Research On Vehicle Controller And Control Strategy Of Pure Electric Loader

With the increasing consumption of traditional energy and the increasingly serious environmental problems,China has put forward the "Carbon neutralization and carbon peak"target,which puts forward green and sustainable requirements for the development of various industries.Construction machinery is an important factor to improve the efficiency of infrastructure construction.As an important part of construction machinery,traditional power loader has many disadvantages such as high energy consumption,high emission and high noise pollution.Electrification of construction machinery is an important solution to achieve the goal of" Carbon neutralization and carbon peak",so electrification upgrading of traditional power loaders will become an important development direction of the loader industry.This paper studies the vehicle controller unit and control strategy.The main contents include:Firstly,this paper analysis the functional requirements of pure electric loader.,and it is clarified that the vehicle controller should have hardware circuits such as CAN communication circuit,signal acquisition circuit,H-Bridge drive circuit,Low-side drive circuit and High-side drive circuit,and the number of channels of each hardware circuit is determined according to various types of sensors and actuators.Then this paper completes the hardware design of the vehicle controller.Then this part introduces development process based on Model-BasedDesign and completes the development of Simulink interface driver module.CCP protocol is used to develop program download software and upper computer calibration software.The upper computer calibration software can observe and calibrate the parameters in the program by analyzing A2L file.Secondly,the vehicle control strategy is divided into vehicle electrical mode management,fault diagnosis and processing,walking system control,work system control and remote monitoring based on MD5 algorithm according to functions.The control strategy of each subfunction is studied,and the control algorithm model of each module is built based on Simulink.This paper clarifies the input and output interface parameters and meanings of each function module,connect the control algorithm model of each function module in the form of virtual bus,complete the vehicle control strategy development and control algorithm model construction,and use automatic code generation technology to compile the control algorithm model into the executable code of the controller.Finally,carry out real vehicle test is to verify the feasibility of the vehicle control strategy.First,verify the controller function,the low-voltage part and high-voltage part of the vehicle are tested respectively.The low-voltage part includes sensor,actuator and CAN communication function test,and the high-voltage part is the test of the developed control strategy.Then the acceleration pedal opening lag,speed limit,slope and shift functions are analyzed respectively,and each function is optimized by control parameters.Finally,climbing ability test,maximum speed test,traction test,excavation test and V-type shovel loading operation test were carried out respectively to measure the power performance and economic indicators of pure electric loader,and compared with the same specification of diesel loader.The results show that the power performance of the pure electric loader is slightly improved compared with the diesel power loader of the same specification.While maintaining the power performance,the efficiency of the pure electric loader for V-type shoveling operation is increased by 8.7%compared with the diesel loader in the same time,and the converted cost is about 35%of the diesel loader.The test results show that the developed vehicle controller and control strategy can achieve the control objectives well,and the pure electric loader has good performance in power and economy.