CN-121989892-A - Underground trackless transport vehicle with electromagnetic retarding system

CN121989892ACN 121989892 ACN121989892 ACN 121989892ACN-121989892-A

Abstract

The invention provides an underground trackless transport vehicle with an electromagnetic retarding system, which belongs to the technical field of mining transport vehicles, and aims to solve the technical problems that an electromagnetic retarding device and a hydraulic braking system are difficult to realize cooperative optimization control of the electromagnetic retarding device and the hydraulic braking system in a complex and changeable roadway gradient environment by establishing a dynamic state matrix by collecting vehicle operation parameters in real time, extracting speed and acceleration change characteristics by utilizing a sliding time window method, identifying risk operating points and performing space-time alignment with roadway positions, separating dominant operating conditions and disturbance operating conditions by singular value decomposition, solving a braking moment reference value by adopting a pareto optimization model, performing two-layer hierarchical cooperative optimization on the electromagnetic retarding device and the hydraulic braking system by utilizing a Stark game model, and correcting control parameters in real time by utilizing a dynamic compensation mechanism.

Inventors

LI ZHONGZE
ZHOU YUXUN
YANG MIN
YAN ZHIYONG
ZHANG YANYANG
TIAN CHENGWEN
WU JIANXIONG
Zhang Shuicai

Assignees

昆明高金金马机电设备有限公司

Dates

Publication Date: 20260508
Application Date: 20251229

Claims (10)

1. The underground trackless transport vehicle with the electromagnetic retarding system comprises a frame chassis, an electromagnetic retarding device, a driving motor assembly, a hydraulic braking system, a speed sensor group, an environment monitoring device and a control chip, and is characterized in that the electromagnetic retarding device comprises a stator coil group and a rotor disc, the speed sensor group comprises a wheel rotating speed sensor and a vehicle body acceleration sensor, the environment monitoring device comprises a gradient sensor and an underground gas concentration detector, an adaptive retarding moment distribution module is arranged in the control chip, and is used for realizing cooperative optimization control of the electromagnetic retarding device and the hydraulic braking system by establishing a vehicle dynamics state matrix and combining a sliding time window method to identify risk working condition points, utilizing singular value decomposition and separation dominant working condition and disturbance working condition, adopting a retarding moment Pareto optimization model and a Stark game model to perform cooperative optimization, and adopting a dynamic compensation mechanism to correct control parameters in real time.
2. The vehicle according to claim 1 is characterized by comprising the following specific steps of collecting rotating speed signals and acceleration signals, calculating vehicle running speed and longitudinal acceleration, reading roadway gradient angle values, establishing a vehicle dynamics state matrix, utilizing a sliding time window method to conduct segmented sampling and extracting speed change rate and acceleration change rate, identifying risk working condition points and conducting time-space alignment with vehicle position information to establish an associated matrix, conducting singular value decomposition on the associated matrix to obtain a leading working condition matrix and a disturbance working condition matrix, inputting the disturbance working condition matrix into a retarder torque pareto optimization model to solve a pareto optimal solution set to obtain an electromagnetic retarder excitation current reference value and a hydraulic braking system braking pressure reference value, conducting collaborative optimization on the basis of a Stark game model to solve game equilibrium points to obtain an electromagnetic retarder excitation current optimization value and a hydraulic braking system braking pressure optimization value, controlling a stator coil set to conduct power-on current intensity and hydraulic output pressure according to the optimization values, monitoring deviation of actual deceleration and target deceleration, and starting a retarder torque dynamic compensation mechanism to conduct real-time correction when the deviation absolute value is larger than a preset threshold.
3. The vehicle according to claim 2, characterized in that the step of establishing a vehicle dynamics state matrix, in particular a vehicle dynamics state matrix, comprises vehicle mass, vehicle driving speed, longitudinal acceleration, roadway gradient angle values and wheel moment of inertia parameters.
4. A vehicle according to claim 3, wherein the sliding time window method refers to a data processing method of sectionally intercepting continuous time series data according to a fixed time length and a fixed sliding step length, wherein the data in each time window is used as an independent sample for feature extraction and analysis, and dynamic tracking of time-varying signals is realized through continuous sliding of the windows.
5. The vehicle according to claim 4, characterized in that the step of sampling the vehicle dynamics matrix in segments using a sliding time window method, in particular each time window length is set to 0.5 seconds and the window sliding step size is set to 0.1 seconds.
6. The vehicle according to claim 5, wherein the risk operating point refers to a point in time when a vehicle running speed or a longitudinal acceleration parameter occurring during running of the vehicle exceeds a preset safety range, and the risk operating point includes a speed overrun point, an acceleration abrupt change point, and a gradient change point.
7. The vehicle of claim 6, wherein the correlation matrix is a numerical matrix formed by two-dimensionally mapping risk operating points on a time sequence and roadway locations on a space sequence, row vectors of the correlation matrix represent the time sequence, column vectors represent the roadway space location sequence, and numerical values of matrix elements reflect severity of the risk operating points at corresponding spatio-temporal locations.
8. The vehicle according to claim 7, wherein the dominant condition matrix refers to a matrix component extracted by singular value decomposition and reflecting main operation characteristics of the system, the dominant condition matrix corresponds to a larger singular value and represents a main mode of gradient distribution of a roadway under the well, and the disturbance condition matrix refers to a matrix component extracted by singular value decomposition and reflecting transient change characteristics of the system, the disturbance condition matrix corresponds to a smaller singular value and represents state disturbance caused by road surface unevenness and load change.
9. The vehicle of claim 8, wherein the retarded moment pareto optimization model is a multi-objective optimization model that optimizes two conflicting objectives of braking efficiency and braking ride simultaneously, a set of non-dominant solutions are obtained by solving for the pareto fronts, each solution representing a trade-off of braking efficiency and braking ride.
10. The vehicle according to claim 9, characterized by the step of co-optimizing the electromagnetic retarder excitation current reference value and the hydraulic brake system braking pressure reference value based on the stark-weber game model, in particular by constructing an upper game model targeting the maximum braking stability and a lower game model targeting the minimum hydraulic system energy loss.

