current actual speed and compares it with the target speed, and outputs a corresponding torque control command according to the difference between the actual speed and the target speed to control the acceleration or deceleration of the vehicle, including:

[0050] The vehicle control unit uses sensors to collect the actual speed of the current vehicle, compares the actual speed with the target speed, and calculates the speed deviation;

[0051] The speed deviation is mapped to the preset fuzzy set for fuzzification processing to obtain the fuzzified speed deviation, where the calculation formula of the speed deviation is: Where ΔA(t) is the speed deviation at time t; w is the weight coefficient; A t (t) represents the target speed at time t; A a (t) represents the actual speed at time t; t represents the specific time; τ represents the time constant; k represents the decay exponent;

[0052] The fuzzified speed deviation is analyzed to obtain the fuzzy control quantity, and the fuzzy control quantity is converted into the torque control command adjustment quantity to correct the basic torque control command to obtain the corrected torque control command;

[0053] The corrected torque control command is sent to the traction inverter to adjust the output frequency to control the vehicle acceleration or deceleration.

[0054] Furthermore, when the vehicle is in a ramp driving state, the anti-slip control module is used to detect whether the vehicle speed is consistent with the direction switch, and whether the motor speed is less than a preset value to obtain a detection result; the ramp hovering control is performed according to the detection result, including:

[0055] Detect whether the current vehicle speed is consistent with the direction switch operated by the driver, and detect whether the motor speed is less than a preset value to obtain the detection result;

[0056] If the vehicle speed is inconsistent with the direction switch or the motor speed is less than the preset value according to the detection result, the hovering control scheme is initiated, including applying the braking system, adjusting the motor output torque and locking the wheels;

[0057] If it is detected that the vehicle speed is consistent with the direction switch and the motor speed is ≥ the preset value, the anti-skid control module remains in standby mode and does not interfere with the vehicle's driving.

[0058] The above solution of the present invention includes at least the following beneficial effects:

[0059] The electronic control management module effectively manages the distribution and conversion of power by precisely controlling the working state of the motor, and monitors the insulation state of the electrical system in real time, ensuring the stable operation of the entire electrical system. This not only improves the efficiency of the motor, but also enhances the reliability and safety of the system, providing a solid guarantee for the transportation of materials underground. As the "brain" of the system, the vehicle control module can receive and process the status information of each component of the vehicle in real time, and quickly output the corresponding control instructions according to the preset control scheme. This intelligent control mechanism enables the vehicle to achieve adaptive hovering on the ramp, effectively avoiding the occurrence of the slope sliding phenomenon, and can automatically limit the speed during the downhill process, ensuring the safety and stability of the transportation process. The existence of the signal communication module solves the problem of mismatching signal types between the modules inside the vehicle, and realizes smooth communication of data and efficient exchange of information. This helps the modules to work more closely together to cope with the complex transportation environment underground, and improves the response speed and execution efficiency of the entire system.

[0060] The human-computer interaction module provides the driver with an intuitive vehicle status display and a convenient operation command input interface. Through this module, the driver can easily understand the vehicle's operating status and issue commands in time for adjustment. At the same time, the module can also send out sound and light warning signals to remind the driver of potential safety risks, further improving the convenience and safety of operation. The early warning module can detect abnormal conditions and take corresponding measures at the first time by real-time monitoring of environmental parameters around the vehicle, such as methane concentration and pressure changes. Whether it is alarm or power-off processing, it can effectively prevent the occurrence of safety accidents and provide more comprehensive safety protection for underground operations. The power supply module provides stable and reliable power support for various components of the vehicle. The 24V starting power supply ensures the smooth start of the vehicle, while the main power supply ensures the continuous operation of the vehicle during transportation. This design not only improves the vehicle's endurance, but also ensures the stability and reliability of the entire system in terms of power supply. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 It is a schematic diagram of a ramp hovering control system for an underground electric-driven material transport vehicle provided by an embodiment of the present invention.

[0062] Figure 2 It is a flow chart of a ramp hovering control method for an underground electric-driven material transport vehicle provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0063] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0064] like Figure 1 As shown, an embodiment of the present invention provides a ramp hovering control system for an underground electric-driven material transport vehicle, comprising:

[0065] The electric control management module 11 is used to control the working state of the motor, manage the distribution and conversion of power, and monitor the insulation state of the electrical system, including a motor controller, a power distribution unit, and a converter;

[0066] The vehicle control module 12 is used to receive and process the status information of various components of the vehicle, and output corresponding control instructions according to the preset control scheme, coordinate the coordinated work of various components of the vehicle, and realize the functions of adaptive hovering on the slope and automatic speed limit on the downhill slope;

[0067] The signal communication module 13 is used to convert between different signal types so that each module inside the vehicle can perform data communication and information exchange;

[0068] The human-computer interaction module 14 is used to display the vehicle status, receive the driver's operation instructions, and send out sound and light warning signals;

[0069] an early warning module 15 for monitoring parameters of the vehicle's surrounding environment in real time and taking measures, including alarm and power off, when abnormal conditions are detected, including a methane sensor and a pressure transmitter;

[0070] The power supply module 16 includes a 24V starting power supply and a main power supply, and is used to provide power to various components of the vehicle.

[0071] In the embodiment of the present invention, by precisely controlling the working state of the motor, the operating efficiency of the motor is optimized, energy waste is reduced, and the overall performance of the vehicle is improved. Effective power distribution and conversion management ensures that each component of the vehicle can obtain a stable power supply when needed, avoiding system failures caused by insufficient power or uneven distribution. The insulation state of the electrical system is monitored in real time, potential electrical safety hazards are discovered and prevented in a timely manner, and the safe and reliable operation of the vehicle's electrical system is guaranteed. By receiving and processing the status information of each component of the vehicle, comprehensive monitoring of the vehicle's operating status is achieved, providing the driver with accurate vehicle status feedback. According to the preset control scheme, the corresponding control instructions are output, and the coordinated work of the various components of the vehicle is coordinated to achieve slope adaptive hovering and downhill automatic speed limit functions, greatly improving the stability and safety of the vehicle under complex road conditions.

[0072] The intelligent control scheme enables the vehicle to automatically adapt to different transportation needs, improving transportation efficiency and flexibility. It realizes data communication and information exchange between modules inside the vehicle, breaks the information island, and improves the integration and collaborative work efficiency of the entire system. The conversion of different signal types ensures the accurate transmission and analysis of information between modules, avoiding communication failures caused by signal mismatch. The intuitive vehicle status display enables the driver to quickly understand the operating status of the vehicle, facilitating timely adjustments or decisions. The convenient operation command input interface simplifies the driver's operation process and improves the convenience and accuracy of operation. The issuance of sound and light warning signals can promptly remind the driver of potential safety risks and enhance the driver's safety awareness.

[0073] Real-time monitoring of environmental parameters around the vehicle, such as methane concentration and pressure, can detect abnormal conditions and take corresponding measures in the first place, effectively preventing the occurrence of safety accidents. The implementation of emergency measures such as alarm and power off can quickly cut off the source of danger in an emergency and protect the safety of vehicles and personnel. The 24V starting power supply ensures the smooth start of the vehicle and avoids starting difficulties or failures caused by power problems. The main power supply provides a stable power supply for all components of the vehicle, ensuring the normal operation and continuous work of the vehicle. The reliable power supply design improves the vehicle's endurance and stability, and reduces downtime caused by power failures.

