Research On Dual Motor Torque Control Of Three-car Body Articulated Transport Vehicle For Mine

With the increasing use of underground mine electric vehicles in coal mines,a variety of motor-driven electric mining vehicles appear.Including the form of direct drive of the in-wheel motor,and the direct replacement of the internal combustion engine with a battery motor structure in the transmission structure of the traditional explosion-proof diesel engine.This method makes each shaft of the electric vehicle unable to reasonably obtain the driving torque when the motor is driven.This situation makes it more difficult for electric vehicles with limited battery capacity to perform heavy mining engineering operations.In addition to battery capacity issues,it may also cause heat dissipation difficulties.Therefore,the reasonable distribution of the driving torque on the shaft of underground mining vehicles is of great significance.Therefore,this paper studies the drive torque distribution of the front and rear motors on the basis of the original two car bodies improved to a three car body structure consisting of a front car body,a middle car body,and a rear car body,which increases the flexible movement of underground vehicles in the project.performance.The driving form of the vehicle is four-wheel drive,and the axles are distributed on the front body and the rear body.The front body and the middle body are connected in a vertical articulated manner,and the middle body and the rear body are connected by a slewing mechanism.The article determines the power drive form of the three-car body front and rear dualmotor drive.After analyzing the power drive control strategy studied by previous scholars,the control system with the vehicle slip rate as the controlled object is selected for research.Subsequently,the article carried out dynamic modeling on the front and rear dual-motor articulated vehicles for mining,and established a coordinate system based on the vehicle and the earth.Through the analysis and proper simplification of the model,the dynamic model of the articulated vehicle is established according to the actual situation of the vehicle.At the same time,the article established a pure theoretical tire model based on GIM theory,and calculated the three tire inputs of slip rate,corner angle and vertical load required by the tire model.Ignoring the influence of air resistance,the main force of the vehicle is obtained through the contact between the tires and the ground.Through these parameters,the vehicle model and the vehicle body model are combined,and the forces and moments of the vehicle are decomposed in the longitudinal and lateral directions,which lays the foundation for the following chapters.basis.Then build the established model in the MATLB software,and verify the model with certain input conditions.Subsequently,the main parameters of the vehicle at work were estimated in real time,including four parameters including the position of the center of mass,the moment of inertia,the vehicle quality parameter,and the road slope.When calculating the parameters of the center of mass position and the moment of inertia,the change of the front car body is mainly considered.Because the front car body is the cargo area,we assume that the center of mass position and the moment of inertia of the rear car body do not change.Methods such as fitting have estimated the above parameters.Then the quality parameters are estimated.The acceleration sensor is used in the estimation of the quality parameters to measure the acceleration of the front car body in the longitudinal direction.Here we assume that the wheels do not skid,and the torque output by the motor is the torque received by the front car body.Finally,Newton’s second theorem is used to estimate the mass of the front car body.Then use the principle method of Kalman filter to estimate the slope in real time.In the last part of the article,the driving form of independent driving of the front and rear motors of the vehicle is selected,and the principle of the control in this article is explained.The front and back of the control quantity are the motor output torque and the controlled object is the slip rate of the vehicle.Combining the driver’s expectation of the total torque,the required total torque is calculated,and the output torque of the two motors is distributed,divided into two stages,and finally the output torques of the front and rear motors are obtained respectively.At the end of the article,the above-mentioned control was verified.It was divided into two working conditions of straight travel and a certain articulation angle.The slip rate of the four tires and the motor torque output were obtained,which verified the usefulness of the control strategy.At the end of this paper,the overall work of the paper is summarized,and the deficiencies in the paper and the directions that can be changed in the future,such as parameter identification,are prospected.