基于ADAMS的铰接式矿用自卸车电子差速控制策略研究

Research on electronic differential control strategy of articulated mining dump truck based on ADAMS

针对传统电子差速控制策略在电动轮铰接式矿用自卸车上应用的不足,提出了一种适用于此类车辆的基于滑移率一致的电子差速控制策略。通过分析电动轮数学模型,明确了滑移率的可控性和控制方式;根据建立的整车车体转向数学模型,建立了滑移率的估算方程,并建立了相应的滑移率计算模块和滑移率控制器,搭建了整车滑移率控制策略模型。联合虚拟样机模型和整车电子差速控制策略模型进行转向工况仿真,并与传统等功率分配和等转矩分配电子差速控制策略转向效果进行对比分析。结果表明,该控制策略能够很好地保证各轮滑移率一致,提高整车的横摆和侧倾稳定性,使整车获得良好的差速性能。

In view of the shortage of traditional electronic differential control strategies applied in electric- wheel articulated mining dump trucks, the paper proposed an electronic differential control strategy suitable for such the trucks based on consistence of slip rate. After analyzing the mathematical model of the electric wheel, it determined controllability and control strategy of the slip rate. According to the mathematical model of the truck steering, the slip rate estimation equations were established, and corresponding slip rate calculation module and slip rate controller were established. In addition, the model of the slip rate control strategy of the truck was established. Combining the virtual prototype of the truck with the model of the electronic differential control strategy, simulation on truck vehicle steering was conducted, and the steering effects was contrast with that of traditional electronic differential control strategy with equal power allocation or with equal torque allocation. The results showed： the control strategy well guaranteed the slip rate of each wheel to be consistent, thus the yawing stability and tipping stability of the truck enhanced, the differential performance of the truck improved.