[0074] In a preferred embodiment of the present invention, controlling the working state of the motor, managing the distribution and conversion of power, and monitoring the insulation state of the electrical system may include:

[0075] Receive motor control commands from the vehicle control unit, including start, stop, acceleration and deceleration;

[0076] Parse and process the motor control instructions to determine the target working state of the motor, including speed and torque, and output corresponding control signals to the motor controller to adjust the working state of the motor;

[0077] Feedback the working status of the motor to the electronic control management module, monitor the voltage, current and remaining power parameters of the vehicle power supply in real time, and distribute power according to the power requirements and priorities of each component of the vehicle; when each component of the vehicle requires power of different voltage levels, the power supply is converted to the corresponding voltage level through the converter, and the converted power is distributed to each component through the power distribution unit;

[0078] The electric control management module has a built-in insulation monitoring module to monitor the insulation status of the electrical system in real time.

[0079] In an embodiment of the present invention, the electronic control management module first receives motor control instructions from the vehicle control unit, which include basic operations such as start, stop, accelerate and decelerate. After receiving the instructions, the processor in the electronic control management module parses the instructions to determine the target working state of the motor, such as speed and torque. According to the analyzed target working state, the electronic control management module outputs corresponding control signals to the motor controller. These signals include PWM (pulse width modulation) signals or analog signals, which are used to adjust the speed and torque of the motor.

[0080] The motor controller adjusts the working state of the motor according to the control signal received, and feeds back the actual working state of the motor (such as speed, torque, temperature, etc.) to the electronic control management module for real-time monitoring and adjustment. The electronic control management module monitors the voltage, current, remaining power and other parameters of the vehicle power supply in real time through built-in sensors to ensure the stability and reliability of the power supply.

[0081] According to the power requirements and priorities of various components of the vehicle, the electronic control management module intelligently distributes power through the power distribution unit. For example, when the vehicle starts or accelerates, the power supply to the motor and key control systems is prioritized. When various components of the vehicle require power at different voltage levels, the electronic control management module converts the power to the corresponding voltage level through a converter. This process involves power electronics technologies such as DC-DC conversion and AC-DC conversion to ensure that each component can obtain the required voltage and current. The electronic control management module has a built-in insulation monitoring module, which determines the insulation status of the electrical system by regularly or continuously monitoring the insulation resistance value of the electrical system. Once the insulation resistance value is found to be lower than the preset threshold, the module will immediately issue an alarm and may cut off the power supply to protect the safety of the system.

[0082] Taking an underground electric-driven material transport vehicle as an example, when the vehicle needs to go uphill, the vehicle control unit will send an acceleration command to the electronic control management module. After receiving the command, the electronic control management module will parse the torque and speed that the motor needs to increase, and output the corresponding control signal to the motor controller. At the same time, the electronic control management module will monitor the voltage and current of the power supply to ensure that the motor has sufficient power supply during the acceleration process. In addition, the insulation monitoring module will monitor the insulation status of the electrical system in real time to ensure that no electrical faults occur during the uphill process.

[0083] By accurately parsing and processing motor control instructions, the electronic control management module can achieve precise control of the motor's working state and improve the motor's response speed and stability. Intelligent distribution and conversion of power ensures that all vehicle components can obtain a stable power supply when needed, improves the efficiency of power use, and extends battery life. Real-time monitoring of the insulation status of the electrical system can promptly detect and prevent potential electrical safety hazards, ensuring the safe and reliable operation of the vehicle's electrical system. The efficient operation of the electronic control management module enables the vehicle to respond to the driver's instructions more quickly, improves the vehicle's transportation efficiency and stability, and provides more reliable support for underground operations.

[0084] When specifically applied, this includes:

[0085] The electronic control management module receives motor control instructions from the vehicle control unit through a high-speed communication interface (such as CAN bus, LIN bus, etc.). These instructions are transmitted in the form of digital signals and include basic commands for motor operations such as start, stop, accelerate, and decelerate. Instruction reception: instruction = {instruction type, instruction parameter}; wherein the instruction type includes start, stop, accelerate, decelerate, etc., and the instruction parameters include target speed, target torque, etc. After receiving the instruction, the processor (such as MCU, DSP, etc.) in the electronic control management module decodes and parses the instruction, identifies the instruction type, and extracts the instruction parameters. Parsing result = decoding (instruction) = {operation type, target state}; wherein the operation type corresponds to the instruction type, and the target state is calculated by the instruction parameters, such as target speed and torque. Based on the parsed target state, the electronic control management module calculates the working state that the motor should reach.

[0086] According to the analyzed target working state, the electronic control management module generates corresponding control signals. These signals are PWM (pulse width modulation) signals or analog signals, which are used to accurately control the speed and torque of the motor. The generated control signals are transmitted to the motor controller through a dedicated signal line or communication interface. The motor controller adjusts the drive current and voltage of the motor according to these signals, thereby achieving precise control of the motor working state. The motor controller monitors the actual working state of the motor in real time, including key parameters such as speed, torque, and temperature, and feeds this information back to the electronic control management module through the communication interface. Feedback state = {actual speed, actual torque, temperature} After receiving the state feedback of the motor, the electronic control management module processes and analyzes these data in real time. By comparing the actual working state with the target working state, the electronic control management module can adjust the control signal in time to ensure that the motor always remains in working state. The electronic control management module monitors the parameters such as the voltage, current, and remaining power of the vehicle power supply in real time through built-in sensors.

[0087] According to the power requirements and priorities of various vehicle components, the electronic control management module intelligently distributes power through the power distribution unit. For example, when the vehicle starts or accelerates, the electronic control management module will prioritize the power supply to the motor and key control systems. When various vehicle components require power of different voltage levels, the electronic control management module converts the power to the corresponding voltage level through a built-in converter. This process involves power electronics technologies such as DC-DC conversion and AC-DC conversion. The electronic control management module has a built-in insulation monitoring module, which determines the insulation status of the electrical system by regularly or continuously monitoring the insulation resistance value of the electrical system. Among them, E 绝缘 Indicates insulation resistance value; E 阈值 Indicates the preset insulation resistance threshold.

[0088] Once the insulation resistance value is found to be lower than the preset threshold, the insulation monitoring module will immediately sound an alarm and cut off the power supply of the relevant circuit through the electronic control management module to prevent safety accidents caused by leakage or short circuit. At the same time, the electronic control management module can also send fault information to the display screen through the communication interface so that the driver can understand the fault situation in time and take corresponding measures.

[0089] In a preferred embodiment of the present invention, receiving and processing the status information of each component of the vehicle, and outputting corresponding control instructions according to a preset control scheme, coordinating the coordinated work of each component of the vehicle, and realizing the functions of adaptive hovering on a slope and automatic speed limit on a downhill slope, may include:

[0090] Define control instructions according to the vehicle's control requirements, including motor torque and brake force, and determine the search space for control instructions;

[0091] A certain number of artificial fish are randomly generated in the search space, and each fish represents an initial control instruction;

[0092] For each artificial fish, simulate the vehicle’s response in the current state, including vehicle speed changes and motor energy consumption, and calculate a performance index to evaluate the corresponding command;

[0093] Simulate the behaviors of fish gathering, fish chasing, and fish foraging, and update the position of each artificial fish based on the gathering, chasing, and foraging behaviors;

[0094] Repeat the process of simulating vehicle response, evaluating performance indicators, and updating the position of the artificial fish until a preset number of iterations is reached, determine the final artificial fish from the fish school based on the performance indicators of the artificial fish, and use the control instructions represented by the final artificial fish as the optimized control scheme;

[0095] The optimized control scheme is sent to various vehicle components, including the motor controller and braking system, to achieve slope-adaptive hovering and downhill automatic speed limit functions.

[0096] In an embodiment of the present invention, control instructions are defined including motor torque and braking force according to the control requirements of the vehicle. In order to find the optimal control instruction, a search space is determined. A certain number of artificial fish are randomly generated in the search space, and each fish represents an initial control instruction. The number of artificial fish can be determined according to the complexity of the problem and the computing resources. For each artificial fish (i.e., each control instruction), we simulate the response of the vehicle in the current state, including the change in vehicle speed and motor energy consumption. Then, a performance indicator is calculated to evaluate the pros and cons of the control instruction.

