Complete machine control strategy for coal mine underground new energy four-wheel auxiliary transportation equipment

Abstract

The invention belongs to the technical field of auxiliary transportation equipment control, and aims to solve the problem of few control strategy functions of traditional underground coal mine new energy auxiliary transportation equipment at present. The invention provides a complete machine control strategy for coal mine underground new energy four-wheel auxiliary transportation equipment. The complete machine control strategy comprises the following steps that complete machine low-voltage power-on of the auxiliary transportation equipment is carried out; after the VCU, the MCU and the BMS are subjected to self-inspection and have no fault, high-voltage power-on of the auxiliary transportation equipment is executed; the VCU detects whether messages sent by the BMS and the VCU through the bus are received or not, and skipping of a fault mode and skipping of a normal mode and a charging mode are carried out; after the operation of the auxiliary transportation equipment is finished, the VCU sends a motor stop enabling instruction to the MCU and sends a high-voltage power-off instruction to the BMS, the BMS disconnects the high-voltage relay, and the high-voltage power-off process is finished; and then low-voltage power-off of the auxiliary transportation equipment is executed. According to the invention, the driving stability and safety of the new energy auxiliary transportation equipment in the underground coal mine during task execution can be obviously improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of auxiliary transportation equipment control, and particularly relates to an overall control strategy for new energy four-wheel auxiliary transportation equipment in coal mines. Background Art

[0002] Diesel-powered auxiliary transportation equipment in coal mines has been widely criticized for its high noise and serious pollution. The new energy control of special auxiliary transportation equipment in coal mines has become an inevitable development trend. In domestic coal mines, multi-wheel wheel-side operation auxiliary transportation equipment powered by lead-acid batteries and lithium batteries has quietly emerged.

[0003] At the same time, the articulated structure of special operation auxiliary transportation equipment in coal mines can improve the maneuverability of the auxiliary transportation equipment at low speeds and the mobility of steering, and has strong terrain adaptability and task adaptation ability. Since its steering mechanism cancels the connection of the steering components between the walking mechanisms of the auxiliary transportation equipment, the layout space of the walking mechanism can be saved, and the space utilization rate of the walking mechanism layout of the auxiliary transportation equipment can be increased.

[0004] Compared with the advantages of articulated operation auxiliary transportation equipment in coal mines, the current control strategies of traditional new energy auxiliary transportation equipment in coal mines have fewer functions and lower precision, and have deficiencies in aspects such as adaptability, and cannot meet the high requirements of modern mine exploitation. Summary of the Invention

[0005] In order to solve at least one of the above technical problems existing in the prior art, the present invention provides an overall control strategy for new energy four-wheel auxiliary transportation equipment in coal mines.

[0006] The present invention is implemented by adopting the following technical solutions: An overall control strategy for new energy four-wheel auxiliary transportation equipment in coal mines includes the following steps:

[0007] S1: Perform low-voltage power-on of the entire auxiliary transportation equipment, and at the same time, self-check the VCU, MCU and BMS systems of the auxiliary transportation equipment;

[0008] S2: After the self-check of the VCU, MCU and BMS systems has no faults, perform high-voltage power-on of the auxiliary transportation equipment;

[0009] S3: After the high-voltage power-on process is completed, the VCU checks whether it has received the messages sent by the BMS and VCU through the bus; if no message is received, the entire machine enters the fault mode and loops waiting to receive the message and sends the corresponding fault status to the instrument; if a message is received, the VCU checks the current connection status of the entire machine with the high-voltage charger and performs the jump between the normal mode and the charging mode;

[0010] S4: In normal mode, the VCU collects the current accelerator pedal, brake pedal signals and sensor signals of the auxiliary transportation equipment, judges the operating state of the auxiliary transportation equipment; and based on the three-level walking mechanism power adjustment algorithm, sends the required torque command to the MCU on the wheel side of each auxiliary transportation equipment walking mechanism to control the normal driving of the auxiliary transportation equipment;

[0011] In charging mode, the BMS system controls the charging relay to close for charging the auxiliary transportation equipment; after the charging process ends, disconnect the connection between the whole machine and the high-voltage charger, and return to step S3 to execute the jump between normal mode and charging mode;

[0012] S5: When the operation of the auxiliary transportation equipment ends, the VCU sends a motor stop enable command to the MCU and a high-voltage power-off command to the BMS. The BMS disconnects the high-voltage relay, and the high-voltage power-off process ends; then execute the low-voltage power-off of the auxiliary transportation equipment.

