Self-adaptive matching control method and system for unloading of electrified material transport vehicle

Abstract

The invention discloses an unloading self-adaptive matching control method and system for an electrified material transport vehicle, and relates to the technical field of material transport vehicles, and the unloading self-adaptive matching system comprises a sensing module, a man-machine interaction module, a system control module, an electric drive system module and an auger system module. The auger system module comprises a discharging auger, a bottom auger and a lifting auger; data such as the inclination state of the augers and the torque and the rotating speed of the motor are sensed in real time through the inclination angle sensor and the weighing sensor, and the rotating speed of each auger is dynamically adjusted according to different working conditions by combining initial rotating speed calculation, initial rotating speed matching, rotating speed self-adaptive matching and an autonomous learning algorithm of the discharging augers. The cost caused by the difference of the specifications of the augers can be effectively reduced, the efficiency loss caused by configuration according to the limiting working condition is avoided, and the material blocking risk and equipment abrasion caused by manual fine adjustment are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of material transport vehicles, in particular to an unloading self-adaptive matching control method and system for an electrified material transport vehicle. BACKGROUND

[0002] In the fields of modern agricultural breeding and building material transportation, the auger unloading type material transport vehicle is widely used due to its efficient unloading and convenient operation. Such a transport vehicle is composed of a horizontal bottom auger, a vertical lifting auger and an inclined discharge auger. The horizontal bottom auger is transversely arranged at the bottom of the vehicle compartment and converges the material from the front end or both sides of the vehicle compartment to the middle part through the rotation of the helical blade. The vertical lifting auger is vertically installed and receives the material conveyed by the horizontal bottom auger, and uses the helical lifting principle to convey the material upward to a certain height. The inclined discharge auger is arranged at a specific angle and further conveys the material from the vertical lifting auger to the designated position outside the vehicle compartment, such as a material tower or a material bin.

[0003] Currently, the auger unloading type material transport vehicle adopts a manual operation + quantitative control mode. This mode has the following problems:

[0004] 1. In terms of cost control, due to the differences in the use environment of different users, the lengths of the inclined discharge augers are different, and the discharge angles of the augers are also different when facing different material towers. This results in different requirements for the working flow and pressure of the hydraulic system, and the specifications of the unloading motors also need to be adjusted accordingly. This mode requires the storage of various specifications of hydraulic components and motors during vehicle production, increasing the production and assembly costs and complexity.

[0005] 2. In terms of unloading performance, in order to ensure that the transport vehicle can operate normally under various working conditions, the existing equipment often matches parameters and designs systems according to extreme working conditions. However, under normal working conditions, due to the lack of real-time self-adaptive adjustment capability, the system cannot adjust the working parameters according to the actual load and operation demand, resulting in excessive or insufficient unloading capacity of the vehicle.

[0006] 3. When facing different materials, the unloading speed and pressure need to be adjusted in real time during the unloading process to avoid blockage. However, the current manual operation mode relies on experienced operators to make fine adjustments based on the vehicle state. If the operation is not proper, it will easily cause blockage, affecting the operation efficiency and easily causing mechanical and hydraulic system wear and failure.

[0007] Therefore, it is necessary to explore an unloading self-adaptive matching control method and system for an electrified material transport vehicle. SUMMARY

[0008] The application provides an electric material transport vehicle unloading self-adaptive matching control method and system to solve the technical problems in the background art.

[0009] To solve the above problems, the technical scheme of the application is:

[0010] An electric material transport vehicle unloading self-adaptive matching control method, comprising the following steps:

[0011] Step 1: input vehicle parameters through a man-machine interaction system, store and record the parameters by a controller, and obtain the optimal rotating speed n of the horizontal state of the discharging auger through a database 水平 ;

[0012] Step 2: collect the data of the discharging auger inclination sensor by the controller, and obtain the initial working rotating speed n1 of the discharging auger according to the initial rotating speed calculation method of the discharging auger

[0013] Step 3: when the system is started, calculate the initial working rotating speed n2 of the bottom auger and the initial working rotating speed n3 of the material lifting auger under normal working conditions according to the initial rotating speed matching algorithm

[0014] Step 4: the controller sends motor control instructions to control the operation of each motor according to the initial working rotating speed thereof

[0015] Step 5: after the system is stably operated, the rotating speed of each auger is adjusted in real time through the rotating speed self-adaptive matching method of the controller

[0016] Step 6: the initial rotating speed matching coefficient k1 of the bottom auger under the current inclination condition is modified and recorded through the self-learning algorithm

[0017] Preferably, in the step 2, the calculation formula of the initial working rotating speed of the discharging auger is:

[0018] n 理论 =[0.5*(1-θ / 90)2+0.5]n 水平 ;

[0019] wherein, if n 理论 ≤n 1max , the initial rotating speed n1 of the discharging auger is n 理论 ;

[0020] if n 理论 >n 1max , the initial rotating speed n1 of the discharging auger is n 1max .