[0097] By simulating the behavior of fish gathering, artificial fish tend to move to other areas where artificial fish are densely packed to increase the chance of finding a better solution. By simulating the behavior of fish chasing each other, artificial fish tend to follow artificial fish with higher performance indicators to quickly find a better solution. By simulating the behavior of fish foraging, artificial fish explore new positions in the search space to find possible better solutions. According to these behaviors, the position of each artificial fish is updated, that is, the control command is updated. Repeat the process of simulating vehicle response, evaluating performance indicators, and updating the position of artificial fish until the preset number of iterations is reached. In each iteration, a school of artificial fish with better performance is obtained. According to the performance indicators of artificial fish, the final artificial fish is determined from the school of fish, that is, the final control command is found. This control command is the optimized control scheme. The optimized control scheme is sent to various components of the vehicle, including the motor controller and the brake system. The motor controller adjusts the output of the motor according to the received torque command, and the brake system adjusts the brake force according to the received brake force command, thereby realizing the functions of slope adaptive hovering and downhill automatic speed limit.

[0098] By optimizing the control instructions, the vehicle can adaptively hover on a slope or automatically limit speed when going downhill, thereby improving the safety and stability of the vehicle. The optimized control instructions can more accurately control the output of the motor and the force of the brakes, avoiding unnecessary energy waste and improving the energy efficiency of the vehicle. The adaptive hovering and automatic speed limit functions make driving easier and more convenient, and improve the driving comfort and fun. The algorithm can be applied to various types of vehicles and driving scenarios, and has wide applicability and practicality.

[0099] When specifically applied, this includes:

[0100] According to the specific control requirements of the vehicle, the control command is defined as a two-dimensional vector, including the motor torque H and the brake force B. In order to find the optimal control command, it is necessary to first determine a search space S, which consists of the value range of the motor torque and the brake force: S = {(H, B) | H∈[H min ,H max ],B∈[B min ,B max ]}; where H min and H max are the minimum and maximum values ​​of the motor torque, B min and B max They are the minimum and maximum braking force respectively.

[0101] M artificial fish are randomly generated in the search space S, and each fish represents an initial control instruction. For each artificial fish (i.e., each control instruction), the response of the vehicle in the current state is simulated, including the change in vehicle speed and motor energy consumption. Then, a performance index is calculated to evaluate the quality of the control instruction. In order to simulate the behavior of fish, the position of the artificial fish is adjusted so that the artificial fish tends to move to areas with higher density. The position of the artificial fish is adjusted so that the artificial fish tends to follow the artificial fish with higher performance indicators. New positions are randomly explored in the search space to find possible solutions.

[0102] According to these behaviors, the position of each artificial fish is updated, that is, the control instructions are updated. Repeat the process of simulating vehicle response, evaluating performance indicators, and updating the position of artificial fish until the preset number of iterations is reached. Finally, according to the performance indicators of artificial fish, the final artificial fish is determined from the school of fish, that is, the final control instruction is found. This control instruction is the optimized control scheme. The optimized control scheme is sent to various components of the vehicle, including the motor controller and the brake system. The motor controller adjusts the output of the motor according to the torque instruction received, and the brake system adjusts the braking force according to the brake force instruction received. In this way, the vehicle can achieve functions such as slope adaptive hovering and automatic speed limit downhill.

[0103] In a preferred embodiment of the present invention, the calculation formula of the performance index is:

[0104]

[0105] Where P represents the performance index; w1, w2, w3, w4 represent weight coefficients; T represents the evaluation time period; t represents the specific time; v a (t) represents the actual speed of the vehicle at time t; v s (t) represents the set speed of the vehicle at time t; P represents the rated power of the motor; η represents the working efficiency of the motor; E a Represents the actual energy consumption of the motor measured; dv(t) represents the small change in vehicle speed v(t) at time t; dt represents the small change in time t; R represents the system response time.

[0106] In the embodiment of the present invention, an evaluation time period T is determined, which is a period of time from a specific moment to the end. Weight coefficients w1, w2, w3 and w4 are set, which are used to balance the importance of different parts of the performance index. Other related parameters are initialized, such as the rated power P of the motor, the working efficiency η of the motor, etc. During the evaluation time period T, the actual speed v of the vehicle is continuously collected. a (t) and set vehicle speed v s (t), and the actual energy consumption of the motor E a . Calculate the small change in vehicle speed dv(t) and the small change in time t dt, which can be achieved by numerically differentiating the vehicle speed. Ensure that the collected data is accurate and reliable, and perform filtering or smoothing to eliminate noise when necessary. Calculate the average absolute deviation between the actual vehicle speed and the set speed during the evaluation period T This part reflects the vehicle's ability to track the set speed, and the smaller the deviation, the better the control effect.

[0107] Calculate the energy efficiency of the motor This part reflects the energy consumption of the motor during the evaluation period. The higher the energy efficiency, the more efficient the motor is. Calculate the average value of the inverse of the vehicle speed change rate (i.e. the stability index) This part reflects the stability of the vehicle during driving. The larger the stability index, the smoother the speed change. The system response time R can be defined and measured according to actual needs. It reflects the response speed of the control system to input changes. The above parts are weighted and summed according to the weight coefficient to obtain the comprehensive performance index F. According to the calculated performance index F, the pros and cons of the current control instructions (motor torque and braking force) are evaluated. By simulating the behaviors of fish gathering, tail-ending and foraging, the control instructions are continuously adjusted and the calculation process is repeated until the preset number of iterations is reached or the control instructions that meet the requirements are found. Finally, the optimized control instructions are determined and sent to various components of the vehicle to realize functions such as slope adaptive hovering and downhill automatic speed limit.

[0108] Through the first term in the formula, the speed deviation, the optimization process will continue to reduce the deviation between the actual vehicle speed and the set speed. This means that the vehicle can track the set speed more accurately, improving driving comfort and safety. In scenarios such as autonomous driving and cruise control, accurate speed tracking is key to ensuring that the vehicle drives as expected. The second term in the formula, the energy efficiency, encourages the optimization process to find control strategies that consume less energy. This helps reduce the energy consumption of the motor, extending the vehicle's range while reducing operating costs. Improving energy efficiency is crucial in vehicles that rely on batteries or limited energy, such as electric vehicles and hybrid vehicles. Through the third term in the formula, the speed smoothness, the optimization process tends to choose control commands that make the vehicle speed change more smoothly. This can reduce vehicle bumps and passenger discomfort, improving the riding experience. Speed ​​smoothness is an important consideration in scenarios that require smooth driving, such as city driving and highway cruising. The fourth term in the formula, the system response time, encourages the optimization process to focus on the response speed of the control system. Faster system response time means that the vehicle can respond more quickly to driver input or changes in road conditions, improving driving safety and flexibility. In scenarios that require quick response, such as emergency braking and emergency obstacle avoidance, shortening the system response time is crucial.

[0109] In a preferred embodiment of the present invention, the conversion between different signal types to enable various modules inside the vehicle to perform data communication and information exchange may include:

[0110] Various sensors inside the vehicle collect various raw signals, including analog signals, digital signals, and pulse signals;

[0111] Preprocess various original signals to obtain processed signals, and convert the processed signals, including changing the signal type and adjusting the signal format, to obtain processed and converted signals;

[0112] The processed and converted signals are transmitted between modules inside the vehicle through communication protocols and buses.