[0013] Preferably, the basis for the jump between the normal mode and the charging mode is:

[0014] If the auxiliary transportation equipment is connected to the high-voltage charger and the auxiliary transportation equipment is not in charging mode at this time, send a charging request to the BMS, and the whole machine state jumps to charging mode; if the auxiliary transportation equipment is not connected to the high-voltage charger and the auxiliary transportation equipment is not in normal mode at this time, send a high-voltage power-on request to the BMS, and the whole machine state jumps to normal mode.

[0015] Preferably, the steps of the three-level walking mechanism power adjustment algorithm include:

[0016] S421: The VCU obtains the total required torque of the auxiliary transportation equipment according to the depth of the accelerator or brake pedal pressed by the operator of the auxiliary transportation equipment, calculates the control torque that should be distributed to the four wheel sides according to the vertical load situation transmitted back by the sensors of each auxiliary transportation equipment walking mechanism, and sends it to the MCU of each wheel side. The motor controls the tire to rotate to complete the first walking mechanism power adjustment;

[0017] S422: After the auxiliary transportation equipment receives the torque and starts to drive, it collects the current real-time vehicle speed information of the auxiliary transportation equipment and sends it to the VCU. At the same time, the slip ratio controllers of each tire calculate the real-time slip ratios of the four auxiliary transportation equipment walking mechanisms. The walking mechanism power adjustment controller calculates the control torque that should be output by the left front, left rear, right front, and right rear motors according to the slip ratio, compares it with the motor control torque distributed according to the vertical load of the auxiliary transportation equipment walking mechanism, and redistributes the wheel side torque to complete the second walking mechanism power adjustment;

[0018] S423: After the secondary torque distribution, redistribute the excess torque distributed to a certain wheel side so that it is distributed to the other wheel sides with insufficient required torque, and send it to the MCU unit of the corresponding control motor to complete the third distribution of the entire walking mechanism power adjustment algorithm.

[0019] Preferably, the fault states of the whole machine are divided into three levels, level two and level one from low to high according to the severity; among them, the level-three faults include the motor temperature, the temperature of the electronic control unit, the voltage and temperature of the battery cells, and the SOC and output voltage and current of the power battery reaching the set fault values; the level-two faults include the interruption of the vehicle speed sensor signal, the loss of the sensor message, and the loss of power of some motors; the level-one faults are the acceleration sensor fault, the braking fault, and the loss of the MCU and BMS messages.

[0020] Preferably, when a level-three fault occurs, the auxiliary haulage equipment can continue to run, and the output power of the whole machine and the torque of each motor are limited; when a level-two fault occurs, the auxiliary haulage equipment cannot run normally, the power of the control motor and the opposite motor at the fault location is completely interrupted, and the average walking mechanism power adjustment method is used to control the auxiliary haulage equipment to run at a low speed; when a level-one fault occurs, the auxiliary haulage equipment cannot run, the VCU interrupts the power output of the whole machine and continuously sends a high-voltage power-off signal to the BMS, and the instrument prompts the driver to stop urgently.

[0021] Preferably, the whole machine control strategy further includes a creep mode, which is used for the low-speed and high-torque output scenario when the auxiliary haulage equipment in coal mine underground operation is carrying out handling operations. After entering the creep mode, an upper limit is set for the speed of the auxiliary haulage equipment.

[0022] Preferably, when the whole machine of the auxiliary haulage equipment is powered on at low voltage, the start key signal is in the "READY" gear. At this time, the low-voltage circuit of the whole machine is connected, and the VCU, MCU, and BMS systems perform power-on self-checks. All the indicator lights on the vehicle dashboard are on, and all the fault lights of the sub-control strategy are on; after the self-check is completed, the fault lights go out, and communication starts between the control units.

[0023] Preferably, when the auxiliary haulage equipment is powered on at high voltage, the start key signal is in the "ON" gear. The driver of the auxiliary haulage equipment presses the start / stop key of the auxiliary haulage equipment, and the VCU sends a high-voltage power-on command to the auxiliary haulage equipment, and the high-voltage power supply circuit is connected. The auxiliary haulage equipment waits for the gear signal and the pedal signal.

