Electronic differential method for left-right driving mining shuttle car

Abstract

The invention belongs to the technical field of shuttle car differential control, and aims to solve the problems of vehicle steering interruption and tire wear caused by damage of a steering sensor. The electronic differential method for the left-right driving mining shuttle car comprises the following steps that a speed given signal output by an accelerator pedal of the shuttle car is obtained, and the running state of the shuttle car is judged based on the speed given signal; acquiring actual rotating speeds and actual currents of a left traction motor and a right traction motor of the shuttle car in the running state; calculating an absolute speed difference and an absolute pair current difference between the two, and comparing the absolute speed difference and the absolute pair current difference with a preset system allowable speed difference and a system allowable current difference; obtaining the type of the driving state of the shuttle car based on the comparison result; and the steering type and the speed of the shuttle car are judged based on the actual rotating speeds and the actual currents of the left traction motor and the right traction motor, the given speed signals are divided into two paths, and the given speed of the left traction frequency converter and the given speed of the right traction frequency converter are adjusted respectively. A steering sensor is omitted, and the underground operation progress can be effectively guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of shuttle car differential control, and in particular relates to an electronic differential method for a left-right driven mining shuttle car. Background Art

[0002] At present, in practical applications, the steering function of shuttle vehicles is generally realized by using an electronic differential method in conjunction with a mechanical steering mechanism. The specific implementation process is as follows: the main controller obtains steering information through a steering sensor (such as a cable sensor, an inclination sensor, etc.), and calculates the current target torque or speed of each wheel during steering according to the steering model, and then controls the mechanical steering mechanism to act according to the calculation result, thereby realizing the steering function of the vehicle.

[0003] However, practice shows that this electronic differential method has the following problems due to its own principle limitations: Due to the extremely harsh underground use environment and the fact that steering sensors are generally external sensors, steering sensors are very easy to be damaged in actual use, which can easily lead to vehicle steering interruption, thereby delaying the progress of underground operations. Secondly, during the steering process, the output torque of the motors on both sides is not involved in the steering model calculation, and it is impossible to ensure that the output of the motors on both sides is balanced during the turning process, and there is slippage of the outer tires. Summary of the invention

[0004] In order to solve at least one of the above technical problems existing in the prior art, the present invention provides an electronic differential method for a left-right driven mining shuttle vehicle.

[0005] The present invention is implemented by the following technical solution: a method for electronic differential speed of a left-right driven mining shuttle vehicle, comprising the following steps:

[0006] S101: obtaining a speed given signal output by the accelerator pedal of the shuttle car, and judging the running state of the shuttle car based on the speed given signal. If it is judged to be in a stopped state, continue to obtain the speed given signal and judge; if it is judged to be in a running state, execute step S102;

[0007] S102: Acquiring the actual rotation speed and actual current of the left and right traction motors of the shuttle vehicle in the driving state;

[0008] S103: calculating the absolute speed difference and the absolute current difference between the left and right traction motors based on the actual speeds and actual currents thereof, and comparing them with the preset system allowable speed difference and system allowable current difference;

[0009] S104: based on the comparison result, the type of the shuttle vehicle's driving state is obtained. If the type of the driving state is a normal driving state, the speed setting signal is given to the left and right traction inverters, and the process returns to step S101. If the type of the driving state is a turning state, step S105 is executed.

[0010] S105: Determining the steering type and vehicle speed of the shuttle vehicle based on the actual rotation speeds and actual currents of the left and right traction motors;

[0011] S106: Based on the steering type and vehicle speed of the shuttle vehicle, the speed setting signal is divided into two paths, and the speed setting of the left and right traction inverters is adjusted respectively.

[0012] Preferably, before obtaining the speed setting signal output by the accelerator pedal of the shuttle car, the method further includes the following steps:

[0013] Select the accelerator pedal, main controller, left traction inverter, right traction inverter, left traction motor, right traction motor, left traction motor speed sensor and right traction motor speed sensor and connect them;

[0014] Start the shuttle car, the main controller is initialized, and the output signals of the left and right traction motor speed sensors are detected by the left and right traction inverters respectively;

[0015] Based on the output signals of the left and right traction motor speed sensors, it is determined whether the speed sensors are working normally. If it is determined to be normal, step S101 is executed. If it is determined to be abnormal, a fault prompt is output.

