CN115567037A - A method for filtering the accelerator pedal signal of a mine car - Google Patents

Abstract

The invention provides a mining car accelerator pedal signal filtering method, comprising the following steps: 1) the driver steps on the accelerator pedal, and the vehicle controller collects the original signal of the accelerator pedal; 2) identifying the interference wave caused by seat vibration as a sine wave, Identify the corresponding characteristics of the interference wave; 3) Generate the corresponding reverse wave waveform according to the waveform of the interference wave; 4) Sum the reverse wave waveform with the original signal, neutralize the interference waveform, and obtain the accelerator pedal target signal ; 5) Combining the accelerator pedal target signal, the brake pedal signal and the third-party signal to calculate the driver's demand torque; 6) Send the driver's demand torque command to the corresponding controller, and the corresponding controller controls the corresponding unit to drive the vehicle; Interference signals are filtered out, and the obtained target signal can truly reflect the driver's needs, and the demand torque will no longer have periodic changes of ups and downs.

Description

A method for filtering the accelerator pedal signal of a mine car

technical field

The invention belongs to the technical field of a mining car control signal filtering method, and in particular relates to a mining car acceleration pedal signal filtering method.

Background technique

The application scenarios of the mining cart are harsh, the road conditions are complex, the vehicle bumps up and down frequently and violently, and most of the mining carts are equipped with air spring seats. When the mining cart is driving, the driver steps on the accelerator pedal, and the body moves up and down with the seat, resulting in acceleration. The pedal opening changes back and forth accordingly, which is consistent with the up and down movement of the seat, so the feedback demand torque also fluctuates, which is specifically manifested as a low-frequency signal with a period of about 1 Hz, which cannot be eliminated by simple filtering. Filtering methods such as average filtering, low-pass filtering, and smoothing filtering are invalid.

The corresponding processing method currently in use is: limit and filter the input pedal signal, compare the newly collected original pedal signal with the previous filtered signal, and when the change exceeds the set value, use the newly collected original pedal signal as the filtered signal signal, and then calculate the demand torque; when the change is less than the set value, keep the last filtered signal, and calculate the demand torque. After the above processing, the accelerator pedal signal becomes a step signal.

However, the deficiencies in existing processing methods include:

(1) The limiter filtering method is adopted to filter out the torque fluctuation caused by road bumps, and at the same time filter out part of the driver's torque demand, which results in poor torque followability.

(2) The selection of filtering parameters has a large difference in the filtering effect on different bumpy road surfaces, and the adaptability to road conditions is not good.

Contents of the invention

In order to solve the above defects and deficiencies in the prior art, the present invention provides a method for filtering the acceleration pedal signal of a mine car.

To achieve the above object, the present invention provides the following technical solutions:

A mining car accelerator pedal signal filtering method, comprising the following steps:

1) Collect the original signal x(t) of the accelerator pedal by the driver stepping on the accelerator pedal;

2) Identify the interference wave caused by seat vibration as a sine wave n(t), and identify the corresponding characteristics of the interference wave;

3) Generate the corresponding reverse wave waveform An(t) according to the waveform of the interference wave;

4) Summing the reverse wave waveform and the original signal, neutralizing the interference waveform, and obtaining the accelerator pedal target signal y(t);

5) Combining the accelerator pedal target signal, the brake pedal signal and the third-party signal to calculate the driver's demand torque;

6) Send the driver's required torque command to the corresponding controller, and the corresponding controller controls the corresponding unit to drive the vehicle.

As a further preferred embodiment of the present invention, in the step 2), the corresponding characteristics of the identified interference wave include at least amplitude A and frequency f, and the interference wave satisfies:

n(t)=Asin(2πft)

Among them, n(t) is the interference wave waveform, A is the amplitude, and f is the frequency.

