Loader Wheel Slip Control via Torque and Boom Adjustment
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Solution Overview
Problem
Full electric loaders experience wheel slip during shoveling and digging operations, leading to engine controller faults and potential power shutdowns, which affect operation efficiency and safety.
Innovation Solution
A method and system for controlling a loader that includes determining wheel slip through slip rate calculation and adjusting drive motor torque, boom lift, and gearbox downshift to prevent wheel slip, enhancing stability and safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the drive motor output torque is reduced to prevent wheel slip, then wheel slip occurrences are reduced, but the shoveling force and operation efficiency decrease
Solution Approach 1:
The control system dynamically adjusts the drive motor output torque based on real-time wheel slip detection. When wheel slip is detected during shoveling operations, the controller reduces torque to prevent further slip. When no slip occurs, the system restores normal torque output to maintain shoveling efficiency. This dynamic adjustment resolves the contradiction by adapting torque levels to actual operating conditions rather than maintaining a fixed low torque setting.
Solution Approach 2:
The system changes the torque parameter of the drive motor based on detected wheel slip conditions. The controller monitors wheel speed and compares it with vehicle speed to detect slip, then adjusts the torque parameter accordingly - reducing torque when slip is detected and restoring it when slip stops. This parameter change approach allows the system to prevent wheel slip while maintaining high shoveling force when needed.
2Reliability
If the boom is lifted to reduce wheel slip, then wheel slip is prevented, but the shoveling depth and loading efficiency are reduced
Solution Approach 1:
The control system dynamically adjusts the boom position based on real-time wheel slip detection. When wheel slip is detected, the controller commands the boom to lift to a predetermined angle or position, which reduces the load on the drive wheels and prevents further slip. When wheel slip stops, the system restores the boom to its normal working position to maintain loading efficiency. This dynamic adjustment resolves the contradiction by adapting boom position to actual slip conditions.
Solution Approach 2:
The system takes preliminary anti-action by lifting the boom before the wheel slip becomes severe. The control system detects early signs of wheel slip through wheel speed monitoring and proactively adjusts the boom position to prevent the slip from worsening, rather than waiting for the slip to fully develop and then responding. This preliminary action prevents the need for more drastic corrections that would further reduce loading efficiency.
3Reliability
If the gearbox downshifts to reduce travel speed, then wheel slip is reduced, but the operation speed and productivity decrease
Solution Approach 1:
The control system dynamically adjusts gearbox gear selection based on real-time wheel slip detection. When wheel slip is detected during shoveling operations, the controller commands the gearbox to downshift to a lower gear, which reduces travel speed and the driving force transmitted to the wheels, thereby preventing further slip. When wheel slip stops, the system restores normal gear selection to maintain operation speed. This dynamic gear adjustment resolves the contradiction by adapting travel speed to actual slip conditions rather than maintaining a permanently reduced speed.
4Reliability
If multiple control actions are taken to prevent wheel slip, then wheel slip prevention is improved, but the control system complexity increases
Solution Approach 1:
The control system merges multiple control actions (torque reduction, boom lifting, gearbox downshifting) into a single integrated control system. The controller simultaneously manages all three control elements based on a unified wheel slip detection mechanism. When wheel slip is detected, the controller issues coordinated commands to reduce torque, lift the boom, and downshift the gearbox in a unified manner. This merging approach reduces overall system complexity compared to having separate independent control systems for each function.
Solution Approach 2:
The control system is designed with multi-functionality, where a single controller performs multiple functions: detecting wheel slip through wheel speed monitoring, determining vehicle speed, calculating slip rates, and coordinating multiple control actions (torque adjustment, boom control, gearbox control). This universal controller eliminates the need for separate dedicated control systems for each function, thereby reducing overall system complexity while maintaining comprehensive wheel slip prevention capabilities.
Data Source
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AI summary
The present disclosure provides a method and system for controlling a loader, a controller, a storage medium and a loader, which relates to the field of loaders. The control method includes: determining whether a wheel of the loader slips when the loader is performing a shoveling and digging operation; and controlling a drive motor to reduce output torque and controlling a boom to lift in a case where the wheel of the loader slips.