CN-121973645-A - All-terrain crawler-type special vehicle emergency driving method and system based on lithium battery

CN121973645ACN 121973645 ACN121973645 ACN 121973645ACN-121973645-A

Abstract

The invention relates to the technical field of special vehicles, in particular to an all-terrain crawler-type special vehicle emergency driving method and system based on a lithium battery, wherein the method comprises the steps of carrying out feature coding on real-time voltage, vehicle rotating speed and torque signals of a medium-voltage direct-current bus to obtain a working condition feature vector; the method comprises the steps of judging the matching of vectors and emergency starting conditions, generating an emergency driving request, switching to an independent power supply mode of a lithium battery, disconnecting power generation equipment, switching in the lithium battery pack, generating sustainable output power by combining the state of charge and the temperature of the battery, inverting signals of an accelerator pedal and a brake pedal to obtain a driving torque command, and carrying out differential derating distribution on driving torque at the inner side and the outer side of the steering according to the road surface attachment coefficient and the steering angle when the required power exceeds the required power. Finally, the driving motor is controlled according to the distribution instruction to enable the vehicle to enter an emergency driving running state, and the emergency driving efficiency can be improved.

Inventors

QI QIANGBING
LUO GUANGQIANG
XIE YULIAN
TANG CHUNXI

Assignees

湖南湘麓特种装备有限公司

Dates

Publication Date: 20260505
Application Date: 20260409

Claims (10)

