矿用双电机双轴驱动铰接车辆转矩协调控制

Torque Coordinated Control for Mine Articulated Vehicles Driven by Twin Motors and Twin Shafts

双电机双轴驱动(front and rear axle independent drive,FRID)可以解决煤矿无轨辅助运输重型车辆排布困难和动力不足等问题,但该结构方式的驱动、制动性能的提升受到转矩分配策略的约束,如何实现双电机转矩协调控制是研究该类问题的重点和难点。针对矿用FRID铰接车辆的驱动转矩分配问题,为提高系统的能耗经济性,提出了一种基于门限的转矩分配策略,以车辆侧向操纵稳定性为约束条件,对门限分配转矩进行了限制,提高了车辆转弯时轮胎的侧偏刚度和侧向动力学性能;为确保车辆在低附着路面上获得最佳驱动力,以轮胎滑转率为控制目标对前后轴电机驱动转矩进行独立控制。在MATLAB/SIMULINK环境下分别建立了矿用双电机双轴驱动铰接车辆转矩分配控制器模型及车辆动力学模型,对不同路面条件下的控制效果进行了仿真分析。基于dSPACE平台,搭建了硬件在环仿真测试系统,对转矩分配控制器的实时控制性能进行了验证。结果表明:硬件在环测试结果与软件仿真结果具有良好的一致性,门限型转矩分配策略是一种简洁有效的经济型转矩分配策略,给定工况下的循环能耗比动力型分配可降低3%~5%;以侧向操纵稳定性为约束条件对门限分配转矩进行限制,内侧车轮的最大滑转率控制在0.2附近,提高了转弯时轮胎的侧偏刚度,从而降低车辆不足转向量,改善了车辆的转向能力。

FRID(front and rear axle independent drive)can solve the problems of difficult arrangement and lack of power of heavy vehicles in trackless auxiliary transport of coal mine,but the driving and braking performance of this structure is constrained by the torque distribution strategy,How to realize dual motor torque coordinated control is the key and difficult point of this kind of problem.In order to improve the energy consumption economy of FRID drive type electric vehicle,a distributing control strategy for the driving torque based on the threshold was put forward.The lateral steering stability of the vehicle was taken as the constraint condition,and the threshold distributed torque was restricted to improve the lateral stiffness and lateral dynamic performance of the tire.In order to ensure the best driving force on the low adhesion road surface,the driving torque of the front and rear axle motor was controlled independently with the tire slip rate as the control target.In the MATLAB/SIMULINK environment,the torque distribution controller model and vehicle dynamics model of articulated vehicles driven by twin motors and twin shafts were established respectively,and the control effect under different road conditions was simulated and analyzed.Based on dSPACE platform,the hardware in-loop simulation test system was built to verify the real-time control performance of torque distribution controller.The results showed that the hardware in the loop test results and the software simulation results have good consistency,the threshold torque distribution strategy is a simple and effective economic torque distribution strategy,and the cycle energy consumption under given conditions can be reduced by 3%~5%compared with the dynamic distribution;When the lateral control stability was used as the constraint condition to limit the threshold distributed torque,the maximum slip rate of the inner wheel was controlled around 0.2 to improve the lateral cornering stiffness of the tire,thereby reducing the vehicle’s insufficient steering capacity and improving the vehicle’s steering ability.