Description

Underground trackless transport vehicle with electromagnetic retarding system Technical Field The invention belongs to the technical field of mining transport vehicles, and particularly relates to an underground trackless transport vehicle with an electromagnetic retarding system. Background Underground trackless transport vehicles are used as important equipment for mining, traditionally, vehicle deceleration control is realized mainly by means of a hydraulic braking system, and part of vehicles are provided with electromagnetic retarding devices as auxiliary braking means. In the current underground transportation application scene, vehicles need to frequently pass through roadways with different gradients, and the vehicles have an ascending road section and a descending road section, so that the gradient angle change range is large, and the road conditions are complex and changeable. Due to the special environment of the underground roadway, the vehicle needs to be continuously braked in the downhill transportation process to control the speed of the vehicle, the temperature of a brake pad is increased due to long-time operation of a traditional hydraulic braking system, the braking efficiency is reduced, and potential safety hazards exist. In the prior art, an electromagnetic retarding device and a hydraulic braking system are controlled in a fixed distribution proportion mode, namely, the distribution proportion of electromagnetic retarding torque and hydraulic braking torque is preset, and braking force is output according to the fixed proportion under different working conditions. However, the fixed distribution strategy cannot adapt to the dynamic change of the gradient of the underground roadway, insufficient braking force can occur when the gradient suddenly increases, excessive braking can occur when the gradient decreases, and the braking process is unstable, so that the transportation efficiency and the safety are affected. That is, the technical problem that the cooperative optimal control of the electromagnetic retarder and the hydraulic braking system is difficult to realize in the complex and changeable roadway gradient environment of the underground trackless transport vehicle exists in the prior art. Disclosure of Invention In view of the above, the invention provides the underground trackless transport vehicle with the electromagnetic retarder system, which can solve the technical problem that the underground trackless transport vehicle is difficult to realize the cooperative optimal control of the electromagnetic retarder and the hydraulic braking system in the complex and changeable roadway gradient environment in the prior art. The electromagnetic retarder for the underground trackless transport vehicle with the electromagnetic retarder system comprises a stator coil assembly and a rotor disc, wherein a speed sensor group comprises a wheel rotating speed sensor and a vehicle body acceleration sensor, an environment monitoring device comprises a gradient sensor and an underground gas concentration detector, an adaptive retarder moment distribution module is arranged in a control chip and is used for identifying risk working condition points by establishing a vehicle dynamics state matrix and combining a sliding time window method, a dominant working condition and a disturbance working condition are separated by utilizing singular value decomposition, a retarder moment Pareto optimizing model and a Stark game model are adopted for collaborative optimization, control parameters are corrected in real time through a dynamic compensation mechanism, and collaborative optimization control of the electromagnetic retarder and a hydraulic braking system is realized. The self-adaptive retarder moment distribution module specifically comprises the following steps of collecting rotating speed signals and acceleration signals, calculating vehicle running speed and longitudinal acceleration, reading roadway gradient angle values, establishing a vehicle dynamics state matrix, utilizing a sliding time window method to conduct segmented sampling and extracting speed change rate and acceleration change rate, identifying risk working points and conducting time-space alignment with vehicle position information to establish an association matrix, conducting singular value decomposition on the association matrix to obtain a leading working condition matrix and a disturbance working condition matrix, inputting the disturbance working condition matrix into a retarder moment pareto optimization model to solve a pareto optimal solution set to obtain an electromagnetic retarder excitation current reference value and a hydraulic braking system braking pressure reference value, conducting collaborative optimization on the basis of a Stark game model to solve game balancing points to obtain an electromagnetic retarder excitation current optimization value and a hydraulic braking system braking pressure optimization