纯电动装载机坡道防溜策略

Ramp anti-slip strategy of pure electric loader

根据纯电动装载机传动系统特性,基于装载机运行参数和行走电动机控制器上传至整车控制器的转矩和转速,制定了坡道防溜控制策略.由整车控制器确定纯电动装载机进入防溜模式的条件,并采用比例-积分(proportional-integral,PI)算法计算防溜模式时下发至行走电动机控制器的目标转矩,使装载机可在无踏板动作时稳定在坡上.基于Simulink搭建纯电动装载机坡道防溜控制算法模型,使用Simulink自动代码生成技术生成可应用于整车控制器的程序并进行试验验证及参数优化,使用装载机在坡上停车和坡上起步阶段的溜车距离分析坡道防溜效果.结果表明:所制定的坡道防溜策略在各坡度坡道上可有效驻坡;坡度为30%时,装载机在坡上停车的最大溜车距离为8.0 cm,在坡上起步的最大溜车距离为4.0 cm,可满足安全驻坡要求.

According to the transmission system characteristics of pure electric loader,the ramp anti-slip control strategy was developed based on the operating parameters of loader and the torque and speed uploaded by the walking motor controller to the vehicle controller.By the vehicle controller,the conditions for the pure electric loader to enter the anti-slip mode was determined,and the proportional-integral(PI)algorithm was used to calculate the target torque delivered to the walking motor controller during the anti-slip mode for making the loader stable on the slope without pedal action.Based on Simulink,the ramp anti-slip control algorithm model of pure electric loader was established.By the Simulink automatic code generation technology,the vehicle controller programs were generated to conduct test verification and parameter optimization.The sliding distance of loader in slope parking and slope starting stage was used to measure the ramp anti-slip effect.The results show that the proposed ramp anti-slip strategy can effectively realize the standing slope on each slope.The maximum sliding distance is 8.0 cm when the loader stops on the slope at 30%slope,and the maximum sliding distance is 4.0 cm when the loader starts on the slope,which can meet the requirements for safe parking on slope.