1. The all-terrain crawler-type special vehicle emergency driving method based on the lithium battery is characterized by comprising the following steps of: a1, carrying out feature coding on a real-time voltage value of a medium-voltage direct-current bus, a rotating speed signal and a torque signal of a special vehicle to obtain a working condition feature vector of the special vehicle; A2, carrying out mode matching judgment on the working condition feature vector and a preset emergency starting condition to obtain an emergency driving request of the special vehicle, and marking the current emergency driving mode of the special vehicle as a lithium battery independent power supply mode; A3, responding to the emergency driving request and the independent power supply mode of the lithium battery, disconnecting the electrical connection between the power generation equipment of the special vehicle and the medium-voltage direct current bus, connecting a new energy lithium battery pack of the special vehicle into the medium-voltage direct current bus, and generating sustainable output power of the lithium battery of the special vehicle according to the real-time charge state and the real-time temperature of the new energy lithium battery pack; a4, carrying out physical quantity inversion on an accelerator pedal opening signal and a brake pedal opening signal of the special vehicle to obtain a driving torque instruction of the special vehicle; A5, when the required power corresponding to the driving torque instruction exceeds the sustainable output power of the lithium battery, performing differential derating allocation on the steering inner driving torque and the steering outer driving torque in the driving torque instruction according to the road surface attachment coefficient and the steering angle signal of the special vehicle to obtain an emergency driving torque allocation instruction of the special vehicle; A6, controlling a driving motor of the special vehicle to output driving torque according to the emergency driving torque distribution instruction, so that the special vehicle enters an emergency driving running state.
2. The emergency driving method for the all-terrain crawler-type special vehicle based on the lithium battery as claimed in claim 1, wherein the feature encoding is performed on the real-time voltage value of the medium-voltage direct-current bus, the rotating speed signal and the torque signal of the special vehicle to obtain the working condition feature vector of the special vehicle, and the method comprises the following steps: Carrying out fluctuation interval division on the real-time voltage value of the medium-voltage direct-current bus to obtain a voltage state identifier of the medium-voltage direct-current bus; performing discrete sampling on a rotating speed signal and a torque signal of a special vehicle to obtain a rotating speed-torque time sequence of the special vehicle; performing topology mapping on the voltage state identifier and the rotating speed-torque time sequence to construct a multidimensional working condition feature space of the special vehicle; In the multidimensional working condition characteristic space, weighting and fusing the amplitude change rate of the rotating speed-torque time sequence and the association degree of the voltage state identifier; and extracting the load abrupt change characteristic of the special vehicle and the voltage drop characteristic of the medium-voltage direct-current bus according to the fused result, and vector splicing the load abrupt change characteristic and the voltage drop characteristic to obtain the working condition characteristic vector of the special vehicle.
3. The emergency driving method for the all-terrain crawler-type special vehicle based on the lithium battery according to claim 2, wherein the mode matching judgment is performed on the working condition feature vector and a preset emergency starting condition to obtain an emergency driving request of the special vehicle, and the current emergency driving mode of the special vehicle is marked as an independent power supply mode of the lithium battery, and the method comprises the following steps: extracting a voltage state identifier and a load abrupt change feature in the working condition feature vector to generate a feature set to be matched of the special vehicle; performing state alignment on the feature set to be matched and a preset emergency starting condition to obtain a matching result set of the special vehicle, wherein the emergency starting condition comprises a voltage drop threshold interval and a torque response lag time window; According to the matching result set, locking a current running state machine of the special vehicle and generating an emergency driving request of the special vehicle; and rewriting the mode identification of the running state machine in the special vehicle into a lithium battery independent power supply mode.
4. The emergency driving method of the all-terrain crawler-type special vehicle based on the lithium battery according to claim 1, wherein the responding to the emergency driving request and the independent power supply mode of the lithium battery disconnects the electrical connection between the power generating equipment of the special vehicle and the medium-voltage direct current bus, accesses a new energy lithium battery pack of the special vehicle into the medium-voltage direct current bus, and generates the sustainable output power of the lithium battery of the special vehicle according to the real-time charge state and the real-time temperature of the new energy lithium battery pack, and comprises the following steps: According to the emergency driving request, a shutdown instruction is sent to power generation equipment of the special vehicle, and a power switching device between the power generation equipment and the medium-voltage direct-current bus is controlled to be disconnected, so that a passive state signal of the medium-voltage direct-current bus is generated; Responding to the passive state signal, closing a pre-charging contactor between a new energy lithium battery pack of the special vehicle and the medium-voltage direct current bus, and monitoring a voltage climbing curve of the medium-voltage direct current bus; When the voltage climbing curve reaches a preset voltage threshold, closing a main positive contactor and a main negative contactor of the new energy lithium battery pack, and opening the pre-charging contactor to generate an access completion signal of the new energy lithium battery pack; and carrying out threshold judgment on the real-time state-of-charge data of the battery management system in the new energy lithium battery pack and the real-time temperature data fed back by the battery thermal management system to obtain the sustainable output power of the lithium battery of the special vehicle.
5. The emergency driving method for the all-terrain crawler-type special vehicle based on the lithium battery according to claim 4, wherein the threshold value judgment is performed on the real-time state of charge data of the battery management system in the new energy lithium battery pack and the real-time temperature data fed back by the battery thermal management system to obtain the sustainable output power of the lithium battery of the special vehicle, and the method comprises the following steps: threshold grading is carried out on the real-time state of charge data of the battery management system in the new energy lithium battery pack, and the electric quantity safety grade of the new energy lithium battery pack is obtained; performing state classification on real-time temperature data fed back by a battery thermal management system in the new energy lithium battery pack to obtain a thermal risk interval of the new energy lithium battery pack; mapping the electric quantity safety grade and the hot risk area to a preset power limit rule base to obtain a power constraint condition of the new energy lithium battery pack; and dynamically limiting the required power of the special vehicle according to the power constraint condition to obtain the sustainable output power of the lithium battery of the special vehicle.
