CN-122008903-A - Tire slip prevention stabilizing system of pure electric loader and control method thereof

CN122008903ACN 122008903 ACN122008903 ACN 122008903ACN-122008903-A

Abstract

The invention relates to the technical field of wheeled vehicle control, and discloses a tire slip prevention stabilizing system of a pure electric loader and a control method thereof. The invention aims to solve the technical problems that the energy efficiency of the whole vehicle operation is reduced and the mechanical life of a power transmission system is damaged due to the mismatching of the driving force output and the road surface adhesion limit under the complex working condition in the conventional wheeled vehicle control technology. The invention realizes the grading judgment of the slip state by extracting the wheel speed difference value and the change rate characteristic thereof in real time, calculates the nonlinear increase reduction coefficient by utilizing the slip deviation-related torque adjustment gradient set, and executes the power orientation reduction and progressive torque recovery logic. The method realizes the early intervention and dynamic pressing of the wheel speed divergence trend, reduces the idling amplitude of the driving wheel under the low-adhesion road surface, reduces the abnormal loss of the tire and the transmission system, and ensures the traction performance stability and the power switching smoothness of the loader in heavy-load operation.

Inventors

LIU HENG
WANG CHAO
MENG TAO
ZHU PU

Assignees

河南海斯特新能源科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260415

Claims (10)

