| In recent years,small and medium-sized mining companies have increasingly demanded mining trucks,and the high energy consumption problem of traditional mining trucks has become obvious.Hybrid power of traditional mining trucks is one of the feasible methods to solve the above problems,and control of power system is the key to realize energy saving and emission reduction of hybrid power mining truck.Therefore,it is of great practical significance to study its control strategy.In this paper,a 90 t hybrid electric mining truck is taken as the research object,and the control strategy of its power system is studied by theoretical analysis and simulation.The system structure and principle of the hybrid electric mining truck are analyzed,and the forward modeling method for simulation study of the vehicle is elaborated,and the models of engine,drive motor,ISG motor,transmission,power battery pack,vehicle and driver in the hybrid power system of the mining truck are established,respectively.Combining the characteristics of the hybrid power mining dump truck and its transportation requirements under the target operating conditions of heavy-load and uphill-no-load downhill,a rule-based control strategy for hybrid power system is proposed,and the switching of system operating mode and the distribution rule of multi-power source torque is given.With the goal of equivalent consumption minimization strategy,the torque distribution rule in hybrid drive mode is optimized,and the equivalent factor values and battery service intervals are determined.Based on the longitudinal dynamical equation of the mining truck,the parameters of the working mass of the mining truck and the slope of the driving road are estimated by recursive least square method and Kalman Filter algorithm,respectively.The control strategy and parameter estimation algorithm of the hybrid power system studied are simulated in Simulink,and the validity of the method is verified. |
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