6. The emergency driving method for the all-terrain crawler-type special vehicle based on the lithium battery as claimed in claim 1, wherein the performing physical quantity inversion on the accelerator pedal opening signal and the brake pedal opening signal of the special vehicle to obtain a driving torque instruction of the special vehicle comprises the following steps: Non-linear mapping is carried out on the accelerator pedal opening signal of the special vehicle, and a driving requirement torque reference value of the special vehicle is obtained; Encoding a brake pedal opening signal of the special vehicle into a brake forced torque instruction of the special vehicle; when the braking forced torque instruction is effective, the driving required torque reference value is forced to be set to zero, and the creep feedback torque of the special vehicle is generated according to the emergency driving mode of the special vehicle; When the braking forced torque command is not effective, performing nonlinear gain mapping on a driving system of the special vehicle according to the driving demand torque reference value to obtain a preliminary driving torque demand of the special vehicle; and adjusting the change slope of the preliminary driving torque demand according to the current speed signal of the special vehicle so as to generate a driving torque command of the special vehicle.
7. The emergency driving method for the all-terrain crawler-type special vehicle based on the lithium battery according to claim 1, wherein when the required power corresponding to the driving torque instruction exceeds the sustainable output power of the lithium battery, differential derating distribution is performed on the driving torque on the inner side and the driving torque on the outer side of the steering in the driving torque instruction according to the road adhesion coefficient and the steering angle signal of the special vehicle, so as to obtain an emergency driving torque distribution instruction of the special vehicle, and the emergency driving torque distribution instruction comprises the following steps: Responding to the fact that the required power corresponding to the driving torque command exceeds the sustainable output power of the lithium battery, and carrying out time-frequency domain joint analysis on the steering angle signal of the special vehicle to obtain a steering dynamic correction coefficient of the special vehicle; Coupling analysis is carried out on the road surface adhesion coefficient of the special vehicle and the driving torque command to obtain a real-time slip risk assessment factor of the special vehicle; carrying out nonlinear weighted fusion on the steering dynamic correction coefficient and the real-time slip risk assessment factor to obtain a torque distribution weight vector of the special vehicle, wherein the torque distribution weight vector comprises an inner weight component and an outer weight component; performing vector reconstruction on the driving torque command according to the torque distribution weight vector to obtain steering inner driving torque and steering outer driving torque of the special vehicle; And generating an emergency driving torque distribution instruction of the special vehicle according to the steering inner driving torque and the steering outer driving torque.
8. The lithium battery-based all-terrain crawler-type special vehicle emergency driving method according to claim 7, wherein the torque distribution weight vector is calculated according to the following formula: ; In the formula, A weight vector is assigned to the torque, For the inner weight component of the said inner weight component, For the outer weight component of the signal, For the dynamic correction factor of the steering, For the road surface adhesion coefficient of the road surface, For the real-time slip risk assessment factor, Is a preset adjustment factor, and the control unit is used for controlling the control unit, Is an exponential function with a base of natural constant.
9. The lithium battery-based all-terrain crawler-type special vehicle emergency driving method according to claim 1, wherein the controlling the driving motor of the special vehicle to output driving torque according to the emergency driving torque distribution command to enable the special vehicle to enter an emergency driving running state comprises: Analyzing the emergency driving torque distribution instruction into a left driving motor torque instruction and a right driving motor torque instruction, and respectively issuing the left driving motor and the right driving motor of the special vehicle; Respectively obtaining real-time output torque values of the left driving motor and the right driving motor, and comparing the real-time output torque values with corresponding torque instructions to obtain a torque tracking deviation value of the special vehicle; And adjusting the torque command issued to the left driving motor and the right driving motor according to the torque tracking deviation value until the real-time output torque value is consistent with the torque command, so that the special vehicle enters an emergency driving running state.
10. An all-terrain crawler-type special vehicle emergency driving system based on a lithium battery, which is used for realizing the all-terrain crawler-type special vehicle emergency driving method based on the lithium battery as claimed in claim 1, and comprises the following steps: the working condition coding module is used for carrying out characteristic coding on the real-time voltage value of the medium-voltage direct-current bus, the rotating speed signal and the torque signal of the special vehicle to obtain a working condition characteristic vector of the special vehicle; the mode judging module is used for carrying out mode matching judgment on the working condition characteristic vector and a preset emergency starting condition to obtain an emergency driving request of the special vehicle, and marking the current emergency driving mode of the special vehicle as a lithium battery independent power supply mode; The power supply switching and power evaluation module is used for responding to the emergency driving request and the independent power supply mode of the lithium battery, disconnecting the electrical connection between the power generation equipment of the special vehicle and the medium-voltage direct current bus, connecting a new energy lithium battery pack of the special vehicle into the medium-voltage direct current bus, and generating sustainable output power of the lithium battery of the special vehicle according to the real-time state of charge and the real-time temperature of the new energy lithium battery pack; The torque command generation module is used for carrying out physical quantity inversion on the accelerator pedal opening signal and the brake pedal opening signal of the special vehicle to obtain a driving torque command of the special vehicle; The derating allocation module is used for performing differential derating allocation on the steering inner side driving torque and the steering outer side driving torque in the driving torque instruction according to the road surface attachment coefficient and the steering angle signal of the special vehicle when the required power corresponding to the driving torque instruction exceeds the sustainable output power of the lithium battery, so as to obtain an emergency driving torque allocation instruction of the special vehicle; And the driving execution module is used for controlling the driving motor of the special vehicle to output driving torque according to the emergency driving torque distribution instruction so as to enable the special vehicle to enter an emergency driving running state.