[0021] Preferably, in the step 3, the initial working rotating speed n2 of the bottom auger is k1n1, and the initial working rotating speed n3 of the material lifting auger is k2n2, wherein k1 is the initial rotating speed matching coefficient of the bottom auger under the current inclination condition, and k2 is the rotating speed matching coefficient of the material lifting auger under the current inclination condition.

[0022] Preferably, in step 5, the controller speed adaptive matching method comprises the following steps:

[0023] S1: Obtain the real-time torque T1 of the discharging auger motor, the optimal torque T2 of the discharging auger motor / the real-time torque T3 of the bottom auger motor, and the optimal torque T4 of the bottom auger motor in real time, and calculate the difference between the real-time torque of the bottom auger motor and the optimal torque Δ2 = |T3-T4|, and the difference between the real-time torque of the discharging auger motor and the optimal torque Δ1 = |T1-T2|.

[0024] S2: Based on Δ2 and threshold Adjust the bottom auger motor speed n2 according to the relationship:

[0025] like Keep n2 unchanged;

[0026] like And T3 <T4,且此种状态持续时间达到t,判断是否同时满足 And T1 <T2,若满足则通过PID控制算法增大底绞龙转速n2,若不满足则不调节底绞龙电机转速;

[0027] like And T3>T4, and this state lasts for t, the bottom auger speed n2 is reduced by PID control algorithm. If n2 is adjusted <n 2min , then set n2 to n 2min ;

[0028] S3: Calculate the real-time speed of the lifting auger n3=k2n2 according to the real-time speed control algorithm of the lifting auger;

[0029] S4: Based on Δ1 and threshold Adjust the discharge auger motor speed n1 according to the relationship:

[0030] like Keep n1 unchanged;

[0031] like And T1 <T2,且此种状态持续时间达到t,通过PID控制算法增大出料绞龙转速n1,若调节后n1> n 1max , then set n1 to n 1max ;

[0032] like And T1>T2, and this state lasts for T, if n1>n 1min , then reduce the discharging auger speed n1 through PID control algorithm; if n1 is adjusted to n 1min After that, it is still in overload state, and the bottom material auger speed n2 is reduced through the PID control algorithm.

[0033] Preferably, in step 6, the autonomous learning algorithm is specifically: calculating the ratio K of the real-time rotation speed n2 of the bottom auger and the real-time rotation speed n1 of the discharge auger, if |K-K1|>AK, then modifying the initial matching coefficient K1=K to optimize the system matching state.

[0034] In addition, the present application also provides an electric material transport vehicle unloading adaptive matching system, the unloading adaptive matching system includes a sensing module, a human-computer interaction module, a system control module, an electric drive system module, an auger system module, the auger system module includes a discharge auger, a bottom auger and a lifting auger; The sensing module includes a discharge auger inclination sensor and a weighing sensor; The discharge auger inclination sensor is arranged on the side of the discharge auger and is used to detect the angle of the discharge auger and output an analog signal; The weighing sensor is arranged on the carriage of the material transport vehicle or the key stress part of the auger system and is used to monitor the weight of the material or the conveying load in real time and output an analog or digital signal; The human-computer interaction module is arranged on the material transport vehicle and is used to output and set the length parameters of the discharge auger, the bottom auger and the lifting auger; The system control module includes a controller, and the input end of the controller is electrically connected with the weighing sensor and the discharge auger inclination sensor; The controller is arranged on the material transport vehicle and is used to receive the vehicle parameters sent by the human-computer interaction module, obtain the standard length, the actual length and the corresponding optimal rotation speed, motor torque and other parameters through table lookup, and control the rotation speed of the auger through the unloading adaptive matching method.

