Patent ID: 9216663
Filing Date: 2015-12-22
Classification: B60L,B60T,Y02T

Abstract:
1. A road surface self-adapting anti-slip anti-lock control method for an electrically driven mine vehicle, wherein, the method is used for an anti-slip, anti-lock system, the method comprising the following steps: S S S S S S S S S S S S S S when the acceleration of the designated driving wheel is increased to a preset threshold value, or the slip ration is increased to a preset upper limit threshold value, the declining rate of the designated driving wheel torque is achieved through the preset speed down function calculation in accordance with the present slip ratio of the designated driving wheel, and the torques of the designated driving wheel and a coaxial wheel are reduced in accordance with the declining rate of the designated driving wheel; when the deceleration of the designated driving wheel is increased to a preset threshold value, or the slip ratio is reduced to a preset lower limit threshold value, the increasing rate of the designated driving wheel torque is achieved through the preset speed up function calculation in accordance with the present slip ration of the designated driving wheel, and the torques of the designated driving wheel and the coaxial wheel are increased in accordance with the increasing rate of the designated driving wheel; the speed down function is preset by the interpolation method, which takes the slip ratio of the designated driving wheel as independent variables and takes the declining rate of the designated driving wheel torque as the speed down function of function value, and an adjustable parameter is reversed in the speed down function; the speed up function is preset by the interpolation method, which takes the slip ratio of the designated driving wheel as independent variables and takes the increasing rate of the designated driving wheel torque as the speed up function of function value, and an adjustable parameter is reversed in the speed up function; wherein the low speed anti-slip policy comprises the following steps: when the acceleration of the designated driving wheel is increased to its preset threshold value, or the slip ratio is increased to its preset upper limit threshold value, the declining rate of the designated driving wheel torque is achieved through the preset speed down function calculation in accordance with the present slip ration of the designated driving wheel, and the designated driving wheel torque is reduced in accordance with the declining rate of the designated driving wheel, the coaxial wheel torque of the designated driving wheel is increased simultaneously; when the deceleration of the designated driving wheel is increased to its preset threshold value, or the slip ratio is reduced to its lower limit preset threshold value, the increasing rate of the designated driving wheel torque is achieved through the preset speed up function calculation in accordance with the present slip ratio of the designated driving wheel, and the designated driving wheel torque is increased in accordance with the declining rate of the designated driving wheel, the coaxial wheel torque of the designated driving wheel is reduced simultaneously; wherein the speed down function is preset by the interpolation method, which takes the slip ratio of the designated driving wheel as independent variables and takes the declining rate of the designated driving wheel torque as the speed down function of function value, and an adjustable parameter is reversed in the speed down function; the speed up function is preset by the interpolation method, which takes the slip ratio of the designated driving wheel as independent variables and takes the increasing rate of the designated driving wheel torque as the speed up function of function value, and an adjustable parameter is reversed in the speed up function; wherein the preset anti-lock strategy comprises: when the acceleration of the designated driving wheel is increased to its preset threshold value, or the slip ratio is increased to its upper limit preset threshold value, the declining rate of the designated driving wheel torque is calculated in accordance with the present slip ration of the designated driving wheel by the preset speed down function, and the declining rate of the designated driving wheel torque is used to reduce the designated driving wheel torque by controlling the brake apparatus; wherein the speed down function is reset by the interpolation method, which takes the slip ratio of the designated driving wheel as independent variables and takes the declining rate of the designated driving wheel torque as the speed down function of the function value, and an adjustable parameter is reversed in the speed down function.