Description

All-terrain crawler-type special vehicle emergency driving method and system based on lithium battery Technical Field The invention relates to the technical field of special vehicles, in particular to an all-terrain crawler-type special vehicle emergency driving method and system based on a lithium battery. Background The existing all-terrain crawler-type special vehicle emergency driving scheme cannot accurately identify abnormal working conditions such as medium-voltage direct-current bus voltage drop and abrupt change of vehicle load, an emergency starting judging mechanism is lagged, power supply switching response speed is low, an independent power supply loop of a lithium battery is difficult to establish rapidly, and emergency driving triggering efficiency is low. The traditional emergency driving torque distribution is not combined with road adhesion coefficient and steering angle to be dynamically regulated and controlled, under the lithium battery power limited scene, the problems of unbalanced torque distribution of the inner side and the outer side of steering and increased vehicle sliding risk are easy to occur, the emergency driving stability and the power utilization rate can not meet the requirements of complex all-terrain operation, and therefore, how to improve the emergency driving efficiency of all-terrain crawler-type special vehicles becomes a problem to be solved urgently. Disclosure of Invention The invention provides an all-terrain crawler-type special vehicle emergency driving method and system based on a lithium battery, and aims to solve the problems in the background technology. In order to achieve the above purpose, the all-terrain crawler-type special vehicle emergency driving method based on the lithium battery provided by the invention comprises the following steps: a1, carrying out feature coding on a real-time voltage value of a medium-voltage direct-current bus, a rotating speed signal and a torque signal of a special vehicle to obtain a working condition feature vector of the special vehicle; A2, carrying out mode matching judgment on the working condition feature vector and a preset emergency starting condition to obtain an emergency driving request of the special vehicle, and marking the current emergency driving mode of the special vehicle as a lithium battery independent power supply mode; A3, responding to the emergency driving request and the independent power supply mode of the lithium battery, disconnecting the electrical connection between the power generation equipment of the special vehicle and the medium-voltage direct current bus, connecting a new energy lithium battery pack of the special vehicle into the medium-voltage direct current bus, and generating sustainable output power of the lithium battery of the special vehicle according to the real-time charge state and the real-time temperature of the new energy lithium battery pack; a4, carrying out physical quantity inversion on an accelerator pedal opening signal and a brake pedal opening signal of the special vehicle to obtain a driving torque instruction of the special vehicle; A5, when the required power corresponding to the driving torque instruction exceeds the sustainable output power of the lithium battery, performing differential derating allocation on the steering inner driving torque and the steering outer driving torque in the driving torque instruction according to the road surface attachment coefficient and the steering angle signal of the special vehicle to obtain an emergency driving torque allocation instruction of the special vehicle; A6, controlling a driving motor of the special vehicle to output driving torque according to the emergency driving torque distribution instruction, so that the special vehicle enters an emergency driving running state. In a preferred embodiment, the feature encoding is performed on the real-time voltage value of the medium-voltage direct-current bus, the rotation speed signal and the torque signal of the special vehicle to obtain a working condition feature vector of the special vehicle, and the feature vector comprises: Carrying out fluctuation interval division on the real-time voltage value of the medium-voltage direct-current bus to obtain a voltage state identifier of the medium-voltage direct-current bus; performing discrete sampling on a rotating speed signal and a torque signal of a special vehicle to obtain a rotating speed-torque time sequence of the special vehicle; performing topology mapping on the voltage state identifier and the rotating speed-torque time sequence to construct a multidimensional working condition feature space of the special vehicle; In the multidimensional working condition characteristic space, weighting and fusing the amplitude change rate of the rotating speed-torque time sequence and the association degree of the voltage state identifier; and extracting the load abrupt change characteristic of the special vehicle and the v