[0113] In an embodiment of the present invention, the switch quantity acquisition module is responsible for collecting digital signals of various switch states (such as door switches, brake switches, etc.) inside the vehicle. These signals are in the form of high and low levels, indicating the closed or open state of the switch. The analog quantity acquisition module is used to collect analog signals of continuously changing physical quantities (such as temperature, pressure, speed, etc.). These signals are converted into changes in voltage or current by sensors, and then collected by the module and converted into digital form. The collected raw signals are filtered, denoised, calibrated, etc. to improve the accuracy and reliability of the signals.

[0114] The CAN communication isolation module isolates the original CAN signal to prevent signal interference and short circuit while maintaining the integrity and accuracy of the signal.

[0115] The CAN communication to switch output module converts the digital signal on the CAN bus into a switch output, which is used to control the switch devices such as relays and indicator lights inside the vehicle.

[0116] The CAN communication to analog output module converts the digital signal on the CAN bus into analog output, such as voltage or current signal, which is used to drive analog devices (such as motors, valves, etc.).

[0117] The switch quantity to CAN communication module converts switch quantity signals (such as button pressing, switch state change, etc.) into digital signals on the CAN bus for transmission and processing inside the vehicle.

[0118] The analog-to-CAN communication module converts analog signals (such as the voltage signal output by the temperature sensor) into digital signals on the CAN bus to achieve remote transmission and monitoring of analog signals.

[0119] The CAN (Controller Area Network) communication protocol is used as the communication standard between the modules inside the vehicle. The CAN bus has high reliability, real-time and flexibility, and can meet the complex data communication needs inside the vehicle. The processed and converted signals are transmitted between the modules inside the vehicle through the CAN bus. Each module is equipped with a CAN controller and a transceiver to realize the reception and transmission of signals.

[0120] Taking the vehicle's temperature control system as an example, the temperature sensor collects the temperature information of the engine coolant and outputs an analog signal (such as a voltage value). The analog signal is first collected and converted into digital form by the analog acquisition module; then the digital signal is converted into a data packet on the CAN bus for transmission through the analog to CAN communication module. The CAN bus transmits the temperature data packet to the vehicle's control unit (such as the engine control module ECM). After receiving the data packet, the ECM adjusts the engine's cooling system according to the temperature information to keep the engine temperature within the operating range. The ECM can also feed back the cooling system status information (such as fan speed, coolant circulation speed, etc.) to other related modules through the CAN bus to achieve closed-loop control of the entire temperature control system.

[0121] Through the processing of signal preprocessing and conversion modules, noise interference can be effectively removed, and the signal-to-noise ratio and accuracy of the signal can be improved. At the same time, the CAN communication protocol and bus technology are adopted to further enhance the reliability and real-time performance of signal transmission. The present invention realizes flexible conversion and transmission between different signal types through modular design. When a new sensor or control module needs to be added, it is only necessary to add the corresponding conversion module and configure the communication parameters, without making large-scale changes to the entire system. By transmitting and processing various signals in real time and efficiently, the present invention can more accurately control the operating state of the vehicle and improve the fuel economy, safety and comfort of the vehicle. For example, in a temperature control system, accurate temperature information can help the ECM better control the cooling system of the engine, thereby avoiding damage to the engine caused by overheating or too low temperature. The modular design concept can simplify the design and manufacturing process of the system and reduce the cost of the system. At the same time, standardized communication protocols and bus technology also make it easier for modules between different manufacturers to be interchangeable and compatible, further reducing the maintenance and upgrade costs of the system.

[0122] In a preferred embodiment of the present invention, displaying the vehicle status, receiving the driver's operation instruction, and issuing an audible and visual warning signal may include:

[0123] Collect vehicle status data and operation instructions in real time. Vehicle status data includes vehicle speed, motor temperature, and battery power, and send the vehicle status data to the intelligent display terminal;

[0124] The direction switch, accelerator pedal and brake pedal convert the corresponding operation instructions into electrical signals and send them to the control unit;

[0125] The control unit receives and analyzes the command signal to identify the driver's intention, which includes forward, reverse, acceleration and deceleration;

[0126] Based on the driver's intention and real-time vehicle status data, determine whether to issue a warning signal; if the warning conditions are met, generate and issue a corresponding sound and light warning signal.

[0127] In an embodiment of the present invention, key vehicle status data such as vehicle speed, motor temperature, and battery power are collected in real time through sensors and monitoring systems built into the vehicle. The collected vehicle status data is sent to an intelligent display terminal through a communication protocol (such as a CAN bus). The intelligent display terminal has a graphical interface that can intuitively display vehicle status information, such as a speedometer, motor temperature indication, and remaining battery power. The driver indicates the forward or reverse direction of the vehicle by operating a direction switch (such as a turn signal switch on the steering wheel or a dedicated driving direction selector). The direction switch converts the driver's operation into an electrical signal and sends it to the control unit. The accelerator pedal and the brake pedal are used to control the acceleration and deceleration of the vehicle, respectively. When the pedal is pressed, a corresponding electrical signal is generated, indicating the driver's intention to accelerate or decelerate, and these signals are also sent to the control unit. On some vehicles, a brake release button is provided to release the braking state of the vehicle. When the driver presses this button, a corresponding electrical signal is also generated and sent to the control unit. The control unit (such as the vehicle's ECU or MCU) receives electrical signals from the direction switch, the accelerator pedal, the brake pedal, and the brake release button (if any). The control unit analyzes the received signal and identifies the driver's intention, such as forward, reverse, acceleration, deceleration or release of the brakes. The control unit determines whether the conditions for issuing a warning signal are met based on the analyzed driver's intention and real-time vehicle status data (such as excessive speed, high motor temperature, low battery, etc.). If the warning conditions are met, the control unit will generate corresponding sound and light warning signal instructions. The sound and light voice alarm issues a sound alarm (such as the sounding of an electronic horn) and a light warning (such as flashing warning lights) according to the instructions of the control unit to remind the driver to pay attention to the vehicle status or operating safety.

[0128] Taking an electric forklift as an example, the forklift's intelligent display terminal displays the vehicle speed, motor temperature and battery power in real time. When the battery power is lower than the set threshold, the terminal interface will prompt "Battery Low" in a red warning box.

[0129] The driver selects forward or reverse through the direction switch, accelerates by pressing the accelerator pedal, and decelerates or stops by pressing the brake pedal. If the forklift is equipped with a brake button, the driver can release the brake state by pressing this button after stopping. After receiving the signals from the direction switch, accelerator pedal and brake pedal, the control unit analyzes the driver's intention, such as "forward and accelerate". If the forklift is driving too fast (exceeding the set speed limit) or the motor temperature rises abnormally, the control unit will determine that a warning signal needs to be issued. At this time, the sound and light voice alarm will issue a voice alarm of "speeding too fast" or "motor temperature too high", accompanied by flashing warning lights to remind the driver to pay attention to safety.

[0130] By displaying vehicle status data in real time and issuing sound and light warning signals, drivers can understand the vehicle status in a timely manner and make corresponding adjustments, thereby effectively avoiding the occurrence of safety accidents. The intelligent display terminal provides an intuitive display of vehicle status information, allowing drivers to more easily understand the vehicle status. At the same time, the timely issuance of sound and light warning signals also improves the convenience and comfort of driving. The real-time collection and analysis of vehicle status data helps vehicle managers to understand the operating status of the vehicle in a timely manner, and provides data support for vehicle maintenance and maintenance, thereby extending the service life of the vehicle and reducing maintenance costs. In emergency situations (such as vehicle failures or dangerous situations), the rapid issuance of sound and light warning signals can quickly attract the attention of surrounding personnel and win valuable time for emergency response.

