A wheel slip control method and system suitable for multi-axle drive mine vehicles

Abstract

The application provides a wheel anti-skid control method and system suitable for multi-axle driving mine vehicles, and belongs to the technical field of vehicle dynamics control and electric driving control. First, the application acquires the slip ratio of each driving wheel by collecting the driving wheel rotating speed and the vehicle longitudinal driving speed. Then, the target slip ratio under different vehicle speeds is determined according to the vehicle longitudinal driving speed through the relationship curve between the slip ratio and the adhesion coefficient. Secondly, when the current slip ratio is greater than the target slip ratio, it is determined whether to intervene in the anti-skid control. After the intervention, the anti-skid correction torque is obtained through the incremental PI controller. Thirdly, the amplitude-limited target torque is obtained through the amplitude limiting processing by comprehensively considering the driver demand torque, the current output torque and the anti-skid correction torque. Fourthly, the output torque of the left and right driving wheels of the same axle is obtained through the multi-axle preset rule. Finally, it is determined whether to exit the anti-skid control, and when the exit is determined, the uncorrected driving torque is output.

Description

Technical Field

[0001] This invention relates to the field of vehicle dynamics control and electric drive control technology, and in particular to a wheel anti-skid control method and system suitable for multi-axle drive mining vehicles. Background Technology

[0002] When a vehicle travels on low-traction surfaces or under complex conditions, the drive wheels are prone to slippage. This not only leads to reduced driving force utilization and accelerated tire wear, but can also cause a decrease in the vehicle's longitudinal dynamic performance and a deterioration in lateral stability. This is especially true for multi-axle vehicles and vehicles with inconsistent traction conditions between the left and right wheels, which can easily induce vehicle instability. Existing vehicle anti-skid control typically uses wheel slip rate as the control variable, adjusting the output torque of the drive wheels to suppress slippage.

[0003] However, in practical applications, vehicle operating conditions are complex and varied. The demands for power and stability differ at different speeds. Using a fixed target slip ratio control strategy makes it difficult to fully utilize traction at low speeds, while negatively impacting lateral stability at medium to high speeds. Furthermore, multi-axle vehicles have coupling relationships between their drive wheels. When the left and right wheels or different axles are under different traction conditions, a lack of a reasonable control and coordination mechanism can easily lead to uneven distribution of driving force, further exacerbating slippage or causing vehicle yaw. Existing anti-slip control methods still have shortcomings in terms of control smoothness, noise robustness, and the rationality of anti-slip intervention and disengagement. Summary of the Invention

[0004] To address the problems in the prior art, this invention provides a wheel anti-slip control method and system suitable for multi-axle driven mining vehicles. First, this invention acquires the slip ratio of each drive wheel by collecting the drive wheel speed and the vehicle's longitudinal travel speed. Then, based on the vehicle's longitudinal travel speed, the target slip ratio at different vehicle speeds is determined using the relationship curve between slip ratio and adhesion coefficient. Second, when the current slip ratio exceeds the target slip ratio, it is determined whether to intervene in anti-slip control. If intervention occurs, an anti-slip correction torque is obtained through an incremental PI controller. Third, by combining the driver's required torque, the current output torque, and the anti-slip correction torque, a limited target torque is obtained through amplitude limiting processing. Furthermore, the output torque of the left and right drive wheels on the same axle is obtained through multi-axle preset rules. Finally, it is determined whether to exit anti-slip control; if exit is determined, no correction drive torque is output. To achieve the above objectives, the technical solution is as follows: On one hand, the present invention provides a wheel anti-skid control method applicable to multi-axle drive mining vehicles, the method comprising: S1. Based on the driver's required torque, obtain the current driving torque through vehicle drive; S2. Based on the wheel speed sensor and the vehicle accelerometer, the current wheel speed and vehicle speed information are obtained through a nonlinear vehicle speed state observation model. S3. Calculate the current slip ratio based on the current wheel rotation speed and vehicle speed information; S4. Based on the relationship curve between slip ratio and ground adhesion coefficient and the vehicle speed information, the target slip ratio is obtained through vehicle speed condition segmentation. S5. Based on the current slip ratio, the target slip ratio, and the driver's required torque, the anti-slip correction is used to determine whether the correction is enabled. If the correction is enabled, the anti-slip correction torque and the anti-slip control intervention flag are calculated through the anti-slip control. If the correction is not enabled, the anti-slip correction torque is zero and the anti-slip control intervention flag is zero. S6. Based on the anti-slip correction torque and the current driving torque, the target limited driving torque is obtained by limiting the output torque; S7. Based on the target limited drive torque, the output torque of each drive wheel is obtained by using the multi-axis torque preset rule to coordinate the torque of the left and right drive wheels on the same axis. S8. Based on the driver's required torque and the anti-slip control intervention flag, determine whether to exit anti-slip control. If exited, set the anti-slip correction torque to zero and return to step S6; otherwise, return to step S1.

