矿用电驱动铰接车控制策略的研究

Study on control strategy for mine electric drive articulated vehicles

提出一种用于矿用电驱动铰接车基于功率分配的整车控制策略。发动机-发电机组采用基于油门踏板功率信号和恒磁通励磁PI调节的控制策略,电动机驱动系统基于功率-电流双闭环控制,车辆转向通过等转矩跟随控制自适应差速。建立了包含ADAMS铰接车动力学和MATLAB/Simulink电动机驱动系统的联合仿真模型,对车辆在平地、上坡及不同载重工况下的直行和转向进行仿真,仿真结果表明该控制方案使车辆具备良好的加速性能和转向性能。结合试验验证了转向控制策略的可行性及联合仿真的正确性,为电驱动铰接车的研制提供了技术基础。

A control strategy was proposed for mine electric drive articulated vehicles based on power allocation.In the control strategy,the engine-generator was controlled based on the accelerator pedal power signals and constant magnetic flux PI control for excitation,the motor drive system was controlled based on power-current double closed loops,and equal torque following control was used to realize self-adaption of velocity difference at steering mode.The co-simulation model containing ADAMS articulated vehicle dynamic model and MATLAB/Simulink motor drive system model was established,and different working conditions such as straight driving and steering on flat ground,uphill with different loading were simulated.The simulation results showed that the vehicle had good accelerating and steering performance based on this control strategy.The feasibility of the steering control strategy and the correctness of the co-simulation model were verified by tests,which provided technical basis for development of the electric drive articulated vehicle.