[0024] Preferably, when the auxiliary haulage equipment is powered off at high voltage, the driver presses the start / stop key. The VCU sends a motor stop enable command to the MCU and a high-voltage power-off command to the BMS. The BMS disconnects the high-voltage relay, and the high-voltage power-off process ends; then the driver turns the key to the "OFF" gear in sequence, and the whole machine control strategy is powered off at low voltage.

[0025] Preferably, in the charging mode, the battery charging information is sent to the VCU through the CAN bus and displayed on the instrument. If a fault signal is received, the charging mode is immediately exited.

[0026] Compared with the prior art, the beneficial effects of the present invention are:

[0027] The present invention proposes a new control strategy for auxiliary transportation equipment in coal mines. Based on the model-based system development method, it integrates the dynamic model of auxiliary transportation equipment in coal mines, the power adjustment algorithm for the traveling mechanism, the control mode design, and the fault diagnosis and fault tolerance control mechanism, which can significantly improve the driving stability and safety of new energy auxiliary transportation equipment in coal mines when performing tasks.

[0028] The present invention is applicable to various new energy multi-wheel auxiliary transportation equipment in coal mines and is of great significance for improving the overall efficiency of coal mine operations. By adopting the control strategy proposed by the present invention, new energy multi-wheel auxiliary transportation equipment in coal mines can significantly improve the driving stability, power performance, and passability in harsh environments of the auxiliary transportation equipment in complex and changeable mine environments, extend the service life of the auxiliary transportation equipment, and at the same time improve the reliability and safety of task completion.

[0029] The present invention can ensure the driving safety of the auxiliary transportation equipment by designing the working states and modes of new energy multi-wheel auxiliary transportation equipment in coal mines; realize the real-time status monitoring of the auxiliary transportation equipment, collect different sensor and input / output signals, and real-time monitor key parameters such as the speed, acceleration, transverse and longitudinal tilt angles of the controlled auxiliary transportation equipment, and the slip ratio and vertical load of each tire; design a micro-motion mode to meet the requirements of the handling tasks of the auxiliary transportation equipment in coal mines; complete the three-level dynamic walking mechanism power adjustment algorithm for the auxiliary transportation equipment, and control and adjust the torque output of the multi-wheel wheel hubs according to the algorithm to ensure the best traction force and stability of the auxiliary transportation equipment under complex road conditions; design a fault diagnosis module to classify the fault conditions of the auxiliary transportation equipment and ensure driving safety in special scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0031] Figure 1 It is the design block diagram of the overall machine control strategy;

[0032] Figure 2 It is the flow chart of the power adjustment control strategy for the walking mechanism. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] Combined 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 some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other implementation manners obtained by those of ordinary skill in the art without creative efforts belong to the scope protected by the present invention.

[0034] It should be noted that the structures, proportions, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the conditions under which the present invention can be implemented. Therefore, they do not have substantial technical significance. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should fall within the scope covered by the technical content disclosed in 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.

[0035] The present invention provides an embodiment:

[0036] Such as Figure 1 、 Figure 2 As shown, the design of the control strategy in the present invention includes the development and definition of the working mode of new energy auxiliary transportation equipment in coal mines, the power-on and power-off control of the whole machine, the power adjustment algorithm for the three-level walking mechanism of the auxiliary transportation equipment, and the fault diagnosis of the auxiliary transportation equipment. The overall control strategy structure is as shown in the appendix Figure 1 As shown, it includes the following steps:

[0037] S1: Perform the low-voltage power-on of the whole auxiliary transportation equipment, and at the same time, the VCU, MCU, and BMS systems of the auxiliary transportation equipment perform self-checks;

[0038] When performing the low-voltage power-on of the whole auxiliary transportation equipment, the start key signal is in the "READY" gear. At this time, the low-voltage circuit of the whole machine is connected, and the VCU, MCU, and BMS systems perform power-on self-checks. All the indicator lights on the vehicle dashboard are on, and all the fault lights of the sub-control strategy are on. After the self-check is completed, the fault lights go out, and communication starts between the control units. This state corresponds to the initialization power-on mode.