[0016] Preferably, the step of obtaining the type of the shuttle vehicle's driving state based on the comparison result is:

[0017] When the absolute speed difference between the left and right traction motors is greater than the speed difference allowed by the system and the absolute current difference between the left and right traction motors is greater than the current difference allowed by the system, the corresponding driving state type of the shuttle car is the turning state; in other cases, the corresponding driving state type of the shuttle car is the normal driving state.

[0018] Preferably, the shuttle car has two steering types, and the step of determining the steering type of the shuttle car based on the actual rotation speed and actual current of the left and right traction motors includes:

[0019] If the actual speed of the left traction motor is higher than the actual speed of the right traction motor and the actual current of the right traction motor is higher than the actual current of the left traction motor, it indicates that the left traction inverter is on the outside of the curve and the right traction inverter is on the inside of the curve, corresponding to the first steering type;

[0020] If the actual speed of the left traction motor is lower than the actual speed of the right traction motor and the actual current of the left traction motor is greater than the actual current of the right traction motor, it indicates that the left traction inverter is on the inside of the curve and the right traction inverter is on the outside of the curve, corresponding to the second steering type.

[0021] Preferably, based on the steering type and speed of the shuttle vehicle, the step of adjusting the speed setting of the left and right traction inverters includes:

[0022] If the shuttle car is running at high speed and the steering type is that the left traction inverter is on the outside of the curve and the right traction inverter is on the inside of the curve, only the speed setting value of the left traction inverter is adjusted, and the speed setting value of the right traction inverter remains unchanged. The adjustment result is: n L =n 0 *I R / I L , n R =n 0 ;

[0023] If the shuttle car is running at high speed and the steering type is that the right traction inverter is on the inside of the curve and the left traction inverter is on the outside of the curve, only the speed setting value of the right traction inverter is adjusted, and the speed setting value of the left traction inverter remains unchanged. The adjustment result is: n R =n 0 *I L / I R , n L =n 0 ;

[0024] If the shuttle car is running at low speed, it is necessary to adjust the speed given value of the left traction inverter and the speed given value of the right traction inverter. The adjustment result is: n L =2*n 0 *I R / (I L +I R ), n R =2*n 0 *I L / (I L+ I R );

[0025] Where n 0 It is the speed given signal output by the accelerator pedal; n L is the speed setting value of the left traction inverter; n R is the speed setting value of the right traction inverter; I L is the actual current of the left traction motor; I R is the actual current of the right traction motor.

[0026] Preferably, the accelerator pedal, the main controller, the left traction inverter, the right traction inverter, the left traction motor, the right traction motor, the left traction motor speed sensor and the right traction motor speed sensor are connected in the following manner:

[0027] The output end of the accelerator pedal is connected to the input end of the main controller;

[0028] The output end of the main controller is connected to the input end of the left traction inverter and the input end of the right traction inverter respectively;

[0029] The output end of the left traction inverter is connected to the input end of the left traction motor, and the output end of the right traction inverter is connected to the input end of the right traction motor;

[0030] The output shaft of the left traction motor is connected to the left wheel of the vehicle, and the output shaft of the right traction motor is connected to the right wheel of the vehicle;

[0031] The sensitive head of the left traction motor speed sensor is connected to the left traction motor, the output end of the left traction motor speed sensor is connected to the input end of the left traction inverter, the sensitive head of the right traction motor speed sensor is connected to the right traction motor, and the output end of the right traction motor speed sensor is connected to the input end of the right traction inverter;

[0032] The output end of the left traction inverter and the output end of the right traction inverter are both connected to the input end of the main controller.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] The present invention eliminates the need for a steering sensor, thus completely avoiding damage to the steering sensor due to a harsh underground operating environment, thereby effectively preventing vehicle steering interruption and tire wear, and further effectively ensuring the progress of underground operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1 It is a component connection relationship diagram of the present invention;

