The invention discloses an unmanned mine truck starting anti-sliding system and a control method. The unmanned mine truck starting anti-sliding system comprises a starting acceleration statistical module and a starting anti-sliding control module. The starting acceleration statistical module is used for collecting real-time speeds when the level road unmanned mine truck is started at different expected speeds, calculating a starting acceleration based on the real-time speeds, counting a corresponding relation between the different expected speeds and the starting acceleration, generating a starting accelerometer and sending the starting accelerometer to the starting anti-slip control module; the starting anti-sliding control module calculates expected driving force based on the received expected speed, a starting accelerometer, the pitch angle of the unmanned mine truck and the loading weight of the unmanned mine truck, and further obtains the accelerator amount or the brake amount. And the obtained accelerator amount or brake amount is accumulated with the accelerator amount or brake amount of the last operation cycle and then sent to a power system of the unmanned mine truck. The method can ensure that the unmanned mine truck does not slip during starting and the speed control is stable.
本发明公开了一种无人矿卡起步防溜车系统与控制方法,包括起步加速度统计模块和起步防溜车控制模块;所述起步加速度统计模块用于采集不同期望速度下平路无人矿卡起步时的实时速度,基于所述实时速度计算出起步加速度,并统计出不同期望速度与起步加速度的对应关系,生成起步加速度表后发送至起步防溜车控制模块;所述起步防溜车控制模块基于接收到的期望速度和起步加速度表,以及无人矿卡俯仰角和无人矿卡装载重量,计算出期望驱动力,并进一步获得油门量或制动量,将获得的油门量或制动量与上一运行周期的油门量或制动量进行累加后发送给无人矿卡的动力系统。本发明能够保证无人矿卡起步不溜车、速度控制平稳。
Unmanned mine truck starting anti-sliding system and control method
一种无人矿卡起步防溜车系统与控制方法
2022-12-13
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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