[0039] S2: After the VCU, MCU, and BMS systems pass the self-check without faults, perform the high-voltage power-on of the auxiliary transportation equipment;

[0040] When the auxiliary transportation equipment performs high-voltage power-on, the start key signal is in the "ON" gear. The driver of the auxiliary transportation equipment presses the start / stop key of the auxiliary transportation equipment. The VCU sends a high-voltage power-on instruction to the auxiliary transportation equipment, and the high-voltage power supply circuit is connected. The auxiliary transportation equipment waits for the gear signal and the pedal signal. This state corresponds to the start mode of the auxiliary transportation equipment.

[0041] S3: After the high-voltage power-on process ends, the VCU checks whether it has received the messages sent by the BMS and the VCU via the bus. If no message is received, the whole machine enters the fault mode and loops waiting to receive the message and sends the corresponding fault status to the instrument. If a message is received, the VCU checks the current connection status of the whole machine with the high-voltage charger and performs the jump between the normal mode and the charging mode.

[0042] In this embodiment, the fault diagnosis system is designed as follows: The fault status of the whole machine is divided into three levels, level two, and level one from low to high according to the severity. Among them, level-three faults include the motor temperature, the temperature of the electronic control unit, the voltage and temperature of the battery cells, and the SOC and output voltage and current of the power battery reaching the set fault values, which affect the torque output and power output of the whole machine. When a level-three fault occurs, the auxiliary transportation equipment can maintain driving, and the output power of the whole machine and the torque of each motor are limited. Level-two faults include serious faults such as the interruption of the vehicle speed sensor signal, the loss of the sensor message, and the loss of power of some motors, which affect the operation of the power adjustment control algorithm of the walking mechanism of the whole machine. When a level-two fault occurs, the auxiliary transportation equipment cannot maintain normal driving, completely interrupts the power of the control motor and the opposite motor at the fault occurrence point, and uses the average walking mechanism power adjustment method to control the auxiliary transportation equipment to drive at a low speed. Level-one faults are faults such as the acceleration sensor fault, the braking fault, the loss of the MCU and BMS messages, and other faults that seriously affect the driving safety of the auxiliary transportation equipment. When a level-one fault occurs, the auxiliary transportation equipment cannot drive, the VCU interrupts the power output of the whole machine and continuously sends a high-voltage power-off signal to the BMS, and the instrument prompts the driver to stop urgently. The specific fault content is set according to different bus message data, and the corresponding fault codes are written in the communication protocol.

[0043] The basis for the jump between the normal mode and the charging mode is as follows:

[0044] If the auxiliary transportation equipment is connected to the high-voltage charger and the auxiliary transportation equipment is not in the charging mode at this time, a charging request is sent to the BMS, and the status of the whole machine jumps to the charging mode. If the auxiliary transportation equipment is not connected to the high-voltage charger and the auxiliary transportation equipment is not in the normal mode at this time, a high-voltage power-on request is sent to the BMS, and the status of the whole machine jumps to the normal mode.

[0045] S4: In the normal mode, the VCU collects the current accelerator pedal, brake pedal signals and sensor signals of the auxiliary transportation equipment, judges the operating state of the auxiliary transportation equipment, and based on the three-level walking mechanism power adjustment algorithm, sends a required torque command to the MCU at the wheel side of each walking mechanism of the auxiliary transportation equipment to control the normal driving of the auxiliary transportation equipment. This state corresponds to the control mode.

[0046] The steps of the three-level walking mechanism power adjustment algorithm include:

[0047] S421: The VCU obtains the total current required torque of the auxiliary haulage equipment according to the depth of the accelerator or brake pedal depressed by the operator of the auxiliary haulage equipment, calculates the control torque to be distributed to the four wheel ends according to the vertical load conditions transmitted back by the sensors of the traveling mechanisms of each auxiliary haulage equipment, and sends it to the MCUs of each wheel end. The motor controls the rotation of the tires to complete the first adjustment of the power of the traveling mechanism;

[0048] S422: After the auxiliary haulage equipment starts to travel after receiving this torque, it collects the current real-time vehicle speed information of the auxiliary haulage equipment and sends it to the VCU. At the same time, the slip ratio controllers of the four tires calculate the real-time slip ratios of the traveling mechanisms of the four auxiliary haulage equipment. The power adjustment controller of the traveling mechanism calculates the control torque that the four motors of the left front, left rear, right front, and right rear should output according to the slip ratio, compares it with the motor control torque distributed according to the vertical load of the traveling mechanism of the auxiliary haulage equipment, and redistributes the torque at the wheel end to complete the second adjustment of the power of the traveling mechanism;

[0049] S423: After the secondary torque distribution, the redundant torque distributed to a certain wheel end is redistributed again so that it is distributed to the other wheel ends where the required torque is insufficient, and sent to the MCU unit of the corresponding control motor to complete the third distribution of the entire power adjustment algorithm of the traveling mechanism.