[0131] In a preferred embodiment of the present invention, real-time monitoring of vehicle surrounding environment parameters and taking measures when abnormal conditions are detected, including alarm and power failure, including methane sensors and pressure transmitters, may include:

[0132] The methane sensor and pressure transmitter collect environmental data, including methane concentration and pressure value, and convert the environmental data into electrical signals and transmit them to the vehicle control unit;

[0133] The vehicle control unit receives and analyzes the environmental data to extract the methane concentration and pressure values;

[0134] According to the preset thresholds, the control unit performs real-time analysis of the methane concentration and pressure values. By comparing the actual methane concentration and pressure values ​​with the thresholds, the control unit determines whether there are any abnormalities in the environmental data, including whether the methane concentration exceeds the standard and whether the pressure is abnormal. When the control unit detects that the environmental data is abnormal, an alarm signal is generated; when the methane concentration exceeds the standard, power-off measures are implemented.

[0135] In an embodiment of the present invention, it is installed around a vehicle or in a specific area to monitor the methane concentration in the air in real time. The methane sensor contains a sensitive element inside. When the methane gas contacts the sensitive element, a corresponding electrical signal change will be generated, and the change is proportional to the methane concentration. The pressure transmitter is used to measure the pressure value around the vehicle or key components. The pressure transmitter senses the pressure change and converts it into a standard electrical signal (such as voltage, current, etc.) for output. The environmental data (methane concentration, pressure value) collected by the methane sensor and the pressure transmitter are converted into electrical signals and transmitted to the vehicle control unit via wired or wireless means. The vehicle control unit (such as ECU, MCU, etc.) receives the electrical signals from the methane sensor and the pressure transmitter. The control unit parses the received electrical signal and extracts the specific values ​​of the methane concentration and pressure value.

[0136] The normal range (i.e., threshold value) of methane concentration and pressure value is preset in the control unit. These threshold values ​​are determined according to the vehicle operating environment, safety standards, and vehicle design requirements. The control unit compares the methane concentration and pressure values ​​actually received with the preset threshold values ​​in real time. If the methane concentration exceeds the preset safety threshold, it is judged that the methane concentration exceeds the standard. If the pressure value exceeds the normal range, it is judged that the pressure is abnormal. When the control unit detects an abnormality in environmental data (such as an excessive methane concentration or abnormal pressure), an alarm signal is immediately generated. The alarm signal can warn the driver through a buzzer, warning light, or display screen inside the vehicle. In particular, when the methane concentration exceeds the standard, in order to prevent serious consequences such as explosion, the control unit will quickly implement power-off measures. This includes cutting off the power supply of the vehicle or the power supply of key components to ensure the safety of the vehicle and personnel.

[0137] Taking mining vehicles as an example, the methane sensor installed on the mining vehicle monitors the methane concentration in the mine in real time, and the pressure transmitter monitors the pressure value of the vehicle hydraulic system. After receiving the data transmitted by the methane sensor and the pressure transmitter, the vehicle control unit parses and extracts the specific methane concentration and pressure value. The control unit compares the actual methane concentration with the preset safety threshold (such as 1.0%), and compares the pressure value with the normal working range of the hydraulic system. If the methane concentration exceeds 1.0%, the control unit immediately triggers an alarm signal, and the buzzer and warning light inside the vehicle sound at the same time to alert the driver. At the same time, for safety reasons, the control unit quickly cuts off the power supply of the vehicle, stops the vehicle from running, and prevents explosion accidents caused by excessive methane concentration.

[0138] By real-time monitoring of methane concentration and pressure values, and taking timely alarm and power-off measures in abnormal situations, the safety of vehicles and personnel is effectively improved, especially in flammable, explosive or high-pressure environments. Excessive methane concentration is one of the common safety hazards in environments such as mines. Through real-time monitoring and timely power off, explosion accidents caused by excessive methane concentration can be effectively prevented. The monitoring of the pressure transmitter helps to detect abnormal conditions of the vehicle hydraulic system in a timely manner, facilitate timely maintenance and repair, and thus extend the service life of the vehicle. The vehicle control unit can record and store historical records of environmental data, providing strong data support for vehicle management and regulatory departments, and facilitating the supervision and analysis of the vehicle's operating status and environmental conditions.

[0139] When specifically applied, this includes:

[0140] The core of the methane sensor installed around the vehicle or in a specific area contains highly sensitive components. When the methane gas molecules in the air come into contact with these sensitive components, it will cause changes in the physical or chemical properties inside the components, and then generate corresponding electrical signals. The change characteristics of this electrical signal (such as the change in voltage and current) are proportional to the methane concentration in the air, that is, the higher the methane concentration, the more significant the change in the electrical signal. This relationship is expressed as ΔV∝C CH ; Among them, ΔV represents the change of the electrical signal, C CH Indicates the methane concentration. Similarly, the pressure transmitter is designed to accurately measure the pressure value around the vehicle or key components. It captures the changes in pressure through the internal pressure sensing element and converts these changes into standard electrical signals (such as voltage, current, etc.) for output. This process can be L→electrical signal; where L represents the actual measured pressure value. After being converted into electrical signals, the environmental data (i.e. methane concentration and pressure value) collected by the methane sensor and pressure transmitter will be transmitted to the vehicle's control unit (such as ECU, MCU, etc.) in real time through wired or wireless communication methods. As the brain of the vehicle, the control unit is responsible for receiving and processing these electrical signals from the sensor.

[0141] Inside the control unit, normal ranges of methane concentration and pressure values ​​are preset, which are called thresholds. These thresholds are determined based on the vehicle's operating environment, safety standards, and specific requirements of vehicle design. The control unit will continuously compare the actual methane concentration and pressure values ​​received with these preset thresholds in real time to determine whether there are any abnormalities in the environmental data.

[0142] The specific judgment logic is expressed as:

[0143] If C CHt >C t , it is judged that the methane concentration exceeds the standard;

[0144] If L>L max or L <L min , it is judged as abnormal pressure.

[0145] Among them, C t Indicates the safety threshold of methane concentration, L max and L min Respectively represent the upper and lower limits of the normal pressure range.

[0146] When the control unit detects abnormal environmental data, an alarm signal will be generated immediately. These alarm signals can be sent out through the buzzer inside the vehicle, and the specific alarm information can be displayed on the display screen. In particular, when the methane concentration exceeds the standard, in order to prevent possible explosions and other serious consequences, the control unit will quickly implement power-off measures. This measure includes cutting off the power supply of the vehicle or the power supply of key components to ensure the safety of the vehicle and personnel. This process can be expressed as C CH4 >C t Execute power-off measures. Through such a design, the vehicle can promptly detect and respond to potential safety hazards based on real-time monitoring of environmental data, thereby effectively improving the safety and reliability of the vehicle.

[0147] like Figure 2 As shown, an embodiment of the present invention also provides a ramp hovering control method for an underground electric-driven material transport vehicle, which may include:

[0148] Step 21, initializing the vehicle control system and related modules, including communication interfaces, sensors, and actuators, and establishing a bus communication connection between the vehicle control unit and the traction controller to perform system fault diagnosis;

[0149] Step 22: if a fault occurs, output fault information; if no fault occurs, determine whether it is an automatic driving mode according to current conditions; if it is an automatic driving mode, use the automatic driving module for control; otherwise, enter the manual driving mode;

[0150] Step 23, in the automatic driving mode, automatically enable the traction inverter to control the motor, configure the action command, including the throttle set value and the speed upper limit parameter, and determine whether the traction motor is working normally;

[0151] Step 24: If the traction motor works normally, the traction inverter is controlled to drive the vehicle to run according to the configured action command; otherwise, the traction inverter fault code is parsed and the fault is processed according to the fault code;

[0152] Step 25, when the motor is working normally and the vehicle is in the torque mode, the vehicle control unit collects the current actual speed and compares it with the target speed, and outputs a corresponding torque control command according to the difference between the actual speed and the target speed to control the vehicle to accelerate or decelerate;

[0153] Step 26, when the vehicle is in a ramp driving state, use the anti-slip control module to detect whether the vehicle speed is consistent with the direction switch, and detect whether the motor speed is less than a preset value, and obtain a detection result; perform ramp hovering control according to the detection result;

[0154] Step 27, when the vehicle speed reaches the set upper speed limit during the downhill process, the speed limit control module is used to output negative torque to control the vehicle to decelerate.

