分布式电驱动装载机驱动防滑控制

doi:10.19562/j.chinasae.qcgc.2023.10.015

Abstract

Abstract:

Distributed electric drive loader is an important application of electric chassis technology in engineering vehicles. The speed of loader is close to zero during shovel operation and it is not easy to get accurate results， making it difficult for application of the anti-slip control algorithm based on slip rate. In this paper， by analyzing the angular acceleration characteristics of wheel slip， an anti-slip control method based on the logical threshold of wheel angular acceleration and data processing algorithm are proposed. Firstly， the validity of the algorithm is verified by the real vehicle data of the loader. Subsequently， the joint simulation of ADAMS and Simulink shows that the algorithm can effectively prevent the wheel from continually slipping and exert the road surface attachment conditions under the working conditions of loader shovel. At the same time， the control algorithm can also achieve good anti-skid effect under the acceleration condition of low adhesion road， and has certain road conditions applicability.

Key words: distributed electric drive, drive anti-skid control, logic threshold control, discrete fastest differential tracker

Zhoudong Yan,Peng Hang,Chongpu Chen, QiaoYiran,Ka Xue,Xinbo Chen. Drive Anti-skid Control of Distributed Electric Drive Loader[J].Automotive Engineering, 2023, 45(10): 1944-1953.

Figures/Tables 20

References 24

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参数	数值	单位
整车质量	18 550	kg
车轮滚动半径	0.75	m
电机峰值功率	167	kW
电机峰值转矩	580	N·m
轮边减速比	52.78
车轮转动惯量	220	kg·m²
质心到前轴的距离	1.737	m
质心到后轴的距离	1.563	m
轮胎径向刚度	400 000	N/m
轮胎径向阻尼	10 000	N·s/m
滚动阻力臂	0.025 1	m
纵向滑移刚度	120 000	N
胎面纯滚动附着系数	0.8
胎面纯滑动附着系数	1.0
纵向松弛长度	0.6	m

Drive Anti-skid Control of Distributed Electric Drive Loader

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References 24

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