Design And Control Research On The Electric Wheel Of320Tons Multi-axis Mine Truck

This paper introduced the structure form、drive mode and dynamic parametersmatching of the320tons five-axis electric wheel mine truck, it also studied thedifferential control method of the car, for the drive form of2drive double widewheels, researched the calculation formula of each wheel speed in two kinds ofsteering mode, simulated the speed and torque distribution of each wheel, chose thePMW voltage control method to control the motor speed, established the simulationmodel of five axis ten groups twenty wheels electric wheel mine truck, implementedthe differential control of each motor, verified the feasibility of the differential controlmethod. Studied the drive anti-slip control strategy of this truck, analyzed thedifference of two axis car and multiple axis car in drive anti-slip control, raised themethod of drive torque control based on pavement, the wheel velocity anomalyjudgment and memory and time delay. Studied the basic principle and commonalgorithm of drive anti-slip control, design a fuzzy controller based on slip ratiocontrol, electric wheel drive anti-slip control simulation model is established, fromthe simulation results showed that the output of the fuzzy control of the slip rate havequick response and high control precision, stabilize near the optimal slip ratio.Studied the braking difference of traditional car and electric wheel car, and permanentmagnent brushless DC motor braking method. Analyzed the principle and constraintcondition of regenerative braking energy of electric wheel and designed a five-axiselectric wheel car braking condition, after studying the typical control theory ofbraking energy recovery, the parallel brake control method are determined, accordingto the size of the braking intensity to allocate regenerative braking force and thetraditional hydraulic friction braking force and distributed ideally the braking force ofeach axis. Established the mathematical and ADVISOR model of the vehicle, wheeland motor, design the driving cycles conditions accord with the actual of five-axiselectric wheel car driving, simulation got the battery SOC value curve and the currentchange curve when the battery charge and discharge in the working condition of thewhole cycle, the simulation showed that the energy can be recovered in the process ofcar braking, which proved the feasibility of regenerative braking control strategy.