1. The tire slip prevention stable control method of the pure electric loader is characterized by being executed by computer equipment and comprises the following steps of: s1, initializing, namely loading control parameters by a whole vehicle controller, completing self-checking of a wheel speed sensor and a communication link, and continuously monitoring sensor signals and communication states; s2, data acquisition and state judgment, namely acquiring wheel speed signals of wheels and output torque of a driving motor, calculating a maximum wheel speed difference value and a change rate according to the wheel speed signals, and judging the state of the loader according to the maximum wheel speed difference value and the change rate; s3, pre-slip state processing, namely determining a slip trend value according to the change rate when the loader is in a pre-slip state, and limiting the output torque according to the slip trend value; And S4, the skid state processing is carried out, namely the loader is in a skid state, the skid grade and the torque adjustment quantity are determined according to the maximum wheel speed difference value, a warning is sent to a driver according to the skid grade, the output torque is adjusted according to the torque adjustment quantity until the skid is eliminated, and the output torque is gradually restored to a driver request value after the skid is eliminated.
2. The method for stabilizing and controlling the tire slip prevention of the pure electric loader according to claim 1, wherein the calibration process of the control parameters comprises a slip judgment threshold value and a pre-slip judgment threshold value, wherein the slip judgment threshold value is determined according to a critical maximum wheel speed difference value when the loader slips, and the pre-slip judgment threshold value is determined according to a critical value of a maximum wheel speed difference value change rate of the loader from normal running to slipping.
3. The tire slip prevention stable control method of the pure electric loader according to claim 1, wherein the process of continuously monitoring sensor signals and communication states specifically comprises the steps of monitoring the effectiveness of each wheel speed sensor signal and the stability of a communication link between a whole vehicle controller and a driving motor, calculating and generating a fault signal by using wheel speed signals of coaxial opposite side wheels as reference values if abnormal signal transmission of a single wheel speed sensor is monitored, stopping a slip prevention control function and generating the fault signal if abnormal signal transmission of a plurality of wheel speed sensors is monitored, and sending a warning prompt to a driver according to the fault signal.
4. The method for stabilizing and controlling the anti-skidding of the pure electric loader according to claim 1, wherein the process for calculating the maximum wheel speed difference and the change rate thereof comprises the steps of collecting wheel speed signals of wheels in a fixed period, comparing the maximum wheel speed value and the minimum wheel speed value in the current period, subtracting the maximum wheel speed difference in the previous period from the maximum wheel speed difference in the current period, and dividing the obtained value by a sampling period to obtain the change rate.
5. The method for stabilizing and controlling the tire slip prevention of the electric-only loader according to claim 1, wherein the process for determining the state of the loader specifically includes determining the state of the loader including a non-slip state, a pre-slip state and a slipped state, determining that the loader is in the non-slip state when the maximum wheel speed difference is smaller than a slip determination threshold and the change rate is smaller than the pre-slip determination threshold, not performing an intervention operation, determining that the loader is in the pre-slip state when the maximum wheel speed difference is smaller than the slip determination threshold and the change rate is larger than the pre-slip determination threshold, and determining that the loader is in the slipped state when the maximum wheel speed difference is larger than the slip determination threshold.
6. The method for stabilizing and controlling the tire slip prevention of the pure electric loader according to claim 1, wherein the process for determining the slip trend value comprises the steps of normalizing the change rate to obtain the slip trend value, and establishing a mapping relation between the slip trend value and the limiting strength of the output torque, wherein the slip trend value represents the current slip risk degree, and the larger the slip trend value is, the larger the limiting strength of the corresponding output torque is.
7. The tire slip prevention stable control method for a pure electric loader according to claim 6, wherein the limiting the output torque comprises calibrating a maximum allowable torque increase rate based on a power output characteristic of a driving motor and a mechanical strength of a transmission system, calculating a torque limiting coefficient according to the slip trend value, wherein the torque limiting coefficient is smaller as the slip trend value is larger, multiplying the maximum allowable torque increase rate by the torque limiting coefficient to obtain a torque increase rate limit value, and controlling a change rate of the output torque of the driving motor not to exceed the torque increase rate limit value.
8. The method for stabilizing and controlling the tire slip prevention of the pure electric loader according to claim 1, wherein the process for determining the slip level and the torque adjustment amount specifically comprises calibrating a moderate slip threshold value and a severe slip threshold value for the maximum wheel speed difference value and combining the power characteristic and the ground attachment characteristic of the loader, and constructing slip levels including mild slip, moderate slip and severe slip, comparing the maximum wheel speed difference value with slip threshold values of all levels, determining the slip level, and giving a warning of the corresponding level to a driver, determining a torque reduction coefficient according to the deviation ratio of the maximum wheel speed difference value relative to a slip determination threshold value, multiplying the torque reduction coefficient to obtain the torque adjustment amount, and controlling the output torque of a driving motor to subtract the torque adjustment amount.
9. The tire slip prevention stable control method for the pure electric loader according to claim 1, wherein the gradual recovery of the output torque comprises the steps of calculating a deviation value of the output torque and a driver request value, dynamically adjusting a torque recovery rate according to the deviation value, establishing a positive correlation mapping relation between the deviation value and the torque recovery rate, gradually recovering the output torque to the driver request value, preventing the torque recovery from being too fast to cause a re-slip, and immediately stopping recovery and re-entering a pre-slip state processing if the pre-slip is detected again in the recovery process.
10. Tyre slip prevention stabilization system for purely electric loaders, characterized in that it is adapted to perform the method according to any one of claims 1 to 9, in particular comprising: The parameter loading and self-checking module is used for the configuration loading of the control parameters of the whole vehicle controller and carrying out self-checking and continuous monitoring on the validity of the signals of each wheel speed sensor and the stability of the communication link; The signal acquisition and calculation module acquires wheel speed signals of the wheels and the current output torque of the driving motor in real time, and calculates the maximum wheel speed difference value and the maximum wheel speed difference value change rate of the current period; The state judgment logic module is used for receiving the calculation result of the signal acquisition and calculation module and judging whether the loader is in a non-skid state, a pre-skid state or a skid state currently by comparing the maximum wheel speed difference value and the change rate of the maximum wheel speed difference value with a preset threshold value; the pre-slip intervention module is used for receiving a pre-slip state instruction output by the state judgment logic module, normalizing the change rate to obtain a slip trend value, determining a torque limiting coefficient according to the slip trend value, and calculating a torque increase rate limit value; The slip control execution module receives the slip state instruction output by the state judgment logic module, determines the current slip level, determines a torque reduction coefficient according to the deviation ratio of the maximum wheel speed difference value relative to a slip judgment threshold value, and realizes slip elimination by controlling output torque to subtract a torque adjustment amount determined by the torque reduction coefficient; The dynamic recovery control module is used for calculating the torque recovery rate in real time according to the deviation value of the current output torque and the driver request value after the slip is eliminated, so that the output torque is gradually recovered to the driver request value, and the risk of re-slip is monitored in the recovery process; and the alarm prompt module is used for receiving the slip grade information output by the state judgment logic module or the fault signal output by the parameter loading and self-checking module and sending a visual or audible alarm prompt of a corresponding grade to a driver.