[0005] Optionally, in S4, based on the relationship curve between slip ratio and ground adhesion coefficient and the vehicle speed information, the target slip ratio is obtained through vehicle speed condition segmentation, including: S41. Based on the relationship curve between slip ratio and ground adhesion coefficient, the optimal slip ratio is obtained by finding the maximum value of the ground adhesion coefficient; S42. Based on the vehicle speed information and the optimal slip ratio, the following judgment rules are applied to determine the vehicle speed operating conditions: Judgment Rule 1: If the condition is determined to be low-speed, the target slip ratio is the optimal slip ratio. Judgment Rule 2: If the condition is determined to be medium-high speed, the target slip ratio is zero.

[0006] Optionally, in S5, based on the current slip ratio, the target slip ratio, and the driver's required torque, a slip correction is performed. If the correction is activated, the slip correction torque and the slip control intervention flag are calculated through slip control. If the correction is not activated, the slip correction torque and the slip control intervention flag are both zero. This includes: S51. Based on the current slip ratio and the target slip ratio, an anti-slip correction is made, and the judgment rules are as follows: Judgment Rule 1: If the current slip ratio is greater than the target slip ratio, the slip ratio difference is obtained; Judgment Rule 2: Otherwise, the anti-slip correction torque is zero, and the anti-slip control intervention flag is zero; S52. Based on the slip ratio difference and the driver's required torque, anti-slip intervention is determined according to the following rules: Judgment Rule 1: The driver's required torque is greater than zero. Using the incremental PI control model, the anti-slip correction torque and the anti-slip control intervention flag are obtained. Judgment Rule 2: Otherwise, the anti-slip correction torque is zero, and the anti-slip control intervention flag is zero.

[0007] Optionally, in S6, based on the anti-slip correction torque and the current drive torque, the target limited drive torque is obtained by limiting the output torque, including: S61. Based on the anti-slip correction torque and the current driving torque, the target driving torque is obtained by superimposing them together; S62. Based on the target driving torque, the target limited driving torque is obtained through output torque limiting processing.

[0008] Optionally, in step S8, based on the driver's required torque and the anti-slip control intervention flag, it is determined whether to disengage the anti-slip control. If disengaged, the anti-slip correction torque is set to zero, and the process returns to step S6; otherwise, it returns to step S1, including: S81. Based on the anti-slip control intervention indicator value, determine whether it is zero. If it is zero, return to step S1; otherwise, proceed to step S82. S82. Based on the driver's required torque, determine whether the driver's required torque has decreased. If it has decreased, set the anti-slip correction torque to zero, exit anti-slip control, and return to step S6; otherwise, return to step S1.