[0155] In an embodiment of the present invention, after the underground electric-driven material transport vehicle is started, the vehicle control system is first initialized, including loading system configuration files, parameter settings, etc. The communication interface, sensors (such as vehicle speed sensors, direction switch sensors, motor speed sensors, etc.) and actuators (such as traction motors, braking systems, etc.) are initialized. A bus communication connection is established between the vehicle control unit (VCU) and the traction controller to ensure the real-time and accuracy of data transmission. The VCU receives the status information of each module through the communication interface, performs system fault diagnosis, and ensures that all components of the system are working normally.

[0156] Step 22: If the system fails, the VCU immediately outputs the fault information and prompts the operator through the display screen or alarm device. If there is no fault, the VCU determines whether it is in automatic driving mode based on the current conditions (such as vehicle position, environmental perception data, etc.). If so, it enters the automatic driving module for control; otherwise, it enters the manual driving mode.

[0157] Step 23: In the automatic driving mode, the VCU automatically enables the traction inverter and prepares for motor control. The VCU configures the action command according to the automatic driving algorithm or preset parameters, including the throttle set value, speed upper limit parameters, etc. The VCU detects the working status of the traction motor in real time to ensure the normal operation of the motor.

[0158] Step 24: If the traction motor works normally, the VCU controls the motor to drive the vehicle through the traction inverter according to the configured action command. If the traction motor fails, the VCU immediately analyzes the traction inverter fault code and performs corresponding fault processing according to the fault code, such as shutdown, alarm, etc.

[0159] Step 25: When the motor is working normally and the vehicle is in torque mode, the VCU collects the current actual speed through the sensor. The VCU compares the actual speed with the target speed and calculates the difference. According to the speed difference, the VCU outputs the corresponding torque control command and controls the motor to output the corresponding torque through the traction inverter to control the vehicle to accelerate or decelerate.

[0160] Step 26, when the vehicle is in a ramp driving state, the vehicle control unit (VCU) starts the anti-slip control module to detect the consistency of the vehicle speed and the direction switch in real time. Check whether the motor speed is less than the preset value of 5r / min. If the vehicle speed is inconsistent with the direction switch, and the motor speed is less than 5r / min, it is judged that there is a risk of slipping, and the anti-slip control strategy is triggered immediately. The anti-slip control module calculates and outputs an appropriate positive torque, controls the motor through the traction motor controller, and ensures that the vehicle speed quickly stabilizes to 0. Continuously monitor the vehicle speed and motor status to ensure that the vehicle does not shake and remains stable. If the vehicle speed continues to increase and the rear slip speed exceeds 5r / min, the emergency braking mechanism is immediately triggered. Control the brake solenoid valve to close, start the braking system, apply braking force to the wheels, and ensure that the vehicle stops smoothly on the ramp.

[0161] Step 27, during the downhill process of the vehicle, in order to ensure the smooth speed limit operation of the vehicle, the vehicle speed is detected in real time and compared with the preset upper speed limit of the motor controller. If the vehicle speed reaches or exceeds the set speed limit, it is judged as overspeeding and the speed limit control module is called immediately. The speed limit control module adopts an adaptive fuzzy PID control strategy to dynamically adjust the output torque according to the difference between the vehicle speed and the set speed. The motor is controlled to decelerate through the traction motor controller to ensure that the vehicle runs smoothly at a limited speed during the downhill process. The vehicle speed and motor status are continuously monitored to ensure that the speed limit control effect is good and the vehicle speed is stable below the set speed.

[0162] By fully initializing the vehicle control system and related modules, including communication interfaces, sensors, actuators, etc., the normal state of each component of the system at startup is ensured, and the reliability and stability of the system are improved. At the same time, a bus communication connection is established between the vehicle control unit and the traction controller, realizing the real-time and accuracy of system fault diagnosis. Timely fault output and driving mode judgment can effectively avoid safety hazards caused by system failures and improve the safety and reliability of the vehicle. At the same time, the automatic driving and manual driving modes are flexibly switched according to the current conditions to meet the needs of different operation scenarios and improve the flexibility and efficiency of the operation. In the automatic driving mode, the traction inverter is automatically enabled for motor control and action commands are configured to achieve precise control of the traction motor. This can not only improve the automation level of the vehicle and reduce manual intervention, but also flexibly adjust the throttle set value and speed upper limit parameters according to the operation requirements, improving the accuracy and efficiency of the operation. The normal working state of the traction motor is monitored in real time, and fault handling is performed according to the fault code, which can timely detect and eliminate motor faults, avoid vehicle shutdown or accidents caused by motor faults, and improve the reliability and continuous operation capability of the vehicle. By collecting the current actual speed and comparing it with the target speed, the corresponding torque control command is output, thus achieving precise control of vehicle speed and torque. This not only improves the driving stability and safety of the vehicle, but also enables flexible adjustment of vehicle speed and torque according to operational requirements, thus improving the adaptability and efficiency of the operation.

[0163] When driving on a slope, the anti-slip control module is used to perform slope hover control, which can effectively avoid safety hazards caused by vehicle slippage and improve the safety and stability of the vehicle. At the same time, by detecting the consistency of the vehicle speed and the direction switch and whether the motor speed is less than the preset value, the accurate judgment and execution of the slope hover control is achieved, which improves the reliability and safety of the operation. During the downhill process, the speed limit control module is used to limit the vehicle speed, which can avoid safety hazards caused by excessive speed and improve the safety and stability of the vehicle. At the same time, by outputting negative torque to control the vehicle deceleration, the vehicle speed is accurately controlled, violations or accidents caused by speeding are avoided, and the compliance and safety of the operation are improved.

[0164] In another preferred embodiment of the present invention, in step 25, when the motor is working normally and the vehicle is in the torque mode, the vehicle control unit collects the current actual speed and compares it with the target speed, and outputs a corresponding torque control instruction according to the difference between the actual speed and the target speed to control the acceleration or deceleration of the vehicle, which may include:

[0165] Step 255, the vehicle control unit uses a sensor to collect the actual speed of the current vehicle, and compares the actual speed with the target speed to calculate the speed deviation;

[0166] Step 256, mapping the speed deviation to a preset fuzzy set for fuzzification processing to obtain the fuzzified speed deviation, wherein the calculation formula of the speed deviation is: Where ΔA(t) is the speed deviation at time t; w is the weight coefficient; A t (t) represents the target speed at time t; A a (t) represents the actual speed at time t; t represents the specific time; τ represents the time constant; k represents the decay exponent;

[0167] Step 257, analyzing the fuzzified speed deviation to obtain a fuzzy control amount, and converting the fuzzy control amount into a torque control command adjustment amount to correct the basic torque control command to obtain a corrected torque control command;

[0168] Step 258, sending the corrected torque control command to the traction inverter to adjust the output frequency to control the vehicle to accelerate or decelerate.