[0050] In the charging mode, the BMS system controls the charging relay to close to charge the auxiliary haulage equipment; in the charging mode, the battery charging information is sent to the VCU through the CAN bus and displayed on the instrument. If a fault signal is received, the charging mode is immediately exited. After the charging process ends, the connection between the whole machine and the high-voltage charger is disconnected, and the process returns to step S3 to perform the jump between the normal mode and the charging mode;

[0051] The overall machine control strategy also includes the creep mode, which is used for the low-speed and high-torque output scenario when the auxiliary haulage equipment in coal mine underground operation is carrying out handling operations. After entering the creep mode, an upper limit is set for the speed of the auxiliary haulage equipment.

[0052] S5: When the operation of the auxiliary haulage equipment ends, the driver presses the start / stop key. The VCU sends a motor stop enable instruction to the MCU and a high-voltage power-down instruction to the BMS. The BMS disconnects the high-voltage relay, and the high-voltage power-down process ends; then the driver turns the key to the "OFF" gear in sequence, and the low-voltage power-down of the overall machine control strategy is completed; this state corresponds to the shutdown waiting mode.

[0053] The above is only the preferred specific implementation manner 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 those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claimed rights.

Claims

1. A whole machine control strategy for new energy four-wheel auxiliary transport equipment in coal mines, characterized in that: The following steps are involved: S1: Power on the whole auxiliary equipment at low voltage, and perform self-check on the VCU, MCU and BMS system of the auxiliary equipment; S2: After the VCU, MCU and BMS systems have self-checked and found no faults, the high voltage power-on of the auxiliary transport equipment is executed; S3: After the high voltage power-on process is completed, the VCU detects whether it has received the message sent by the BMS and VCU through the bus; If no message is received, the whole machine enters the fault mode loop to wait for the message to be received and sends the corresponding fault status to the instrument; if the message is received, the VCU detects the current connection status of the whole machine with the high-voltage charger and switches between normal mode and charging mode; S4: In normal mode, the VCU collects the current accelerator pedal, brake pedal and sensor signals of the auxiliary transport equipment to determine the operating status of the auxiliary transport equipment; and based on the three-level walking mechanism power adjustment algorithm, sends the required torque command to the MCU of the wheel side of each auxiliary transport equipment walking mechanism to control the normal driving of the auxiliary transport equipment; In the charging mode, the BMS system controls the charging relay to close and charges the auxiliary equipment; when the charging process is completed, the connection between the whole machine and the high-voltage charger is disconnected, and the process returns to step S3 to execute the jump between the normal mode and the charging mode; S5: After the operation of the auxiliary transport equipment is completed, the VCU sends a motor stop enable command to the MCU and a high-voltage power-off command to the BMS. The BMS disconnects the high-voltage relay, and the high-voltage power-off process ends; then the low-voltage power-off of the auxiliary transport equipment is executed.

2. According to claim 1, a whole machine control strategy for new energy four-wheel auxiliary transportation equipment in coal mines, characterized in that: The basis for switching between the normal mode and the charging mode is: If the auxiliary transport equipment is connected to a high-voltage charger and the auxiliary transport equipment is not in charging mode at this time, a charging request is sent to the BMS, and the state of the whole machine jumps to charging mode; if the auxiliary transport equipment is not connected to a high-voltage charger and the auxiliary transport equipment is not in normal mode at this time, a high-voltage power-on request is sent to the BMS, and the state of the whole machine jumps to normal mode.

