The invention provides a longitudinal low-speed stable control method and system for an unmanned mine card. The method comprises the following steps: acquiring real-time driving data of the unmanned mine card; establishing a minimum accelerator statistical table according to accelerator, accelerator feedback and torque feedback data, and calculating a minimum accelerator value by processing the minimum accelerator statistical table; acquiring a control signal; the driving state of the unmanned mine truck is judged according to the pitch angle and the gear, and when the driving state is an uphill state or a level road state, main accelerator control is conducted according to the minimum accelerator value, the expected accelerator/expected brake, the expected speed and the mine truck speed; and when the driving state is downhill, main braking control is carried out according to the expected accelerator/expected braking, the expected speed and the mine truck speed. Through online processing of the minimum accelerator statistical table, the minimum accelerator value is calculated and can be updated in real time, and power and universality of stable operation of the vehicle can be guaranteed for different mine cards.
本发明提供了一种无人矿卡纵向低速平稳控制方法及系统,方法包括:获取实时的无人矿卡行驶数据;以油门、油门反馈和转矩反馈数据建立最小油门统计表,通过对最小油门统计表的处理计算出最小油门值;获取控制信号;根据俯仰角和档位判断无人矿卡的行驶状态,当行驶状态为上坡或平路时,根据最小油门值、期望油门/期望制动、期望速度和矿卡速度进行主油门控制;当行驶状态为下坡时,根据期望油门/期望制动、期望速度和矿卡速度进行主制动控制。通过对最小油门统计表的在线处理,计算出了最小油门值,并可实时更新,可针对不同矿卡,保证了车辆运行稳定的动力和通用性。
Longitudinal low-speed stable control method and system for unmanned mine truck
一种无人矿卡纵向低速平稳控制方法与系统
2022-12-16
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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