Research On Control System Of Electric Drive Haul Truck

Mining haul trucks, designed for mining transportion with high payload capacity,are quite essential for mining industry nowadays, and its powertrain system hasdeveloped from traditional mechanics to electric powertrain system, offering anupgrade in the efficiency and load classes of mining haul trucks.However, low fuel economy and low energy efficiency are quite common in thetraditional electric powertrain system, which could be sovlved by adding a hybridpower system. And the stability problem is quite tough for the motor driving system ofdumpers.All of these factors slowed down the progress of mining haul trucks.In this dissertation, the parameter matching methods of both electric powertrainsystem and hybrid power system of mining haul trucks are analyzed, and the controlstrategy of hybrid power system is also discussed and simulated. The manipulatestability of the whole vehicle is researched, too.By analyzing the demands of the electric powertrain system, a new topology withsuper-capacitors and batteries as supplements is given. Based on the national standardsand various of working condition requirements, the parameter matching methods ofMotors and Engine-Generator are discussed in the aspects of peak power requirementsand continuous power requirements, which are also simulated in CRUISE taking anactual mining truck as an example. What’s more, considering the dynamicperformance and safety performance, four function modes are designed.In order to reveal the parameter matching principle of hybrid power systemapplied in mining trucks, the optimum proportion of super-capacitors is reached byanalizing the utilization rate of power and energy. Futhermore, the mass of hybridpower system is determined by the output demands of totalpower and energy. Besides,under the rules of optimization of the high power desinity of super-capacitors and highenergy desinity of batteries, the control strategy of hybrid power system is obtainedand simulated in CRUISE, the results showed the effectiveness and feasibility of thestrategy.With motor directly driving the wheels, the stability problem of the mining haultrucks is researched in this thesis. By analyzing the relationship between thelongitudinal/lateral forces and the stability of vehicle in three different dimisions, acontrol strategy using PI to ensure the slip rate of each driving wheel in the optimizedrange is obtained. For simulation of the control strategy a7-DOF vehicle dynamicmodel is built in the Matlab/Simulink. What’s more, in order to evaluate the practicaleffects, an experimental platform using MC9S12XS128is designed, and several experiments showed that the new strategy works well, and the stability of wholevehicle is increased by applying it.