[0009] On the other hand, the present invention provides a wheel anti-skid control system suitable for multi-axle drive mining vehicles. This system is applied to a wheel anti-skid control method suitable for multi-axle drive mining vehicles. The system includes: The current drive torque acquisition module is used to obtain the current drive torque based on the driver's required torque and the vehicle's drive mechanism. The wheel speed and vehicle speed acquisition module is used to obtain the current wheel speed and vehicle speed information based on the wheel speed sensor and the on-board accelerometer through a nonlinear vehicle speed state observation model; The current slip ratio acquisition module is used to calculate the current slip ratio based on the current wheel rotation speed and vehicle speed information; The target slip ratio acquisition module is used to obtain the target slip ratio based on the relationship curve between slip ratio and ground adhesion coefficient and the vehicle speed information, through vehicle speed condition segmentation. The anti-slip correction judgment and anti-slip correction torque acquisition module is used to determine the anti-slip correction based on the current slip rate, the target slip rate, and the driver's required torque. If the correction is enabled, the anti-slip correction torque and the anti-slip control intervention flag are obtained through anti-slip control calculation. If the correction is not enabled, the anti-slip correction torque is zero and the anti-slip control intervention flag is zero. The target limiting drive torque acquisition module is used to obtain the target limiting drive torque by limiting the output torque based on the anti-slip correction torque and the current drive torque. The output torque acquisition module of each drive wheel is used to obtain the output torque of each drive wheel based on the target limited drive torque by using multi-axis torque preset rules to coordinate and constrain the torque of the left and right drive wheels on the same axis. The anti-slip control exit judgment module is used to determine whether to exit anti-slip control based on the driver's required torque and the anti-slip control intervention flag.

[0010] Compared with the prior art, the technical solution of the present invention has at least the following beneficial effects: The above-mentioned scheme has several advantages. First, it uses wheel slip ratio as the anti-skid control variable. By adjusting the output torque of the drive wheels, it can effectively suppress wheel slippage on low-traction surfaces or in complex working conditions, thereby improving the utilization efficiency of driving force. Second, it determines the target slip ratio based on the vehicle speed, so that the anti-skid control target changes with the vehicle speed. This balances driving force requirements at low speeds and vehicle stability at medium and high speeds, thus achieving a coordination between vehicle power and stability. Third, the target slip ratio and vehicle speed change continuously, avoiding control shocks caused by sudden changes in the anti-skid control target and improving the smoothness of the anti-skid control process. Fourthly, the use of incremental PI control for anti-slip control reduces the impact of wheel speed signal noise on the control effect, which is beneficial to improving the stability and robustness of anti-slip control. Fifthly, by reasonably setting the intervention and withdrawal conditions of anti-slip control, the anti-slip control can be started and stopped according to the vehicle's operating status and the driver's driving needs, avoiding unnecessary control intervention and improving the vehicle's drivability. Sixthly, considering the operating characteristics of multi-axle drive vehicles, the anti-slip control process of each drive wheel is coordinated, which helps to improve the driving force distribution effect when the adhesion conditions of the left and right wheels or different axles are inconsistent, thereby improving the overall driving stability of the vehicle under complex road conditions. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a flowchart of an embodiment of the wheel anti-skid control method for multi-axle driven mining vehicles of the present invention; Figure 2 This is a flowchart illustrating the method for obtaining the target slip ratio in an embodiment of the wheel anti-skid control method for multi-axle driven mining vehicles of the present invention; Figure 3 This is a graph showing the relationship between the slip ratio and the ground adhesion coefficient in an embodiment of the wheel anti-skid control method for multi-axle driven mining vehicles of the present invention. Figure 4 This is a flowchart of the anti-slip correction judgment and anti-slip correction torque acquisition of an embodiment of the wheel anti-slip control method for multi-axle driven mining vehicles of the present invention; Figure 5 This is a flowchart illustrating the acquisition of the target limited drive torque in an embodiment of the wheel anti-skid control method for multi-axle driven mining vehicles of the present invention. Figure 6 This is a flowchart illustrating the anti-skid control exit judgment of an embodiment of the wheel anti-skid control method for multi-axle driven mining vehicles of the present invention; Figure 7 This is a schematic diagram of the vehicle anti-skid control principle of an embodiment of the wheel anti-skid control method for multi-axle driven mining vehicles of the present invention; Figure 8 This is a system block diagram of an embodiment of the wheel anti-skid control system for multi-axle driven mining vehicles of the present invention. Detailed Implementation

[0013] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0014] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.