[0035] Preferably, the electric drive system module includes a discharge auger motor, a discharge auger motor driver, a lifting auger motor, a lifting auger motor driver, a bottom auger motor and a bottom auger motor driver; The discharge auger motor driver is arranged on the material transport vehicle, is electrically connected with the controller and the discharge auger driving motor, is used to drive the discharge auger motor to rotate, and feeds back the torque and rotation speed parameters of the discharge auger motor to the controller; The lifting auger motor driver is arranged on the material transport vehicle, is electrically connected with the controller and the lifting auger driving motor, is used to drive the lifting auger motor to rotate, and feeds back the torque and rotation speed parameters of the lifting auger motor to the controller; The bottom auger motor driver is arranged on the material transport vehicle, is electrically connected with the controller and the bottom auger driving motor, is used to drive the bottom auger motor to rotate, and feeds back the torque and rotation speed parameters of the bottom auger motor to the controller.

[0036] Preferably, the bottom auger motor is a speed-regulating motor, is arranged on the material transport vehicle, and its output shaft is mechanically connected with the input shaft of the bottom auger; The lifting auger motor is a rotation speed-adjustable motor, is arranged on the material transport vehicle, and its output shaft is mechanically connected with the input shaft of the lifting auger; The discharge auger motor is a speed-regulating motor, is arranged on the material transport vehicle, and its output shaft is mechanically connected with the input shaft of the discharge auger.

[0037] The above technical scheme of the present application has the following beneficial technical effects:

[0038] The present application perceives the inclination state of the auger and the motor torque, rotation speed and other data in real time through the inclination sensor and the weighing sensor, combines the initial rotation speed calculation, initial rotation speed matching, rotation speed adaptive matching and autonomous learning algorithm of the discharging auger, dynamically adjusts the rotation speed of each auger according to different working conditions, compared with the traditional mode, can effectively reduce the cost caused by the difference of auger specifications, avoid the efficiency loss caused by the configuration according to the limit working condition, reduce the risk of material blocking and equipment wear caused by manual fine adjustment, realize the multiple advantages of energy saving and efficiency increasing, improving operation efficiency, reducing failure probability, simplifying operation difficulty and enhancing equipment adaptability. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 It is a structural schematic view of the discharging adaptive matching system of the electrified material transport vehicle of the present application.

[0040] Figure 2 It is a flow chart of the discharging adaptive matching control method of the electrified material transport vehicle of the present application.

[0041] Figure 3 It is a flow chart of the real-time rotation speed control algorithm of the bottom auger in the present application.

[0042] Figure 4 It is a flow chart of the real-time rotation speed control algorithm of the discharging auger in the present application. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical scheme and advantages of the present application more clear and explicit, the present application will be further described in detail below in combination with specific embodiments. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present application. In addition, in the following description, the description of the known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present application.

[0044] The following will be described in combination with the accompanying Figures 1-4 Further detailed description of the present application, a discharging adaptive matching system of an electrified material transport vehicle, the discharging adaptive matching system includes a sensing module, a man-machine interaction module, a system control module, an electric drive system module, an auger system module, the auger system module includes a discharging auger, a bottom auger and a lifting auger.

[0045] The sensing module includes a discharging auger inclination sensor and a weighing sensor; the discharging auger inclination sensor is arranged on the side of the discharging auger and is used for detecting the angle of the discharging auger and outputting an analog signal; the weighing sensor is arranged at the carriage of the material transport vehicle or the key stress position of the auger system and is used for monitoring the material weight or the conveying load in real time and outputting an analog or digital signal;

[0046] The human-computer interaction module is arranged on the material transport vehicle and is used for outputting and setting length parameters of the discharging auger, the bottom auger and the lifting auger;

[0047] The system control module comprises a controller, an input end of the controller is electrically connected with the weighing sensor and the discharging auger inclination sensor; the controller is arranged on the material transport vehicle and is used for receiving vehicle parameters sent by the human-computer interaction module, obtaining standard length, actual length and corresponding optimal rotating speed, motor torque and other parameters through table lookup, and controlling auger rotating speed through the unloading self-adaptive matching method.

[0048] The electric drive system module comprises a discharging auger motor, a discharging auger motor driver, a lifting auger motor, a lifting auger motor driver, a bottom auger motor and a bottom auger motor driver.

