矿山辅运电动车辆加速踏板集成再生制动控制策略

Integrated regenerative braking control strategy for the accelerator pedal of mine trackless electric vehicle for auxiliary transportation

煤矿斜井无轨辅助运输车辆在长距离下坡工况中存在大量的制动能量可供回收,受限于脚踏阀-本安电位计复合型制动踏板的并行结构,传统防爆型电动车辆多采用的机械-再生并行制动控制策略对制动能量的回收程度有限。为此,针对矿山无轨辅助运输电动车辆,提出了一种集成至加速踏板中的再生制动控制策略,以进一步提高再生制动能量回收率,有效增加矿井无轨辅助运输电动车辆的续航能力。基于车辆制动动力学和能量守恒定律,对再生制动过程进行了理论建模。结合辅运电动车辆驱动系统及加速踏板结构特征,建立了加速踏板集成型再生制动控制策略模型,并对车辆加速、滑行及制动过程中控制策略的工作原理依次进行了分析。根据国内某斜井煤矿辅运大巷人车转场运输作业载荷特征,制定了包含车速、坡道2因素在内的循环测试工况,以此为输入条件在Matlab/Simulink数值计算平台上对加速踏板集成型再生制动与制动踏板液压-再生并行制动2种控制策略进行了仿真对比分析,并在双滚筒转鼓式底盘测功机上对加速踏板集成型再生制动控制策略的仿真计算结果进行了实验验证。实验结果表明,加速踏板集成再生制动控制模型总电耗比原系统减少21.06%,等效工况续驶里程延长23 km,仿真与台架测试结果误差不超过5%,具有更好的能耗经济性。

During the long-distance downhill operation of coal mine trackless auxiliary transportation vehicles in inclined shaft,a considerable amount of braking energy is available for recovery.Due to the parallel structure of the foot valve intrinsic safety potentiometer composite brake pedal,traditional explosion-proof electric vehicles often use mechanical regenerative parallel braking control strategies,which have limited the recovery of braking energy.To this end,a regenerative braking control strategy integrated into the accelerator pedal was proposed for the mine trackless electric vehicles of auxiliary transportation,in order to further improve the energy recovery rate of regenerative braking and effectively increase the endurance of mine trackless electric vehicles for auxiliary transportation. A theoretical model of the regenerat-ive braking process was established based on vehicle braking dynamics and energy conservation laws. Based on the driv-ing system of auxiliary electric vehicles and the structural characteristics of the accelerator pedal, an integrated regenerat-ive braking control strategy model for the accelerator pedal was established, and the working principles of the control strategy during vehicle acceleration, coasting, and braking processes were analyzed in sequence. Based on the load charac-teristics of human vehicle transfer operations in a domestic inclined coal mine auxiliary transportation roadway, a cyclic testing condition including vehicle speed and slope was developed. Using them as input conditions, two control strategies, integrated regenerative braking of the accelerator pedal and hydraulic regenerative parallel braking of the brake pedal, were simulated and compared on the Matlab/Simulink numerical calculation platform. The simulation results of the integ-rated regenerative braking control strategy for the accelerator pedal were experimentally verified on a dual drum chassis dynamometer. The results show that the total power consumption of the integrated regenerative braking control model of the accelerator pedal is reduced by 21.06% compared to the original system, the equivalent driving range is extended by 23 km, and the error between simulation and bench test results does not exceed 5%, indicating a better energy efficiency.