[0015] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0016] like Figure 1 The flowchart shown is an embodiment of the wheel anti-skid control method for multi-axle driven mining vehicles according to the present invention. The present invention provides a wheel anti-skid control method for multi-axle driven mining vehicles, which is implemented by a wheel anti-skid control system for multi-axle driven mining vehicles. The method includes: S1. Based on the driver's required torque, the current driving torque is obtained through vehicle drive.

[0017] S2. Based on the wheel speed sensor and the vehicle accelerometer, the current wheel speed and vehicle speed information are obtained through a nonlinear vehicle speed state observation model.

[0018] S3. Calculate the current slip ratio based on the current wheel rotation speed and vehicle speed information; Specifically, the current slip ratio The calculation formula is as shown in equation (1): (1) In the formula, The angular velocity of the wheel rotation; The radius of the wheel's rolling radius; The longitudinal speed of the vehicle is estimated from wheel speed signals or longitudinal acceleration information based on the vehicle's operating state to ensure the effectiveness of the slip ratio calculation.

[0019] S4. Based on the relationship curve between slip ratio and ground adhesion coefficient and the vehicle speed information, the target slip ratio is obtained through vehicle speed condition segmentation. Specifically, such as Figure 2 The flowchart shown is for obtaining the target slip ratio in an embodiment of the wheel anti-skid control method for multi-axle driven mining vehicles of the present invention. In step S4, the target slip ratio is obtained by judging the vehicle speed condition based on the relationship curve between slip ratio and ground adhesion coefficient and the vehicle speed information, including: S41. Based on the relationship curve between slip ratio and ground adhesion coefficient, the optimal slip ratio is obtained by finding the maximum value of the ground adhesion coefficient; Furthermore, such as Figure 3 The figure shows the relationship curve between the slip ratio and the ground adhesion coefficient of an embodiment of the wheel anti-skid control method for multi-axle driven mining vehicles of the present invention. The maximum adhesion coefficient, This represents the optimal slip ratio.

[0020] S42. Based on the vehicle speed information and the optimal slip ratio, the following judgment rules are applied to determine the vehicle speed operating conditions: Judgment Rule 1: If the condition is determined to be low-speed, the target slip ratio is the optimal slip ratio. Furthermore, by Figure 3 It can be seen that under low-speed conditions, the longitudinal traction force is maximized when the longitudinal adhesion coefficient is maximized. At this time, the optimal slip ratio is set as the target slip ratio.

[0021] Judgment Rule 2: If the condition is determined to be medium-high speed, the target slip ratio is zero. Furthermore, by Figure 3 It can be seen that, under medium-high speed conditions, to ensure the maximum lateral adhesion coefficient, a lower slip ratio needs to be selected, therefore the target slip ratio needs to be configured to zero.

[0022] S5. Based on the current slip ratio, the target slip ratio, and the driver's required torque, the anti-slip correction is used to determine whether the correction is enabled. If the correction is enabled, the anti-slip correction torque and the anti-slip control intervention flag are calculated through the anti-slip control. If the correction is not enabled, the anti-slip correction torque is zero and the anti-slip control intervention flag is zero. Specifically, such as Figure 4 The flowchart shown is for an embodiment of the wheel anti-skid control method for multi-axle driven mining vehicles of the present invention, illustrating the anti-skid correction judgment and anti-skid correction torque acquisition. In step S5, based on the current slip ratio, the target slip ratio, and the driver's required torque, an anti-skid correction judgment is made. If correction is enabled, the anti-skid correction torque and anti-skid control intervention flag are calculated through anti-skid control. If correction is not enabled, the anti-skid correction torque and anti-skid control intervention flag are both zero. This includes: S51. Based on the current slip ratio and the target slip ratio, an anti-slip correction is made, and the judgment rules are as follows: Judgment Rule 1: If the current slip ratio is greater than the target slip ratio, the slip ratio difference is obtained; Judgment Rule 2: Otherwise, the anti-slip correction torque is zero, and the anti-slip control intervention flag is zero; S52. Based on the slip ratio difference and the driver's required torque, anti-slip intervention is determined according to the following rules: Judgment Rule 1: The driver's required torque is greater than zero. Using the incremental PI control model, the anti-slip correction torque and the anti-slip control intervention flag are obtained. Judgment Rule 2: Otherwise, the anti-slip correction torque is zero, and the anti-slip control intervention flag is zero.