[0169] In an embodiment of the present invention, when the motor is operating normally and the vehicle is in a torque mode, in order to accurately control the acceleration or deceleration of the vehicle, the vehicle control unit (VCU) performs the following detailed steps to adjust the torque control command:

[0170] The VCU uses a high-precision speed sensor to collect the actual speed ΔA(t) of the vehicle in real time. At the same time, the VCU obtains the target speed A from the preset driving strategy or driver input. t (t). Compare the actual speed with the target speed and calculate the speed deviation ΔA(t). Wherein, w is the weight coefficient, which is used to adjust the sensitivity of the deviation; τ is the time constant, which controls the rate of change of the deviation over time; k is the attenuation exponent, which is used to adjust the attenuation speed of the deviation. The calculated speed deviation ΔA(t) is mapped to a preset fuzzy set for fuzzification. A fuzzy set usually contains multiple fuzzy subsets, such as "small deviation", "medium deviation" and "large deviation", and each subset corresponds to a fuzzy membership function. Through the fuzzy membership function, the precise speed deviation value is converted into a fuzzy speed deviation.

[0171] The fuzzy speed deviation is analyzed, and the fuzzy control quantity is obtained according to the fuzzy control rule (such as "if the deviation is large, the control quantity is large; if the deviation is small, the control quantity is small"). The fuzzy control quantity is a value between 0 and 1, which indicates the relative size of the control quantity. The fuzzy control quantity is converted into a torque control command adjustment quantity, which is used to correct the basic torque control command. The corrected torque control command is: basic torque control command + torque control command adjustment quantity. The VCU sends the corrected torque control command to the traction inverter. The traction inverter adjusts the output frequency according to the received torque control command, thereby controlling the output torque of the motor, and then controlling the acceleration or deceleration of the vehicle.

[0172] By collecting the actual speed in real time and comparing it with the target speed, calculating the speed deviation, and dynamically adjusting the torque control command according to the deviation, the control accuracy of vehicle acceleration or deceleration can be significantly improved. By accurately controlling the torque output, the vehicle can accelerate or decelerate more smoothly, improving driving comfort and safety. Accurately controlling the torque output can also avoid unnecessary energy waste, improve the energy utilization rate of the vehicle, and reduce operating costs.

[0173] In another preferred embodiment of the present invention, in step 26, when the vehicle is in a ramp driving state, the anti-slip control module is used to detect whether the vehicle speed is consistent with the direction switch, and whether the motor speed is less than a preset value to obtain a detection result; performing ramp hovering control according to the detection result may include:

[0174] Step 261, detecting whether the current vehicle speed is consistent with the direction switch operated by the driver, and detecting whether the motor speed is less than a preset value to obtain a detection result;

[0175] Step 262, if the vehicle speed is inconsistent with the direction switch or the motor speed is less than the preset value according to the detection result, then start the hovering control scheme, including applying the braking system, adjusting the motor output torque and locking the wheels;

[0176] Step 263: If it is detected that the vehicle speed is consistent with the direction switch and the motor speed is ≥ the preset value, the anti-slip control module remains in a standby state and does not interfere with the driving of the vehicle.

[0177] In an embodiment of the present invention, the anti-slip control module collects the current vehicle speed information in real time through the vehicle speed sensor. At the same time, the module reads the state of the direction switch operated by the driver to determine the direction the vehicle should move forward. The vehicle speed information is compared with the state of the direction switch to determine whether the vehicle speed direction is consistent with the driving direction expected by the driver. The motor speed information is collected in real time through the motor speed sensor. The motor speed is compared with a preset threshold (such as 5r / min) to determine whether the motor speed is less than the preset value.

[0178] Step 262, if the vehicle speed is inconsistent with the direction switch, it indicates that the vehicle may be slipping. Or if the motor speed is less than the preset value, it indicates that the motor may not be able to provide sufficient driving force to keep the vehicle stable. When any of the above conditions is met, the anti-slip control module immediately starts the hovering control scheme. By controlling the brake solenoid valve or the electronic braking system, apply appropriate braking force to the wheels to slow down or prevent the vehicle from slipping. According to the vehicle state and slope conditions, calculate and output appropriate positive torque or negative torque, and control the motor through the traction motor controller to assist the braking system or provide driving force to keep the vehicle stable. In some cases, it may also be necessary to lock the wheels mechanically or electronically to further enhance the stability of the vehicle.

[0179] Step 263: If the vehicle speed is consistent with the direction switch, and the motor speed is ≥ the preset value, it indicates that the vehicle is moving stably in the direction desired by the driver, and the motor can provide sufficient driving force. In this case, the anti-roll control module remains in standby mode, does not interfere with the vehicle's driving, and only performs necessary monitoring and preparation so as to respond quickly when needed.

[0180] Assume that the vehicle is traveling uphill and the driver expects the vehicle to move forward, but due to the steep slope and slippery road surface, the vehicle is slightly sliding. At this time:

[0181] The anti-slip control module detects that the vehicle speed direction is inconsistent with the direction switch (the vehicle is actually moving backwards), and the motor speed is lower than the preset value (such as 5r / min), indicating that the vehicle may not be able to maintain stability with the motor driving force alone. The anti-slip control module immediately starts the hovering control scheme. First, the braking system is used to apply braking force to the wheels to slow down the sliding speed. At the same time, the motor output torque is adjusted to output appropriate positive torque to assist the braking system to keep the vehicle stable. In extreme cases, it is also necessary to lock the wheels to prevent the vehicle from sliding further. If after control, the vehicle speed direction is consistent with the direction switch, and the motor speed returns to above the preset value, the anti-slip control module returns to standby mode, continues to monitor the vehicle status, and is ready to intervene again when needed.

[0182] By monitoring the vehicle speed, direction switch and motor speed in real time and initiating the hover control scheme when necessary, the vehicle can be effectively prevented from rolling away and the safety of the vehicle can be improved when driving on a slope. By applying the braking system, adjusting the motor output torque and locking the wheels, the vehicle state can be quickly stabilized to prevent loss of control or accidents caused by rolling away. The ramp hover control strategy can automatically respond to changes in vehicle state, providing drivers with additional safety and confidence, making driving easier and more enjoyable. Through timely and effective control, vehicle damage or accidents caused by rolling away can be avoided, thereby reducing repair costs and insurance premiums.

[0183] It should be noted that this method is a method corresponding to the above-mentioned system, and all implementation methods in the above-mentioned system embodiment are applicable to this embodiment and can achieve the same technical effect.

[0184] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. The ramp hovering control system of underground electric-driven material transport vehicle is characterized by: include: The electric control management module is used to control the working state of the motor, manage the distribution and conversion of power, and monitor the insulation state of the electrical system, including the motor controller, power distribution unit and converter; The vehicle control module is used to receive and process the status information of various vehicle components, and output corresponding control instructions according to the preset control scheme, coordinate the collaborative work of various vehicle components, and realize the functions of adaptive hovering on slopes and automatic speed limit on downhill slopes; Signal communication module, used to convert between different signal types, so that various modules inside the vehicle can communicate data and exchange information; Human-computer interaction module, used to display vehicle status, receive driver operation instructions, and issue sound and light warning signals; An early warning module, which monitors vehicle surrounding parameters in real time and takes actions, including alarm and power off, when abnormal conditions are detected, including a methane sensor and a pressure transmitter; The power supply module includes a 24V starting power supply and a main power supply, which are used to provide power to various components of the vehicle.

2. The ramp hovering control system for underground electric-driven material transport vehicles according to claim 1 is characterized in that: Control the working status of the motor, manage the distribution and conversion of power, and monitor the insulation status of the electrical system, including: Receive motor control commands from the vehicle control unit, including start, stop, acceleration and deceleration; Parse and process the motor control instructions to determine the target working state of the motor, including speed and torque, and output corresponding control signals to the motor controller to adjust the working state of the motor; Feedback the working status of the motor to the electronic control management module, monitor the voltage, current and remaining power parameters of the vehicle power supply in real time, and distribute power according to the power requirements and priorities of each component of the vehicle; when each component of the vehicle requires power of different voltage levels, the power supply is converted to the corresponding voltage level through the converter, and the converted power is distributed to each component through the power distribution unit; The electric control management module has a built-in insulation monitoring module to monitor the insulation status of the electrical system in real time.

