Electrically Driven Dump Truck Yaw Control for Slider Wear
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Solution Overview
Problem
In trolley-based dump trucks, the uneven wear of sliders and the resulting increased operating load on drivers due to the difficulty in maintaining even contact with trolley wires during trolley traveling lead to reduced slider lifespan and potential breakage.
Innovation Solution
An electrically driven dump truck equipped with right and left electric motors, a steering device, a trolley wire detecting device, and a control device that calculates a yaw moment correction value to make the vehicle meander around the trolley wire, preventing uneven wear by ensuring even contact without requiring the driver to constantly adjust the sliders.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the driver steers the dump truck while viewing the trolley wires to maintain contact, then the vehicle can travel along the trolley wires, but the operating load on the driver increases and uneven wear of sliders occurs
Solution Approach 1:
The system uses automated detection and control mechanisms where the trolley wire detecting device monitors the relative position between the vehicle and trolley wire, and the control device automatically adjusts the vehicle's yaw moment to maintain proper contact. This self-regulating system eliminates the need for the driver to manually monitor and adjust slider contact with the trolley wires.
Solution Approach 2:
The manual mechanical steering operation by the driver is replaced with an automated electronic control system. The trolley wire detecting device (optical/electronic sensor) and control device (electronic controller) substitute for the driver's visual monitoring and manual steering actions, using electronic signals and automated control algorithms to maintain proper trolley wire contact.
2Device complexity
If the slider size is small compared to the dump truck, then the power collector can be compact, but it becomes extremely difficult for the driver to monitor and maintain even contact with the trolley wires
Solution Approach 1:
The trolley wire detecting device serves as an intermediary between the slider and the trolley wire. Instead of requiring the driver to directly observe and monitor the small slider contact point, the detecting device acts as an intermediate sensor that automatically detects the relative position and provides feedback to the control system, making the monitoring task feasible and accurate.
Solution Approach 2:
The visual monitoring capability of the human driver is replaced with an automated optical or electronic detection system. The trolley wire detecting device uses sensors (such as cameras, optical sensors, or radar) to detect the position of the trolley wire and calculate the relative position, substituting human visual inspection with automated electronic detection that is more precise and less prone to error.
3Reliability
If the contact point concentrates around the center of the slider, then the vehicle can travel along the trolley wires, but uneven wear of the slider occurs leading to shortened lifespan and potential breakage
Solution Approach 1:
The system dynamically adjusts the vehicle's yaw moment based on real-time detection of the relative position between the vehicle and trolley wire. This dynamic control allows the contact point to vary along the slider surface rather than concentrating at a fixed center point, distributing wear more evenly across the slider surface and extending its operational life.
Solution Approach 2:
The control system periodically adjusts the yaw moment to maintain optimal contact. By using periodic feedback from the detecting device and making corresponding adjustments, the system ensures that the contact point varies in a controlled manner along the slider surface, preventing concentration of wear at a single location and promoting more uniform wear distribution.
Data Source
AI summary
A vehicle control device 50, a controller 100, an inverter control device 30 and a steering control device 32 constitute a control device that executes control to give a yaw moment to a vehicle 1 so as to make the vehicle 1 travel while meandering around the center of trolley wires 3R and 3L based on image information acquired by a camera 15. The control device converts an image acquired by the camera 15 into coordinate information, calculates at least one representative point of the vehicle 1 and at least one target point situated on the trolley wire 3R/3L based on the coordinate information, sets a fluctuating point which fluctuates with reference to the target point, and executes control to give a yaw moment to the vehicle 1 so that the representative point approaches the fluctuating point. With this configuration, uneven wear of the sliders can be prevented and the operating load on the driver during the trolley traveling can be lightened considerably.