3. According to claim 1, a whole machine control strategy for new energy four-wheel auxiliary transportation equipment in coal mines is characterized by: The steps of the three-level walking mechanism power adjustment algorithm include: S421: The VCU obtains the total torque currently required by the auxiliary transport equipment according to the depth of the accelerator or brake pedal pressed by the operator of the auxiliary transport equipment, calculates the control torque to be distributed to the four wheels according to the vertical load conditions transmitted back by the sensors of the travel mechanisms of each auxiliary transport equipment, and sends it to the MCU of each wheel. The motor controls the tire to rotate to complete the first travel mechanism power adjustment; S422: After the auxiliary transport equipment receives the torque and starts to travel, the current real-time vehicle speed information of the auxiliary transport equipment is collected and sent to the VCU. At the same time, the tire slip rate controllers calculate the real-time slip rates of the four auxiliary transport equipment walking mechanisms. The walking mechanism power adjustment controller calculates the control torque that the four motors, the left front, left rear, right front, and right rear, should output based on the slip rates, and compares it with the motor control torque distributed according to the vertical load of the auxiliary transport equipment walking mechanism, redistributes the wheel-side torque, and completes the second walking mechanism power adjustment. S423: After the secondary distribution of torque, the excess torque allocated to a certain wheel side is redistributed to the remaining wheel sides that do not have the required torque, and sent to the MCU unit of the corresponding control motor to complete the third distribution of the entire walking mechanism power adjustment algorithm.

4. According to claim 1, a whole machine control strategy for new energy four-wheel auxiliary transportation equipment in coal mines is characterized by: The fault status of the whole machine is divided into three levels, two levels and one level according to the severity from low to high; among them, the three-level fault includes motor temperature, electronic control unit temperature, battery cell voltage and temperature, power battery SOC and output voltage and current reaching the set fault value; the second-level fault includes vehicle speed sensor signal interruption, sensor message loss and partial motor power loss; the first-level fault is acceleration sensor failure, brake failure, MCU and BMS message loss.

5. The whole machine control strategy for the new energy four-wheel auxiliary transport equipment in coal mines according to claim 4 is characterized by: When a level 3 fault occurs, the auxiliary transport equipment can continue to run, and the output power of the whole machine and the torque of each motor are limited; when a level 2 fault occurs, the auxiliary transport equipment cannot maintain normal running, and the power of the control motor and the opposite motor at the fault location is completely interrupted, and the auxiliary transport equipment is controlled to run at a low speed using the average walking mechanism power adjustment method; when a level 1 fault occurs, the auxiliary transport equipment cannot run, the VCU interrupts the power output of the whole machine and continues to send high-voltage power-down signals to the BMS, and the instrument prompts the driver to make an emergency stop.

6. The whole machine control strategy for the new energy four-wheel auxiliary transport equipment in coal mines according to claim 1 is characterized by: The whole machine control strategy also includes the inching mode, which is used for the low-speed and high-torque output scenario when the auxiliary transportation equipment in underground coal mines is performing handling operations. After entering the inching mode, an upper limit is set on the speed of the auxiliary transportation equipment.

7. The whole machine control strategy for the new energy four-wheel auxiliary transport equipment in coal mines according to claim 1 is characterized by: When the auxiliary transport equipment is powered on at low voltage, the start key signal is in the "READY" position. At this time, the low-voltage circuit of the whole machine is connected, and the VCU, MCU and BMS systems perform power-on self-test. The vehicle dashboard indicator lights are all on, and the sub-control strategy fault lights are all on; after the self-test is completed, the fault lights go out and communication between the control units begins.

8. The whole machine control strategy for the new energy four-wheel auxiliary transport equipment in coal mines according to claim 1 is characterized by: When the auxiliary transport equipment is powered on with high voltage, the start key signal is in the "ON" position, the auxiliary transport equipment driver presses the start / stop button of the auxiliary transport equipment, the VCU sends a high-voltage power-on command to the auxiliary transport equipment, the high-voltage power supply circuit is connected, and the auxiliary transport equipment waits for the gear signal and the pedal signal.

9. The whole machine control strategy for the new energy four-wheel auxiliary transport equipment in coal mines according to claim 1 is characterized by: When the auxiliary equipment is powered off at high voltage, the driver presses the start / stop button, the VCU sends a motor stop enable command to the MCU, and a high-voltage power-off command to the BMS. The BMS disconnects the high-voltage relay, and the high-voltage power-off process ends; then the driver turns the key to the "OFF" position in sequence, and the low-voltage power-off of the entire machine control strategy is completed.

10. The whole machine control strategy for the new energy four-wheel auxiliary transport equipment in coal mines according to claim 1 is characterized by: In charging mode, the battery charging information is sent to the VCU via the CAN bus and displayed on the instrument. If a fault signal is received, the charging mode is immediately exited.

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