[0023] S6. Based on the anti-slip correction torque and the current driving torque, the target limited driving torque is obtained by limiting the output torque; Specifically, such as Figure 5 The flowchart shown is from an embodiment of the wheel anti-slip control method for multi-axle driven mining vehicles of the present invention, illustrating the process of obtaining the target limited drive torque. In step S6, based on the anti-slip correction torque and the current drive torque, the target limited drive torque is obtained by limiting the output torque, including: S61. Based on the anti-slip correction torque and the current driving torque, the target driving torque is obtained by superimposing them together; S62. Based on the target driving torque, the target limited driving torque is obtained through output torque limiting processing.

[0024] S7. Based on the target limited drive torque, the output torque of each drive wheel is obtained by using the multi-axis torque preset rule to coordinate the torque of the left and right drive wheels on the same axis. S8. Based on the driver's required torque and the anti-slip control intervention flag, determine whether to exit anti-slip control. If exited, set the anti-slip correction torque to zero and return to step S6; otherwise, return to step S1.

[0025] Specifically, such as Figure 6 In step S8, based on the driver's required torque and the anti-slip control intervention flag, it is determined whether to disengage the anti-slip control. If disengaged, the anti-slip correction torque is set to zero, and the process returns to step S6; otherwise, it returns to step S1, including: S81. Based on the anti-slip control intervention indicator value, determine whether it is zero. If it is zero, return to step S1; otherwise, proceed to step S82. S82. Based on the driver's required torque, determine whether the driver's required torque has decreased. If it has decreased, set the anti-slip correction torque to zero, exit anti-slip control, and return to step S6; otherwise, return to step S1.

[0026] For example, such as Figure 7 The diagram shown is a schematic diagram of the vehicle anti-skid control principle of an embodiment of the wheel anti-skid control method for multi-axle driven mining vehicles of the present invention. It is the target slip ratio. It is the current slip ratio. It is the vehicle's longitudinal speed. It is the current driving torque. It is the anti-slip correction torque. It is the output torque of each drive wheel. The rotational speed of each drive wheel is controlled by an incremental PI controller and an anti-slip control intervention and withdrawal mechanism to achieve anti-slip control of the drive wheels, which can effectively suppress wheel slippage under low-speed, medium-speed and high-speed operating conditions.

[0027] like Figure 8 The diagram shown is a system block diagram of an embodiment of the wheel anti-skid control system for multi-axle driven mining vehicles according to the present invention. The present invention provides a wheel anti-skid control system for multi-axle driven mining vehicles, which is applied to a wheel anti-skid control method for multi-axle driven mining vehicles. The system includes: a current driving torque acquisition module, a wheel speed and vehicle speed acquisition module, a current slip ratio acquisition module, a target slip ratio acquisition module, an anti-skid correction judgment and anti-skid correction torque acquisition module, a target limiting driving torque acquisition module, an output torque acquisition module for each driving wheel, and an anti-skid control exit judgment module. Specifically: The current drive torque acquisition module is used to obtain the current drive torque based on the driver's required torque and the vehicle's drive mechanism. The wheel speed and vehicle speed acquisition module is used to obtain the current wheel speed and vehicle speed information based on the wheel speed sensor and the on-board accelerometer through a nonlinear vehicle speed state observation model; The current slip ratio acquisition module is used to calculate the current slip ratio based on the current wheel rotation speed and vehicle speed information; The target slip ratio acquisition module is used to obtain the target slip ratio based on the relationship curve between slip ratio and ground adhesion coefficient and the vehicle speed information, through vehicle speed condition segmentation. The anti-slip correction judgment and anti-slip correction torque acquisition module is used to determine the anti-slip correction based on the current slip rate, the target slip rate, and the driver's required torque. If the correction is enabled, the anti-slip correction torque and the anti-slip control intervention flag are obtained through anti-slip control calculation. If the correction is not enabled, the anti-slip correction torque is zero and the anti-slip control intervention flag is zero. The target limiting drive torque acquisition module is used to obtain the target limiting drive torque by limiting the output torque based on the anti-slip correction torque and the current drive torque. The output torque acquisition module of each drive wheel is used to obtain the output torque of each drive wheel based on the target limited drive torque by using multi-axis torque preset rules to coordinate and constrain the torque of the left and right drive wheels on the same axis. The anti-slip control exit judgment module is used to determine whether to exit anti-slip control based on the driver's required torque and the anti-slip control intervention flag.

