该文对一种分离轴式多轴混合动力矿用自卸车的动力系统以及整车进行分析,建立了整车动力学模型.考虑了车辆在运行过程中不同驱动模式之间的切换,并将驱动力协调分配控制应用于分离轴式并联混合动力系统.控制系统采用了实时分层驱动力分配控制策略,上层控制整车的动力输出模式,中层依据不同工作模式结合轴荷进行驱动力动态分配,下层利用PID控制算法进行驱动防滑控制.根据控制策略建立控制模型,结合所建立的整车动力学模型,进行联合仿真分析.仿真结果表明,所设计的驱动力协调分配控制策略能够适应矿车所工作的重载爬坡工况以及低附着路面行驶工况,实现了合理的驱动力分配,充分利用了地面附着力.同时,能够根据轮胎滑移率对各个动力源的动力输出进行闭环协调控制,保证车辆行驶在湿滑路面等恶劣工况下的稳定性.%The powertrain of the separated axle hybrid electric dump truck were analyzed,and the vehicle dynamic model was established.Considering the switch among different drive modes during the process of driving,a driving force coordinated allocation control strategy was applied.The control strategy adopts hierarchical structure,the upper layer determines dynamic output mode of the vehicle,the middle layer calculates the drive torque of each axle according to its axle load,the lower layer uses PID algorithm to avoid the slip of the drive axle.Control model is established according to the control strategy,combined with the established vehicle dynamic model,co-simulation was conducted.The simulation results show that the driving force coordinated control strategy can adapt to the full load climbing condition and low adhesion road condition,realize the reasonable distribution of driving force and make full use of the ground adhesion.Under the premise of the stability,the transport efficiency of dump truck was increased when climbing big slope.
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