[0037] Figure 2 It is a flow chart of the method of the present invention. DETAILED DESCRIPTION

[0038] In conjunction with the drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0039] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention. It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0040] The present invention provides an embodiment:

[0041] like Figure 1 , Figure 2 As shown, a method for electronic differential speed of a left-right driven mining shuttle vehicle comprises the following steps:

[0042] An accelerator pedal, a main controller, a left traction frequency converter, a right traction frequency converter, a left traction motor, a right traction motor, a left traction motor speed sensor and a right traction motor speed sensor are selected and connected; the accelerator pedal, the main controller, the left traction frequency converter, the right traction frequency converter, the left traction motor, the right traction motor, the left traction motor speed sensor and the right traction motor speed sensor are connected in the following manner: the output end of the accelerator pedal is connected to the input end of the main controller; the output end of the main controller is respectively connected to the input end of the left traction frequency converter and the input end of the right traction frequency converter; the output end of the left traction frequency converter is connected to the output end of the left traction motor The input end of the right traction inverter is connected, the output end of the right traction inverter is connected to the input end of the right traction motor; the output shaft of the left traction motor is connected to the left wheel of the vehicle, and the output shaft of the right traction motor is connected to the right wheel of the vehicle; the sensitive head of the left traction motor speed sensor is connected to the left traction motor, the output end of the left traction motor speed sensor is connected to the input end of the left traction inverter, the sensitive head of the right traction motor speed sensor is connected to the right traction motor, and the output end of the right traction motor speed sensor is connected to the input end of the right traction inverter; the output end of the left traction inverter and the output end of the right traction inverter are both connected to the input end of the main controller.

[0043] Start the shuttle car, the main controller is initialized, and the output signals of the left and right traction motor speed sensors are detected by the left and right traction inverters respectively;

[0044] Based on the output signals of the left and right traction motor speed sensors, it is determined whether the speed sensors are working normally. If it is determined to be normal, step S101 is executed. If it is determined to be abnormal, a fault prompt is output.

[0045] S101: Obtain the speed given signal output by the accelerator pedal of the shuttle, and determine the running state of the shuttle based on the speed given signal. If it is determined to be in the stopped state (speed given signal n 0 =0), then continue to obtain the speed given signal and judge; if it is judged to be in the driving state (speed given signal n 0 ≠0), then execute step S102;

[0046] S102: Acquiring the actual rotation speed and actual current of the left and right traction motors of the shuttle vehicle in the driving state;

[0047] S103: Calculate the absolute speed difference between the left and right traction motors based on their actual speeds and actual currents. 1 | and absolute current difference |I 1 | and the preset system allows a speed difference n x and the system allowable current difference I x Make comparisons;

[0048] S104: based on the comparison result, the type of the shuttle vehicle's driving state is obtained. If the type of the driving state is a normal driving state, the speed setting signal is given to the left and right traction inverters. The left and right traction inverters use a speed closed-loop control strategy to control the left and right traction motors to run at the same speed, and the process returns to step S101. If the type of the driving state is a turning state, step S105 is executed.

[0049] The steps of obtaining the type of the shuttle vehicle's driving state based on the comparison result are:

[0050] When the absolute speed difference between the left and right traction motors is greater than the speed difference allowed by the system and the absolute current difference between the left and right traction motors is greater than the current difference allowed by the system, the corresponding driving state type of the shuttle car is the turning state; in other cases, the corresponding driving state type of the shuttle car is the normal driving state.

[0051] S105: Determine the steering type and vehicle speed of the shuttle vehicle based on the actual rotation speeds and actual currents of the left and right traction motors;

[0052] The shuttle car has two steering types. The steps of determining the steering type of the shuttle car based on the actual rotation speed and actual current of the left and right traction motors include:

[0053] If the actual speed of the left traction motor is higher than the actual speed of the right traction motor and the actual current of the right traction motor is higher than the actual current of the left traction motor, it indicates that the left traction inverter is on the outside of the curve and the right traction inverter is on the inside of the curve, corresponding to the first steering type;

[0054] If the actual speed of the left traction motor is lower than the actual speed of the right traction motor and the actual current of the left traction motor is greater than the actual current of the right traction motor, it indicates that the left traction inverter is on the inside of the curve and the right traction inverter is on the outside of the curve, corresponding to the second steering type.