[0028] This invention provides a wheel anti-slip control method and system suitable for multi-axle driven mining vehicles, belonging to the field of vehicle dynamics control and electric drive control technology. First, the invention obtains the slip ratio of each drive wheel by collecting the drive wheel speed and the vehicle's longitudinal travel speed. Then, based on the vehicle's longitudinal travel speed, the target slip ratio at different vehicle speeds is determined through the relationship curve between slip ratio and adhesion coefficient. Second, when the current slip ratio is greater than the target slip ratio, it is determined whether to intervene in anti-slip control. After intervention, an anti-slip correction torque is obtained through an incremental PI controller. Third, by combining the driver's required torque, the current output torque, and the anti-slip correction torque, a limited target torque is obtained through amplitude limiting processing. Fourth, the output torque of the left and right drive wheels on the same axle is obtained through multi-axle preset rules. Finally, it is determined whether to exit anti-slip control; when exiting, no correction drive torque is output.

[0029] It is understood that the present invention has been described through the above embodiments and should not be construed as limiting the implementation and scope of the present invention. Those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the present invention. Furthermore, under the teachings of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of the present invention.

Claims

1. A wheel anti-skid control method applicable to multi-axle drive mining vehicles, characterized in that, The method includes: S1. Based on the driver's required torque, obtain the current driving torque through vehicle drive; S2. Based on the wheel speed sensor and the vehicle accelerometer, the current wheel speed and vehicle speed information are obtained through a nonlinear vehicle speed state observation model. S3. Calculate the current slip ratio based on the current wheel rotation speed and the vehicle speed information; S4. Based on the relationship curve between slip ratio and ground adhesion coefficient and the vehicle speed information, the target slip ratio is obtained through vehicle speed condition segmentation. S5. Based on the current slip ratio, the target slip ratio, and the driver's required torque, the anti-slip correction is determined. If the correction is enabled, the anti-slip correction torque and the anti-slip control intervention flag are calculated through anti-slip control. If the correction is not enabled, the anti-slip correction torque is zero and the anti-slip control intervention flag is zero. S6. Based on the anti-slip correction torque and the current driving torque, the target limited driving torque is obtained by limiting the output torque; S7. Based on the target limiting drive torque, the output torque of each drive wheel is obtained by using multi-axis torque preset rules to coordinate and constrain the torque of the left and right drive wheels on the same axis. S8. Based on the driver's required torque and the anti-slip control intervention flag, determine whether to exit anti-slip control. If exited, set the anti-slip correction torque to zero and return to step S6; otherwise, return to step S1.

2. The wheel anti-skid control method for multi-axle driven mining vehicles according to claim 1, characterized in that, In step S4, based on the relationship curve between slip ratio and ground adhesion coefficient and the vehicle speed information, the target slip ratio is obtained through vehicle speed condition segmentation, including: S41. Based on the relationship curve between slip ratio and ground adhesion coefficient, the optimal slip ratio is obtained by finding the maximum value of the ground adhesion coefficient; S42. Based on the vehicle speed information and the optimal slip ratio, a judgment is made according to the vehicle speed operating condition, and the judgment rules are as follows: Judgment Rule 1: If the condition is determined to be low-speed, the target slip ratio is the optimal slip ratio. Judgment Rule 2: If the condition is determined to be medium-high speed, the target slip ratio is zero.