[0049] The discharging auger motor driver is arranged on the material transport vehicle, is electrically connected with the controller and the discharging auger driving motor, is used for driving the discharging auger motor to rotate, and feeds back torque and rotating speed parameters of the discharging auger motor to the controller; the lifting auger motor driver is arranged on the material transport vehicle, is electrically connected with the controller and the lifting auger driving motor, is used for driving the lifting auger motor to rotate, and feeds back torque and rotating speed parameters of the lifting auger motor to the controller; the bottom auger motor driver is arranged on the material transport vehicle, is electrically connected with the controller and the bottom auger driving motor, is used for driving the bottom auger motor to rotate, and feeds back torque and rotating speed parameters of the bottom auger motor to the controller.

[0050] The bottom auger motor is a speed-regulating motor, is arranged on the material transport vehicle, and its output shaft is mechanically connected with the input shaft of the bottom auger; the lifting auger motor is a rotating speed-adjustable motor, is arranged on the material transport vehicle, and its output shaft is mechanically connected with the input shaft of the lifting auger; the discharging auger motor is a speed-regulating motor, is arranged on the material transport vehicle, and its output shaft is mechanically connected with the input shaft of the discharging auger.

[0051] The application further provides an unloading self-adaptive matching control method of the electrified material transport vehicle, comprising the following steps:

[0052] Step 1: input vehicle parameters through the human-computer interaction system, store and record the parameters by the controller, and obtain the optimal rotating speed n of the discharging auger in the horizontal state through the database; 水平 ;

[0053] Step 2: collect data of the discharging auger inclination sensor by the controller, and obtain the initial working rotating speed n1 of the discharging auger according to the initial rotating speed calculation method of the discharging auger;

[0054] Step 3: when starting the system, calculate the initial working rotating speed n2 of the bottom auger and the initial working rotating speed n3 of the lifting auger under normal working conditions according to the initial rotating speed matching algorithm;

[0055] Step 4: The controller sends motor control instructions to control each motor to run at its initial operating speed;

[0056] Step 5: After the system is stable, the controller speed adaptive matching method is used to adjust the speed of each auger in real time;

[0057] Step 6: Modify and record the bottom auger initial speed matching coefficient k1 under the current inclination condition through the autonomous learning algorithm.

[0058] Specifically, in step 2, the calculation formula for the initial operating speed of the discharge auger is: n 理论 =[0.5*(1-θ / 90)2+0.5]n 水平 Calculate the theoretical speed, where if n 理论 ≤n 1max , the initial speed of the discharge auger n1=n 理论 ; If n 理论 >n 1max , the initial speed of the discharge auger n1=n 1max .

[0059] Specifically, in step 3, the initial working speed of the bottom auger n2 = k1n1, and the initial working speed of the lifting auger n3 = k2n2, where k1 is the initial speed matching coefficient of the bottom auger under the current inclination condition, and k2 is the speed matching coefficient of the lifting auger under the current inclination condition.

[0060] Specifically, in step 5, the steps of the controller speed adaptive matching method are:

[0061] S1: Obtain the real-time torque T1 of the discharging auger motor, the optimal torque T2 of the discharging auger motor / the real-time torque T3 of the bottom auger motor, and the optimal torque T4 of the bottom auger motor in real time, and calculate the difference between the real-time torque of the bottom auger motor and the optimal torque Δ2 = |T3-T4|, and the difference between the real-time torque of the discharging auger motor and the optimal torque Δ1 = |T1-T2|.

[0062] S2: Based on Δ2 and threshold Adjust the bottom auger motor speed n2 according to the relationship:

[0063] like This indicates that the operating efficiency of the bottom auger is in the optimal operating condition, and the current bottom auger motor speed n2 remains unchanged;

[0064] like And T3 <T4,且此种状态持续时间达到t,说明底绞龙作业效率未达到最佳状态,此时判断是否同时满足 And T1 <T2,若满足则通过PID控制算法增大底绞龙转速n2,若不满足则不调节底绞龙电机转速;

[0065] If and T3>T4, and the duration of this state reaches t, it means that the bottom auger operation is in an overload state, then reduce the bottom auger speed n2 through the PID control algorithm, if n2<n 2min , then set n2 as n 2min ;

[0066] S3: According to the real-time speed control algorithm of the lifting auger, calculate the real-time speed n3=k2n2 of the lifting auger.

[0067] S4: Adjust the motor speed n1 of the discharging auger according to the relationship between Δ1 and the threshold value .

[0068] If , it means that the discharging auger operation efficiency is in the optimal operation condition, keep the current discharging auger motor speed n1 unchanged.

