The invention belongs to the technical field of coal mine underground trackless auxiliary transportation equipment, and discloses a mining heavy front-rear four-motor four-drive articulated vehicle control method, which comprises a steering control method and a walking control method, the steering control method comprises the following steps: S101, receiving given steering angle information; s102, according to the given steering angle, the elongation amount of the right steering oil cylinder and the elongation amount of the left steering oil cylinder are calculated; s103, the corresponding oil cylinders are driven to stretch out or retract till the elongation reaches the requirement; the walking control method comprises the following steps that S201, accelerator pedal opening degree information is received; s202, according to the opening degree of the accelerator pedal, the given vehicle speed of the whole vehicle and the given rotating speeds of a front driving main motor and a rear driving main motor are determined; s203, calculating the power coefficients of the post-driving master and slave motors; and S204, the vehicle state is judged according to the power coefficients of the rear-drive master and slave motors, and the initial given torque of each motor is determined according to the vehicle state. The total consumed electric power of the whole vehicle can be reduced, and the endurance mileage of the storage battery vehicle is increased.

    本发明属于煤矿井下无轨辅助运输设备技术领域,公开了一种矿用重型前后四电机四驱铰接车辆控制方法,包括转向控制方法和行走控制方法,所述转向控制方法以下步骤:S101、接收给定转向角度信息;S102、根据给定转向角度计算右转向油缸和左转向油缸的应伸长量;S103、驱动对应的油缸伸出或缩回直至伸长量达到要求;行走控制方法包括以下步骤:S201、接收油门踏板开度信息;S202、根据油门踏板开度确定整车给定车速以及前驱动主电机和后驱动主电机的给定转速;S203、计算后驱动主从电机的功率系数;S204、根据后驱动主从电机的功率系数判断车辆状态,据车辆状态确定各个电机的初始给定转矩。本发明可以降低整车总消耗电功率,提高蓄电池车辆续航里程。


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    Title :

    Control method for mining heavy front-rear four-motor four-wheel-drive articulated vehicle


    Additional title:

    一种矿用重型前后四电机四驱铰接车辆控制方法


    Contributors:
    TIAN KEJUN (author) / CAO JIANWEN (author) / LONG XIANJIANG (author) / JIANG MING (author) / XU LIANBING (author) / WANG JIAN (author) / WANG TAO (author) / YUE CHAOQI (author) / FAN SANCHENG (author) / GUO LIQIANG (author)

    Publication date :

    2023-05-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B62D MOTOR VEHICLES , Motorfahrzeuge



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