[0055] S106: Based on the steering type and speed of the shuttle car, the speed setting signal is divided into two paths, and the speed setting of the left and right traction inverters is adjusted respectively. In this embodiment, the basis for determining whether the shuttle car runs at high speed or low speed is to compare the speed of the shuttle car with a preset speed threshold. If the speed is higher than the speed threshold, it is determined to be running at high speed, otherwise it is determined to be running at low speed.

[0056] Based on the steering type and speed of the shuttle vehicle, the steps of adjusting the speed setting of the left and right traction inverters include:

[0057] If the shuttle car is running at high speed and the steering type is that the left traction inverter is on the outside of the curve and the right traction inverter is on the inside of the curve, for safety reasons, the turning must automatically reduce speed and only adjust the speed setting value of the left traction inverter. The speed setting value of the right traction inverter remains unchanged. The adjustment result is: n L =n 0* I R / I L , n R =n 0 ;

[0058] If the shuttle car is running at high speed and the steering type is that the right traction inverter is on the inside of the curve and the left traction inverter is on the outside of the curve, for safety reasons, the turning must be automatically reduced in speed. Only the speed setting value of the right traction inverter is adjusted, and the speed setting value of the left traction inverter remains unchanged. The adjustment result is: n R =n 0 *I L / I R , n L =n 0 ;

[0059] If the shuttle car is running at a low speed, in order to ensure the transportation efficiency, the original running speed must be maintained when turning. The speed given value of the left traction inverter and the speed given value of the right traction inverter need to be adjusted. The adjustment result is: n L =2*n 0 *I R / (I L+ I R ), n R =2*n 0* I L / (I L+ I R );

[0060] Where n 0 It is the speed given signal output by the accelerator pedal; n L is the speed setting value of the left traction inverter; n R is the speed setting value of the right traction inverter; I L is the actual current of the left traction motor; I R is the actual current of the right traction motor.

[0061] The traction inverters located outside and inside the curve adopt a speed closed-loop control strategy to control the traction motors located outside and inside the curve to run at different speeds respectively, and return to execute step S101.

[0062] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for electronic differential speed of left and right driven mining shuttle vehicles, characterized in that: The following steps are involved: S101: obtaining a speed given signal output by the accelerator pedal of the shuttle car, and judging the running state of the shuttle car based on the speed given signal. If it is judged to be in a stopped state, continue to obtain the speed given signal and judge; if it is judged to be in a running state, execute step S102; S102: Acquiring the actual rotation speed and actual current of the left and right traction motors of the shuttle vehicle in the driving state; S103: calculating the absolute speed difference and the absolute current difference between the left and right traction motors based on the actual speeds and actual currents thereof, and comparing them with the preset system allowable speed difference and system allowable current difference; S104: based on the comparison result, the type of the shuttle vehicle's driving state is obtained. If the type of the driving state is a normal driving state, the speed setting signal is given to the left and right traction inverters, and the process returns to step S101. If the type of the driving state is a turning state, step S105 is executed. S105: Determining the steering type and vehicle speed of the shuttle vehicle based on the actual rotation speeds and actual currents of the left and right traction motors; S106: Based on the steering type and vehicle speed of the shuttle vehicle, the speed setting signal is divided into two paths, and the speed setting of the left and right traction inverters is adjusted respectively.

2. The electronic differential method for left-right driven mining shuttle vehicle according to claim 1, characterized in that: Before obtaining the speed given signal output by the accelerator pedal of the shuttle car, the following steps are also included: Select the accelerator pedal, main controller, left traction inverter, right traction inverter, left traction motor, right traction motor, left traction motor speed sensor and right traction motor speed sensor and connect them; Start the shuttle car, the main controller is initialized, and the output signals of the left and right traction motor speed sensors are detected by the left and right traction inverters respectively; Based on the output signals of the left and right traction motor speed sensors, it is determined whether the speed sensors are working normally. If it is determined to be normal, step S101 is executed. If it is determined to be abnormal, a fault prompt is output.