3. The ramp hovering control system for underground electric-driven material transport vehicles according to claim 2 is characterized in that: Receive and process the status information of each vehicle component, and output corresponding control instructions according to the preset control scheme, coordinate the coordinated work of each vehicle component, and realize the functions of slope adaptive hovering and downhill automatic speed limit, including: Define control instructions according to the vehicle's control requirements, including motor torque and brake force, and determine the search space for control instructions; A certain number of artificial fish are randomly generated in the search space, and each fish represents an initial control instruction; For each artificial fish, simulate the vehicle’s response in the current state, including vehicle speed changes and motor energy consumption, and calculate a performance index to evaluate the corresponding command; Simulate the behaviors of fish gathering, fish chasing, and fish foraging, and update the position of each artificial fish based on the gathering, chasing, and foraging behaviors; Repeat the process of simulating vehicle response, evaluating performance indicators, and updating the position of the artificial fish until a preset number of iterations is reached, determine the final artificial fish from the fish school based on the performance indicators of the artificial fish, and use the control instructions represented by the final artificial fish as the optimized control scheme; The optimized control scheme is sent to various vehicle components, including the motor controller and braking system, to achieve slope-adaptive hovering and downhill automatic speed limit functions.

4. The ramp hovering control system for underground electric-driven material transport vehicles according to claim 3 is characterized in that: The performance index is calculated as follows: Where P represents the performance index; w1, w2, w3, w4 represent weight coefficients; T represents the evaluation time period; t represents the specific time; v a (t) represents the actual speed of the vehicle at time t; v s (t) represents the set speed of the vehicle at time t; P represents the rated power of the motor; η represents the working efficiency of the motor; E a Represents the actual energy consumption of the motor measured; dv(t) represents the small change in vehicle speed v(t) at time t; dt represents the small change in time t; R represents the system response time.

5. The ramp hovering control system for underground electric-driven material transport vehicles according to claim 4 is characterized in that: Convert different signal types to enable data communication and information exchange among modules within the vehicle, including: Various sensors inside the vehicle collect various raw signals, including analog signals, digital signals, and pulse signals; Preprocess various original signals to obtain processed signals, and convert the processed signals, including changing the signal type and adjusting the signal format, to obtain processed and converted signals; The processed and converted signals are transmitted between modules inside the vehicle through communication protocols and buses.

6. The ramp hovering control system for underground electric-driven material transport vehicles according to claim 5 is characterized in that: Display vehicle status, receive driver operation instructions, and issue audible and visual warning signals, including: Collect vehicle status data and operation instructions in real time. Vehicle status data includes vehicle speed, motor temperature, and battery power, and send the vehicle status data to the intelligent display terminal; The direction switch, accelerator pedal and brake pedal convert the corresponding operation instructions into electrical signals and send them to the control unit; The control unit receives and analyzes the command signal to identify the driver's intention, which includes forward, reverse, acceleration and deceleration; Based on the driver's intention and real-time vehicle status data, determine whether to issue a warning signal; if the warning conditions are met, generate and issue a corresponding sound and light warning signal.

7. The ramp hovering control system for underground electric-driven material transport vehicles according to claim 6 is characterized in that: Real-time monitoring of vehicle surrounding parameters and taking actions when abnormal conditions are detected, including alarms and power failures, including methane sensors and pressure transmitters, including: The methane sensor and pressure transmitter collect environmental data, including methane concentration and pressure value, and convert the environmental data into electrical signals and transmit them to the vehicle control unit; The vehicle control unit receives and analyzes the environmental data to extract the methane concentration and pressure values; According to the preset thresholds, the control unit performs real-time analysis of the methane concentration and pressure values. By comparing the actual methane concentration and pressure values ​​with the thresholds, the control unit determines whether there are any abnormalities in the environmental data, including whether the methane concentration exceeds the standard and whether the pressure is abnormal. When the control unit detects that the environmental data is abnormal, an alarm signal is generated; when the methane concentration exceeds the standard, power-off measures are implemented.

8. A method for controlling a ramp hovering of an underground electric-driven material transport vehicle, the method realizing a system as claimed in any one of claims 1 to 7, characterized in that: include: Initialize the vehicle control system and related modules, including communication interfaces, sensors, actuators, and establish a bus communication connection between the vehicle control unit and the traction controller to perform system fault diagnosis; If a fault occurs, the fault information is output; If there is no fault, determine whether it is in automatic driving mode based on the current conditions; if it is automatic driving mode, use the automatic driving module for control; otherwise, enter manual driving mode; In the autonomous driving mode, the traction inverter is automatically enabled to control the motor, and action commands are configured, including the throttle set value and speed upper limit parameters, and the traction motor is judged to be working properly. If the traction motor works normally, the traction inverter is controlled to drive the vehicle according to the configured action command; otherwise, the traction inverter fault code is analyzed and the fault is handled according to the fault code; When the motor is working normally and the vehicle is in torque mode, the vehicle control unit collects the current actual speed and compares it with the target speed. According to the difference between the actual speed and the target speed, the corresponding torque control command is output to control the acceleration or deceleration of the vehicle; When the vehicle is in a ramp driving state, the anti-slip control module is used to detect whether the vehicle speed is consistent with the direction switch, and whether the motor speed is less than the preset value to obtain the detection result; the ramp hovering control is performed according to the detection result; When the vehicle speed reaches the set upper speed limit during downhill driving, the speed limit control module is used to output negative torque to control the vehicle to decelerate.

9. The ramp hovering control method of an underground electric-driven material transport vehicle according to claim 8, characterized in that: When the motor is working normally and the vehicle is in torque mode, the vehicle control unit collects the current actual speed and compares it with the target speed. According to the difference between the actual speed and the target speed, the corresponding torque control command is output to control the acceleration or deceleration of the vehicle, including: The vehicle control unit uses sensors to collect the actual speed of the current vehicle, compares the actual speed with the target speed, and calculates the speed deviation; The speed deviation is mapped to the preset fuzzy set for fuzzification processing to obtain the fuzzified speed deviation, where the calculation formula of the speed deviation is: Where ΔA(t) is the speed deviation at time t; w is the weight coefficient; A t (t) represents the target speed at time t; A a (t) represents the actual speed at time t; t represents the specific time; τ represents the time constant; k represents the decay exponent; The fuzzified speed deviation is analyzed to obtain the fuzzy control quantity, and the fuzzy control quantity is converted into the torque control command adjustment quantity to correct the basic torque control command to obtain the corrected torque control command; The corrected torque control command is sent to the traction inverter to adjust the output frequency to control the vehicle acceleration or deceleration.

10. The ramp hovering control method of an underground electric-driven material transport vehicle according to claim 9, characterized in that: When the vehicle is in a state of driving on a slope, the anti-slip control module is used to detect whether the vehicle speed is consistent with the direction switch, and whether the motor speed is less than a preset value to obtain the detection result; Perform slope hovering control based on the detection results, including: Detect whether the current vehicle speed is consistent with the direction switch operated by the driver, and detect whether the motor speed is less than a preset value to obtain the detection result; If the vehicle speed is inconsistent with the direction switch or the motor speed is less than the preset value according to the detection result, the hovering control scheme is initiated, including applying the braking system, adjusting the motor output torque and locking the wheels; If it is detected that the vehicle speed is consistent with the direction switch and the motor speed is ≥ the preset value, the anti-skid control module remains in standby mode and does not interfere with the vehicle's driving.

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