3. The wheel anti-skid control method for multi-axle driven mining vehicles according to claim 1, characterized in that, In step S5, based on the current slip ratio, the target slip ratio, and the driver's required torque, an anti-slip correction is performed. If the correction is activated, the anti-slip correction torque and the anti-slip control intervention flag are calculated through anti-slip control. If the correction is not activated, the anti-slip correction torque and the anti-slip control intervention flag are both zero, including: S51. Based on the current slip ratio and the target slip ratio, an anti-slip correction is performed, and the judgment rules are as follows: Judgment Rule 1: If the current slip ratio is greater than the target slip ratio, the slip ratio difference is obtained; Judgment Rule 2: Otherwise, the anti-slip correction torque is zero, and the anti-slip control intervention flag is zero; S52. Based on the slip ratio difference and the driver's required torque, anti-slip intervention is determined according to the following rules: Judgment Rule 1: If the driver's required torque is greater than zero, the anti-slip correction torque and the anti-slip control intervention flag are obtained through the incremental PI control model; Judgment Rule 2: Otherwise, the anti-slip correction torque is zero, and the anti-slip control intervention flag is zero.

4. The wheel anti-skid control method for multi-axle driven mining vehicles according to claim 1, characterized in that, In step S6, based on the anti-slip correction torque and the current driving torque, the target limited driving torque is obtained by limiting the output torque, including: S61. The target driving torque is obtained by combining the anti-slip correction torque and the current driving torque. S62. Based on the target driving torque, the target limited driving torque is obtained through output torque limiting processing.

5. The wheel anti-skid control method for multi-axle driven mining vehicles according to claim 1, characterized in that, In step S8, based on the driver's required torque and the anti-slip control intervention flag, it is determined whether to disengage the anti-slip control. If disengaged, the anti-slip correction torque is set to zero, and the process returns to step S6; otherwise, it returns to step S1. S81. Based on the anti-slip control intervention flag value, determine whether it is zero. If it is zero, return to step S1; otherwise, proceed to step S82. S82. Based on the driver's required torque, determine whether the driver's required torque has decreased. If it has decreased, set the anti-slip correction torque to zero, exit the anti-slip control, and return to step S6; otherwise, return to step S1.

6. A wheel anti-skid control system for multi-axle driven mining vehicles, used to implement the wheel anti-skid control method for multi-axle driven mining vehicles as described in any one of claims 1-5, characterized in that, The system includes: The current drive torque acquisition module is used to obtain the current drive torque based on the driver's required torque and the vehicle's drive mechanism. The wheel speed and vehicle speed acquisition module is used to obtain the current wheel speed and vehicle speed information based on the wheel speed sensor and the on-board accelerometer through a nonlinear vehicle speed state observation model; The current slip ratio acquisition module is used to calculate the current slip ratio based on the current wheel rotation speed and the vehicle speed information; The target slip ratio acquisition module is used to obtain the target slip ratio based on the relationship curve between slip ratio and ground adhesion coefficient and the vehicle speed information, through vehicle speed condition segmentation. The anti-slip correction judgment and anti-slip correction torque acquisition module is used to determine the anti-slip correction based on the current slip rate, the target slip rate, and the driver's required torque. If the correction is enabled, the anti-slip correction torque and the anti-slip control intervention flag are obtained through anti-slip control calculation. If the correction is not enabled, the anti-slip correction torque is zero and the anti-slip control intervention flag is zero. The target limiting drive torque acquisition module is used to obtain the target limiting drive torque by limiting the output torque based on the anti-slip correction torque and the current drive torque. The output torque acquisition module for each drive wheel is used to obtain the output torque of each drive wheel based on the target limited drive torque by using multi-axis torque preset rules to coordinate and constrain the torque of the left and right drive wheels on the same axis. The anti-skid control exit judgment module is used to determine whether to exit anti-skid control based on the driver's required torque and the anti-skid control intervention flag.

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