3. The electronic differential method for a left-right driven mining shuttle vehicle according to claim 1, characterized in that: The steps of obtaining the type of the shuttle vehicle's driving state based on the comparison result are: When the absolute speed difference between the left and right traction motors is greater than the speed difference allowed by the system and the absolute current difference between the left and right traction motors is greater than the current difference allowed by the system, the corresponding driving state type of the shuttle car is the turning state; in other cases, the corresponding driving state type of the shuttle car is the normal driving state.

4. The electronic differential method for left-right driven mining shuttle vehicle according to claim 3 is characterized in that: The shuttle car has two steering types. The steps of determining the steering type of the shuttle car based on the actual rotation speed and actual current of the left and right traction motors include: If the actual speed of the left traction motor is higher than the actual speed of the right traction motor and the actual current of the right traction motor is higher than the actual current of the left traction motor, it indicates that the left traction inverter is on the outside of the curve and the right traction inverter is on the inside of the curve, corresponding to the first steering type; If the actual speed of the left traction motor is lower than the actual speed of the right traction motor and the actual current of the left traction motor is greater than the actual current of the right traction motor, it indicates that the left traction inverter is on the inside of the curve and the right traction inverter is on the outside of the curve, corresponding to the second steering type.

5. The electronic differential method for a left-right driven mining shuttle vehicle according to claim 4, characterized in that: Based on the steering type and speed of the shuttle vehicle, the steps of adjusting the speed setting of the left and right traction inverters include: If the shuttle car is running at high speed and the steering type is that the left traction inverter is on the outside of the curve and the right traction inverter is on the inside of the curve, only the speed setting value of the left traction inverter is adjusted, and the speed setting value of the right traction inverter remains unchanged. The adjustment result is: n L =n0*I R / I L ,n R =n0; If the shuttle car is running at high speed and the steering type is that the right traction inverter is on the inside of the curve and the left traction inverter is on the outside of the curve, only the speed setting value of the right traction inverter is adjusted, and the speed setting value of the left traction inverter remains unchanged. The adjustment result is: n R =n0*I L / I R ,n L =n0; If the shuttle car is running at low speed, it is necessary to adjust the speed given value of the left traction inverter and the speed given value of the right traction inverter. The adjustment result is: n L =2*n0*I R / (I L +I R ), n R =2*n0*I L / (I L +I R ); Where n0 is the speed reference signal output by the accelerator pedal; n L is the speed setting value of the left traction inverter; n R is the speed setting value of the right traction inverter; I L is the actual current of the left traction motor; I R is the actual current of the right traction motor.

6. The electronic differential method for left-right driven mining shuttle vehicle according to claim 2, characterized in that: The connection mode of the accelerator pedal, the main controller, the left traction inverter, the right traction inverter, the left traction motor, the right traction motor, the left traction motor speed sensor and the right traction motor speed sensor is as follows: The output end of the accelerator pedal is connected to the input end of the main controller; The output end of the main controller is connected to the input end of the left traction inverter and the input end of the right traction inverter respectively; The output end of the left traction inverter is connected to the input end of the left traction motor, and the output end of the right traction inverter is connected to the input end of the right traction motor; The output shaft of the left traction motor is connected to the left wheel of the vehicle, and the output shaft of the right traction motor is connected to the right wheel of the vehicle; The sensitive head of the left traction motor speed sensor is connected to the left traction motor, the output end of the left traction motor speed sensor is connected to the input end of the left traction inverter, the sensitive head of the right traction motor speed sensor is connected to the right traction motor, and the output end of the right traction motor speed sensor is connected to the input end of the right traction inverter; The output end of the left traction inverter and the output end of the right traction inverter are both connected to the input end of the main controller.

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