Description

Tire slip prevention stabilizing system of pure electric loader and control method thereof Technical Field The invention relates to the technical field of wheeled vehicle control, in particular to a tire slip prevention stabilizing system of a pure electric loader and a control method thereof. Background With the advancement of global energy transformation and environmental protection policies, pure electric loaders using electric motors as core power sources have become an important development direction in the field of engineering machinery. In the technical field of wheeled vehicle control, the existing driving control scheme mainly depends on real-time scheduling of motor output torque by a whole vehicle controller, and manages power output by sensing pedal instructions and basic vehicle states so as to meet the operation demands of frequent starting, steering, shoveling and the like of a loader under non-road working conditions. However, in the actual working process of the loader, due to frequent fluctuation of the attachment condition of the working pavement and instantaneous dynamic change of the shovel load, the driving wheel is extremely easy to break through the attachment limit of the ground and generate a runaway idle phenomenon when outputting large torque. The skidding behavior not only can cause the remarkable loss of the traction force of the vehicle and reduce the operation efficiency of the whole vehicle, but also can cause serious abnormal abrasion of tires and shorten the service life of components of a transmission system, and how to realize the accurate identification and effective inhibition of the skidding state of the tires in a complex and changeable non-road environment is a common technical problem faced by the existing wheel type electric driving engineering machinery. Disclosure of Invention The present invention has been made in view of the above-described problems occurring in the prior art. Therefore, the invention provides a tire slip prevention stable control method of a pure electric loader, which solves the technical problems of reduced energy efficiency of whole vehicle operation and damaged mechanical life of a power transmission system caused by mismatch of driving force output and road surface adhesion limit of the existing loader under a complex working condition. In order to solve the technical problems, the invention provides the following technical scheme: the invention provides a tire slip prevention stable control method of a pure electric loader, which comprises the following steps, S1, initializing, namely loading control parameters by a whole vehicle controller, completing self-checking of a wheel speed sensor and a communication link, and continuously monitoring sensor signals and communication states; s2, data acquisition and state judgment, namely acquiring wheel speed signals of wheels and output torque of a driving motor, calculating a maximum wheel speed difference value and a change rate according to the wheel speed signals, and judging the state of the loader according to the maximum wheel speed difference value and the change rate; s3, pre-slip state processing, namely determining a slip trend value according to the change rate when the loader is in a pre-slip state, and limiting the output torque according to the slip trend value; And S4, the skid state processing is carried out, namely the loader is in a skid state, the skid grade and the torque adjustment quantity are determined according to the maximum wheel speed difference value, a warning is sent to a driver according to the skid grade, the output torque is adjusted according to the torque adjustment quantity until the skid is eliminated, and the output torque is gradually restored to a driver request value after the skid is eliminated. The method for controlling the stability of the pure electric loader against the tire slip is characterized in that the calibration process of the control parameters comprises a slip judgment threshold value and a pre-slip judgment threshold value, the slip judgment threshold value is determined according to a critical maximum wheel speed difference value when the loader slips, and the pre-slip judgment threshold value is determined according to a critical value of a maximum wheel speed difference value change rate of the loader in the process from normal running to slipping. The method for controlling the anti-skidding stability of the pure electric loader comprises the steps of monitoring the effectiveness of signals of all wheel speed sensors and the stability of a communication link between a whole vehicle controller and a driving motor, calculating and generating fault signals by using wheel speed signals of coaxial opposite side wheels as reference values if abnormal signal transmission of the single wheel speed sensor is monitored, stopping an anti-skidding control function and generating the fault signals if abnormal signal transmission of a plurality