[0069] If and T1<T2, and the duration of this state reaches t, it means that the discharging auger operation efficiency does not reach the optimal operation condition, then increase the discharging auger speed n1 through the PID control algorithm, if n1>n 1max , then set n1 as n 1max .

[0070] If and T1>T2, and the duration of this state reaches t, it means that the discharging auger operation is in an overload state, if n1>n 1min , then reduce the discharging auger speed n1 through the PID control algorithm; if n1 is still in an overload state after adjusting to n 1min , it means that the input flow of the bottom auger is greater than the maximum output flow of the discharging auger, then reduce the bottom auger speed n2 through the PID control algorithm.

[0071] Specifically, in step 6, the autonomous learning algorithm is: calculate the ratio K of the real-time speed n2 of the bottom auger and the real-time speed n1 of the discharging auger, if |K-K1|>ΔK, then modify the initial matching coefficient K1=K to optimize the system matching state.

[0072] To sum up, the application provides a kind of electric material transport vehicle unloading self-adaptive matching control method and system, through inclination sensor, weighing sensor real-time perception auger inclination state and motor torque, speed data, combining initial speed calculation, initial speed matching, speed self-adaptive matching and autonomous learning algorithm of discharging auger, according to different working conditions dynamically adjust the speed of each auger, compared with traditional mode, can effectively reduce the cost caused by the difference of auger specification, avoid the efficiency loss caused by the configuration according to limit condition, reduce the risk of blocking caused by manual fine tuning and equipment wear, realize energy saving and efficiency increasing, improve operation efficiency, reduce failure probability, simplify operation difficulty, enhance the adaptability of equipment multiple advantages.

[0073] The above is only the preferred embodiment of the present application, which is only used to help understand the method and its core idea of the present application. The protection scope of the present application is not limited to the above-mentioned embodiments. Any technical solutions falling within the idea of the present application shall fall within the protection scope of the present application. It should be noted that, for ordinary skilled persons in the art, some improvements and refinements without departing from the principles of the present application shall also be considered as falling within the protection scope of the present application. The above-mentioned is only the preferred embodiment of the present application, and is not used to limit the present application. Any modifications, equivalent replacements and improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An adaptive matching control method for unloading of an electric material transport vehicle, characterized in that: The following steps are involved: Step 1: Input vehicle parameters through the human-computer interaction system, the controller stores and records the parameters, and obtains the optimal speed n when the auger is in a horizontal state through the database 水平 ; Step 2: The controller collects data from the discharge auger inclination sensor and obtains the initial operating speed n1 of the discharge auger according to the calculation method of the initial speed of the discharge auger; Step 3: When starting the system, calculate the initial operating speed n2 of the bottom auger and the initial operating speed n3 of the lifting auger under normal working conditions according to the initial speed matching algorithm; Step 4: The controller sends motor control instructions to control each motor to run at its initial operating speed; Step 5: After the system is stable, the controller speed adaptive matching method is used to adjust the speed of each auger in real time; Step 6: Modify and record the bottom auger initial speed matching coefficient k1 under the current inclination condition through the autonomous learning algorithm.

2. The method for adaptive matching control of unloading of an electric material transport vehicle according to claim 1, characterized in that: In step 2, the calculation formula for the initial operating speed of the discharging auger is: n 理论 =[0.5*(1-θ / 90)2+0.5]n 水平 Calculate the theoretical speed, Among them, if n 理论 ≤n 1max , the initial speed of the discharge auger n1=n 理论 ; If n 理论 >n 1max , the initial speed of the discharge auger n1=n 1max .

3. The method for adaptive matching control of unloading of an electric material transport vehicle according to claim 1, characterized in that: In step 3, the initial working speed of the bottom auger n2=k1n1, and the initial working speed of the lifting auger n3=k2n2, wherein k1 is the initial speed matching coefficient of the bottom auger under the current inclination condition, and k2 is the speed matching coefficient of the lifting auger under the current inclination condition.

