| The overall mining geological conditions of coal mines in our country are becoming more complex,and the coal mining geological security system urgently needs to be upgraded and developed.In accordance with the requirements for the high-quality development of the national coal industry,intelligence is the core technical support for coal mine construction,and the coal geological security system needs to be precise,transparent,and intelligent.In response to the development trend of domestic intelligent networked vehicles,coal companies are gradually upgrading mining auxiliary transportation equipment to be intelligent and electrified.Mine diesel rubber-tyred vehicles have serious defects such as serious exhaust gas pollution and poor explosion-proof performance.This article starts from improving the economics and safety of the existing mine auxiliary transportation equipment,and embarks on the electrification of mine diesel-engined rubber-tyred vehicles to improve the performance of rubber-tyred vehicles.The adaptability of the mine environment and braking energy feedback efficiency will be studied from the following aspects:(1)After analyzing the force state of the whole vehicle during the driving process of the rubber-tyred mining vehicle,the economy and power indicators in the power matching process are evaluated,and the characteristics of conventional motors and batteries are compared.According to the vehicle power matching target,reasonable power system parameter are calculated by formula,such as motor parameters,transmission ratio and power battery pack indicators.According to matching results,the AVL-Cruise is used to establish a vehicle simulation model,and the rationality of power matching is verified from the following four aspects: maximum speed,maximum gradeability,acceleration demand and driving range.(2)Aiming at the low braking energy feedback efficiency of domestic mine electric rubber-tyred vehicles,MATLAB/Simulink is used to build a complete vehicle model of the target electric rubber-tyred vehicle,a driver model is designed by the PI algorithm,and the vehicle control strategy is formulated.The vehicle performance simulation is carried out under the low-speed U.S.urban road cycle conditions(LUDDS)with additional wangjialing coal mine's auxiliary transport roadway slope conditions,the reliability of the vehicle model is verified,and the battery SOC,power consumption value and driving range is compared and analyzed by different operating conditions.The results show that the regenerative braking function of the electric rubber-tyred vehicle by low speed,frequent start and stop,and additional slope conditions can significantly increase the driving range.When the average gradient is small,frequent start and stop are the main factors affecting the driving range.(3)In order to improve the working efficiency of the motor,an optimal speed control method based on the motor efficiency map is proposed according to the relatively fixed driving route and the characteristics of long up or down slopes with frequent start and stop conditions under the well.First,the hybrid bench is used to determine the motor efficiency map.Secondly,real-time vehicle status and slope information are colleccted to formulate strategies for acceleration,constant speed,and regenerative braking.Finally,the vehicle model is used to compare energy consumption and determine motor operating conditions.Comparing the results of different strategies shows that on the basis of 22% increased in driving speed,energy consumption is reduced by 9.3%;76.44% of operating efficiency is higher than 94%.It is verified in principle that the optimal speed control strategy can not only reduce energy consumption,but also improve work efficiency to a certain extent.It also provides a feasible solution for intelligent and unmanned driving of vehicles on fixed roads and extreme conditions.(4)The construction of Lab VIEW upper computer monitoring system based on optimal speed control is completed.First,the conventional Freescale automotive-grade MCU on the market is selected according to the monitoring system requirements,the minimum system circuit,signal acquisition circuit and communication circuit is designed based on the pin function of MC9S12 by Altium Designer,and the PCB circuit board is made.According to the Simulink model built by the previous control strategy,the underlying driver module of MC9S12 microcontroller is configured to generate target C code,which is compiled by Code Warrior and download to the target control unit.The virtual CAN interface function library in the dynamic link library file format is used to build the Labview host computer control system.Finally,the single-chip microcomputer is used to collect the analog signal include road conditions data and vehicle state data.After the MCU completes the calculation,it transmits the relevant data to the host computer via the CAN bus circuit with the USB-CAN bus professional tools,and completes the speed output test and vehicle status monitoring. |
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