As a further preferred embodiment of the present invention, in the step 3), the original pedal signal range is set to [0.100],

When x(t)>N, the waveform of the reverse wave takes the negative value of the interference wave waveform;

When x(t)≤N, the waveform of the reverse wave takes the negative value of the interference wave waveform of the previous calculation cycle; that is

Among them, An(t) is the reverse wave waveform, △t is the unit calculation cycle, and N is the initial threshold calibrated according to the initial road conditions.

As a further preferred embodiment of the present invention, in the step 4), satisfy

y(t)=x(t)+An(t)

Among them, y(t) is the accelerator pedal target signal.

As a further preferred embodiment of the present invention, in the step 5), the third-party signal at least includes the motor output threshold signal, the battery charge and discharge threshold signal, the driving mode limit signal for the required torque, the brake handle input signal, and the cruise control signal. function of the demand torque signal.

As a further preferred embodiment of the present invention, in the step 6), the driver's demand torque command is sent to the motor controller (MCU) and the automatic transmission controller (TCU) through the vehicle-mounted communication CAN, and the motor controller (MCU) ) and the automatic transmission controller (TCU) control the motor and the automatic transmission to provide torque output to drive the vehicle.

Compared with the prior art, the beneficial effects that the present invention can realize include:

1) The present invention provides a method for filtering the accelerator pedal signal of a mine car. By injecting a reverse wave waveform opposite to the interference wave waveform caused by seat vibration, it is equivalent to filtering out the interference signal in the original signal, and the obtained target signal can be true Reflecting the needs of the driver, the demand torque will no longer have periodic changes of ups and downs.

2) The present invention provides a method for filtering the acceleration pedal signal of a mine car. After limiting and filtering, a step waveform is formed, and after reverse waveform injection, the filter forms a smooth waveform, which is more stable than the step waveform output torque.

Description of drawings

FIG. 1 is a flow chart of the steps of the filtering method of the present invention.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention.

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "another end" The orientation or positional relationship indicated by etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, use a specific Azimuth configuration and operation, therefore, should not be construed as limiting the invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and should not be understood as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise specified and limited, the terms "installed", "set with", "connected", etc. should be understood in a broad sense, such as "connected", which may be a fixed connection , can also be detachably connected, or integrally connected; can be mechanically connected, can also be electrically connected; can be directly connected, can also be indirectly connected through an intermediary, and can be internal communication between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

[Example 1]

As shown in Figure 1, a mine car accelerator pedal signal filtering method provided by the present invention is integrated in the vehicle controller VCU, and the VCU calculates the driver's demand torque and sends it to the motor controller MCU through the vehicle communication CAN And automatic transmission controller TCU to control the motor and automatic transmission to provide torque output to drive the vehicle.

The method provided by the present invention comprises the following steps:

1) Acquire the original signal x(t) of the accelerator pedal by the driver stepping on the accelerator pedal; this acquisition action can be realized by the vehicle controller;

2) Identify the interference wave caused by seat vibration as a sine wave n(t), and identify the corresponding characteristics of the interference wave; in this embodiment, the identified corresponding characteristics of the interference wave include at least the amplitude A and the frequency f, Because the interference wave is identified as a sine wave, it satisfies the expression equation of the sine wave:

n(t)=A sin(2πft)

Among them, n(t) is the interference wave waveform, A is the amplitude, and f is the frequency.

3) according to the waveform of the interference wave, generate the corresponding reverse wave waveform An(t); in the present embodiment, the setting original pedal signal range is [0.100], and when the original pedal signal is 0, the pedal opening is minimum, At this time, the driver does not step on the accelerator pedal or the accelerator pedal does not enter the working stroke, and the pedal opening reaches the maximum when the original pedal signal is 100;

When x(t)>N, the waveform of the reverse wave takes the negative value of the interference wave waveform; it shows that the degree of interference caused by the bumping of the mine car at this time is larger than that in other calculation cycles and needs to be filtered out;

When x(t)≤N, the waveform of the reverse wave takes the negative value of the interference wave waveform in the previous calculation period; it shows that the degree of interference caused by the bumping of the mine car at this time has little change compared with other calculation periods, so It can be filtered by referring to the interference wave waveform of the previous calculation cycle;

which is

Among them, An(t) is the reverse wave waveform, △t is the unit calculation cycle, and N is the initial threshold calibrated according to the initial road conditions. This value is calibrated according to the road conditions, and currently the value is usually 5 as the initial threshold.

