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A platform for research: civil engineering, architecture and urbanism
Electric loader walking control method, control device and loader
The invention relates to an electric loader, aims to solve the problem of walking control of a four-wheel independent drive electric loader, and provides a walking control method and a walking control device of an electric loader and the loader. The control method comprises the steps of detecting the depth of an accelerator pedal, determining the total driving torque of the loader according to the depth of the accelerator pedal, and controlling the loader to walk. The driving torque of each wheel is distributed according to the total driving torque; detecting the rotating speeds of front and rear four-wheel driving motors and presuming whether each wheel slips or not, gradually reducing the driving torque distribution values of two of the front wheel or the rear wheel where the slipping wheel is located in proportion on the basis of the current driving torque distribution value of the corresponding wheel until the slipping wheel does not slip, and after maintaining for a preset time, restoring the driving torque distribution value of each wheel to the value before reduction; and controlling a driving motor of each wheel according to the driving torque distribution value of each wheel. When the driving wheel of the electric loader slips, the driving torque of the front wheel and the rear wheel is adjusted, meanwhile, automatic control over a working device is combined, slipping is reduced, and the driving efficiency of the electric wheel is improved.
本发明涉及电动装载机，为解决四轮独立驱动电动装载机行走控制的问题，本发明构造一种电动装载机行走控制方法、控制装置和装载机，其中控制方法步骤为检测油门踏板深度，依据油门踏板深度确定装载机驱动总扭矩，并按驱动总扭矩分配各轮驱动扭矩；检测前后四轮驱动电机转速并推定各轮是否打滑，打滑轮所在前轮或后轮中两轮的驱动扭矩分配值在对应轮当前驱动扭矩分配值基础上按比例逐渐减小至打滑轮不打滑，在维持预定时间后将各轮驱动扭矩分配值恢复至减小之前的值；依据各轮驱动扭矩分配值对各轮的驱动电机进行控制。本发明在电动装载机驱动轮打滑时在对前后轮驱动扭矩进行调节的同时结合对工作装置的自动控制，减少打滑，提高电动轮驱动效率。
Electric loader walking control method, control device and loader
The invention relates to an electric loader, aims to solve the problem of walking control of a four-wheel independent drive electric loader, and provides a walking control method and a walking control device of an electric loader and the loader. The control method comprises the steps of detecting the depth of an accelerator pedal, determining the total driving torque of the loader according to the depth of the accelerator pedal, and controlling the loader to walk. The driving torque of each wheel is distributed according to the total driving torque; detecting the rotating speeds of front and rear four-wheel driving motors and presuming whether each wheel slips or not, gradually reducing the driving torque distribution values of two of the front wheel or the rear wheel where the slipping wheel is located in proportion on the basis of the current driving torque distribution value of the corresponding wheel until the slipping wheel does not slip, and after maintaining for a preset time, restoring the driving torque distribution value of each wheel to the value before reduction; and controlling a driving motor of each wheel according to the driving torque distribution value of each wheel. When the driving wheel of the electric loader slips, the driving torque of the front wheel and the rear wheel is adjusted, meanwhile, automatic control over a working device is combined, slipping is reduced, and the driving efficiency of the electric wheel is improved.
本发明涉及电动装载机，为解决四轮独立驱动电动装载机行走控制的问题，本发明构造一种电动装载机行走控制方法、控制装置和装载机，其中控制方法步骤为检测油门踏板深度，依据油门踏板深度确定装载机驱动总扭矩，并按驱动总扭矩分配各轮驱动扭矩；检测前后四轮驱动电机转速并推定各轮是否打滑，打滑轮所在前轮或后轮中两轮的驱动扭矩分配值在对应轮当前驱动扭矩分配值基础上按比例逐渐减小至打滑轮不打滑，在维持预定时间后将各轮驱动扭矩分配值恢复至减小之前的值；依据各轮驱动扭矩分配值对各轮的驱动电机进行控制。本发明在电动装载机驱动轮打滑时在对前后轮驱动扭矩进行调节的同时结合对工作装置的自动控制，减少打滑，提高电动轮驱动效率。
Electric loader walking control method, control device and loader
电动装载机行走控制方法、控制装置和装载机
LUO JIANWEI (author) / WEI HUILING (author) / TAO LINYU (author) / CAI DENGSHENG (author)
2023-11-17
Patent
Electronic Resource
Chinese
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