(1. School of Energy and Power Engineering, Shandong University, Jinan, Shandong 250061, China; 2. Shandong Transportation Institute, Jinan, Shandong 250031, China; 3. School of Intelligent Transportation, Shandong Technician Institute, Jinan, Shandong 250200, China)
Abstract：According to the transmission system characteristics of pure electric loader, the ramp anti-slip control strategy was developed based on the operating parameters of loader and the torque and speed uploaded by the walking motor controller to the vehicle controller. By the vehicle controller, the conditions for the pure electric loader to enter the anti-slip mode was determined, and the proportional-integral（PI） algorithm was used to calculate the target torque delivered to the walking motor controller during the anti-slip mode for making the loader stable on the slope without pedal action. Based on Simulink, the ramp anti-slip control algorithm model of pure electric loader was established. By the Simulink automatic code generation technology, the vehicle controller programs were generated to conduct test verification and parameter optimization. The sliding distance of loader in slope parking and slope starting stage was used to measure the ramp anti-slip effect. The results show that the proposed ramp anti-slip strategy can effectively realize the standing slope on each slope. The maximum sliding distance is 8.0 cm when the loader stops on the slope at 30% slope, and the maximum sliding distance is 4.0 cm when the loader starts on the slope, which can meet the requirements for safe parking on slope.
DAI J Q, PENG T D, HAN B, et al. Research on the low-carbon transformation path of China′s transportation sector and its impact on oil demand under the "dual car-bon" goal[J]. International Petroleum Economics,2021,29(12):1-9.(in Chinese)
MA J, SUN S Z, RUI H T, et al. Review on China′s road construction machinery research progress:2018[J]. China Journal of Highway and Transport,2018,31(6):1-164.(in Chinese)
［4］
MORGUL O K. Experimental analysis for assessing noise and vibration of the diesel engine fuelled with a butanol-diesel blend under different injection pressures and engine speeds[J]. International Journal of Environmental Science and Technology, 2021,18(7):2019-2030.
ZHAO Y K, DONG Z, YANG D Q. The research of emission test method of non-road diesel engine on bench[J]. Internal Combustion Engines and Parts,2022(6):13-15.(in Chinese)
［6］
MCCAFFERY C, YANG J C, KARAVALAKIS G, et al. Evaluation of small off-road diesel engine emissions and aftertreatment systems[J]. Energy, DOI:10.1016/j.energy.2022.123903.
SHEN D F, CHEN Y L, DU H M, et al. Comparative study on power system of construction machinery under the background of "carbon peak and carbon neutrality"[J]. Small Internal Combustion Engine and Vehicle Technique,2021,50(6):77-79，93.(in Chinese)
［8］
TONG Z M, MIAO J Z, LI Y S, et al. Development of electric construction machinery in China: a review of key technologies and future directions[J]. Journal of Zhejiang University-Science A (Applied Physics & Engineering), 2021,22(4):245-264.
CHANG L. Optimization of power matching on torque converter with diesel engine for wheel loader based on performance evaluation mesh figure[J]. Transactions of the Chinese Society of Agricultural Engineering, 2012,28(1):50-54.(in Chinese)
HUANG J D, YANG Z J, ZHOU L Q. Parameter matching optimization of double motor drive system of battery loader[J]. Journal of Railway Science and Engineering,2022,19(3):822-830. (in Chinese)
［11］
ANG K H, CHONG G, LI Y. PID control system analysis, design, and technology[J]. IEEE Transactions on Control Systems Technology: A Publication of the IEEE Control Systems Society, 2005,13(4):559-576.