4) Sum the reverse wave waveform and the original signal, neutralize the interference waveform, and obtain the accelerator pedal target signal y(t); that is, y(t)=x(t)+An(t)

Among them, y(t) is the accelerator pedal target signal.

5) Calculate the driver's demand torque in combination with the accelerator pedal target signal, the brake pedal signal and the third-party signal; The torque limit signal, the brake handle input signal, and the demand torque signal of the cruise function, etc., the driver demand torque needs to take the smaller value among the demand torque calculated by inputting the above signals to meet the actual demand.

6) Send the driver's demand torque command to the corresponding controller, and the corresponding controller controls the corresponding unit to drive the vehicle; as shown in Figure 1, in this embodiment, the driver's demand torque command is sent to the motor controller through the vehicle-mounted communication CAN MCU and automatic transmission controller TCU, the motor controller MCU and automatic transmission controller TCU control the motor and automatic transmission to provide torque output to drive the vehicle.

Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments, or perform equivalent replacements for some of the technical features. Within the spirit and principles of the present invention, any modifications, equivalent replacements, improvements, etc., shall be included in the protection scope of the present invention.

Claims (6)

1. A mine car acceleration pedal signal filtering method, is characterized in that: comprises the following steps: 1) Collect the original signal x(t) of the accelerator pedal by the driver stepping on the accelerator pedal; 2) Identify the interference wave caused by seat vibration as a sine wave n(t), and identify the corresponding characteristics of the interference wave; 3) Generate the corresponding reverse wave waveform An(t) according to the waveform of the interference wave; 4) Summing the reverse wave waveform and the original signal, neutralizing the interference waveform, and obtaining the accelerator pedal target signal y(t); 5) Combining the accelerator pedal target signal, the brake pedal signal and the third-party signal to calculate the driver's demand torque; 6) Send the driver's required torque command to the corresponding controller, and the corresponding controller controls the corresponding unit to drive the vehicle. 2. The method according to claim 1, characterized in that: in the step 2), the corresponding characteristics of the identified interference wave at least include amplitude A and frequency f, and the interference wave satisfies: n(t)=Asin(2πft) Among them, n(t) is the interference wave waveform, A is the amplitude, and f is the frequency. 3. The method according to claim 1, characterized in that: in said step 3), the original pedal signal range is set to [0.100], When x(t)>N, the waveform of the reverse wave takes the negative value of the interference wave waveform; When x(t)≤N, the waveform of the reverse wave takes the negative value of the interference wave waveform of the previous calculation cycle; that is

Among them, An(t) is the reverse wave waveform, △t is the unit calculation cycle, and N is the initial threshold calibrated according to the initial road conditions. 4. method according to claim 1, is characterized in that: in described step 4), satisfy: y(t)=x(t)+An(t) Among them, y(t) is the accelerator pedal target signal. 5. The method according to claim 1, characterized in that: in the step 5), the third-party signal at least includes motor output threshold signal, battery charge and discharge threshold signal, driving mode limit signal for demand torque, braking Handle input signal, and demand torque signal for cruise function. 6. The method according to claim 1, characterized in that: in the step 6), the driver demand torque instruction is sent to the motor controller (MCU) and the automatic transmission controller (TCU) by the vehicle-mounted communication CAN, The motor and the automatic transmission are controlled by the motor controller (MCU) and the automatic transmission controller (TCU) to provide torque output to drive the vehicle.

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