4. The method for adaptive matching control of unloading of an electric material transport vehicle according to claim 1, characterized in that: In step 5, the controller speed adaptive matching method comprises the following steps: S1: Obtain the real-time torque T1 of the discharging auger motor, the optimal torque T2 of the discharging auger motor / the real-time torque T3 of the bottom auger motor, and the optimal torque T4 of the bottom auger motor in real time, and calculate the difference between the real-time torque of the bottom auger motor and the optimal torque Δ2 = |T3-T4|, and the difference between the real-time torque of the discharging auger motor and the optimal torque Δ1 = |T1-T2|. S2: Based on Δ2 and threshold Adjust the bottom auger motor speed n2 according to the relationship: like Keep n2 unchanged; If and T3 < T4, and this state lasts for a duration of t, determine whether both of the following are satisfied simultaneously and T1 < T2. If satisfied, increase the rotational speed n2 of the bottom auger through the PID control algorithm; if not satisfied, do not adjust the rotational speed of the bottom auger motor; like And T3>T4, and this state lasts for t, the bottom auger speed n2 is reduced by PID control algorithm. If n2 is adjusted <n 2min , then set n2 to n 2min ; S3: Calculate the real-time speed of the lifting auger n3=k2n2 according to the real-time speed control algorithm of the lifting auger; S4: Based on Δ1 and threshold Adjust the discharge auger motor speed n1 according to the relationship: like Keep n1 unchanged; If and T1 < T2, and this state lasts for a duration of t, increase the rotational speed n1 of the discharge auger through the PID control algorithm. If n1 > n after adjustment 1max , then set n1 to n 1max ; like And T1>T2, and this state lasts for T, if n1>n 1min , then reduce the discharging auger speed n1 through PID control algorithm; if n1 is adjusted to n 1min After that, it is still in overload state, and the bottom material auger speed n2 is reduced through the PID control algorithm.

5. The method for adaptive matching control of unloading of an electric material transport vehicle according to claim 1, characterized in that: In step 6, the autonomous learning algorithm is specifically as follows: calculating the ratio K of the bottom auger real-time speed n2 to the discharge auger real-time speed n1, and if |K-K1|>ΔK, modifying the initial matching coefficient K1=K to optimize the system matching state.

6. An adaptive matching system for unloading of electric material transport vehicles, characterized in that: The unloading adaptive matching system includes a sensor module, a human-computer interaction module, a system control module, an electric drive system module, and an auger system module. The auger system module includes a discharging auger, a bottom auger, and a lifting auger. The sensor module includes a discharging auger inclination sensor and a weighing sensor; The discharging auger inclination sensor is arranged on the side of the discharging auger, and is used to detect the angle of the discharging auger and output an analog signal; The weighing sensor is installed in the carriage of the material transport vehicle or the key stress-bearing part of the auger system to monitor the material weight or conveying load in real time and output analog or digital signals; The human-computer interaction module is provided on the material transport vehicle and is used to output and set the length parameters of the discharging auger, the bottom auger and the lifting auger; The system control module includes a controller, the input end of the controller is electrically connected to a weighing sensor and a discharging auger inclination sensor; The controller is arranged on the material transport vehicle and is used to receive vehicle parameters sent by the human-computer interaction module, obtain standard length, actual length and corresponding optimal speed, motor torque and other parameters by looking up the table, and control the auger speed through the unloading adaptive matching method.

7. The self-adaptive matching system for unloading of electric material transport vehicles according to claim 6, characterized in that: The electric drive system module includes a discharging auger motor, a discharging auger motor driver, a lifting auger motor, a lifting auger motor driver, a bottom auger motor, and a bottom auger motor driver; The discharging auger motor driver is provided on the material transport vehicle and is electrically connected to the controller and the discharging auger drive motor, and is used to drive the discharging auger motor to rotate and feed back its torque and speed parameters to the controller; The lifting auger motor driver is provided on the material transport vehicle and is electrically connected to the controller and the lifting auger drive motor, and is used to drive the lifting auger motor to rotate and feed back its torque and speed parameters to the controller; The bottom auger motor driver is arranged on the material transport vehicle, and is electrically connected to the controller and the bottom auger drive motor. It is used to drive the bottom auger motor to rotate and feed back its torque and speed parameters to the controller.

8. The self-adaptive matching system for unloading of electric material transport vehicles according to claim 6, characterized in that: The bottom auger motor is a speed-regulating motor, which is installed on the material transport vehicle, and its output shaft is mechanically connected to the bottom auger input shaft; The material lifting auger motor is a speed-adjustable motor, which is installed on the material transport vehicle, and its output shaft is mechanically connected to the material lifting auger input shaft; The discharging auger motor is a speed-regulating motor, which is arranged on the material transport vehicle, and its output shaft is mechanically connected to the discharging auger input shaft.

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