新能源装载机远程驾驶控制器开发
岳远航1，纪少波1,2*，刘振革3，胡珑渝1，陈忠言4，张强1
1.山东大学能源与动力工程学院，山东 济南 250061；
2.汽车动力系统智能检测及高端装备山东省工程研究中心，山东 济南 250357；
3.山东技师学院智慧交通学院，山东 济南 250204；4.山东氢探新能源科技有限公司，山东 济南 250100
摘要：为提高某混合动力装载机远程操作性能，采用32位高性能单片机开发控制器，基于5G通信技术和Simulink软件，设计开发装载机行走系统、液压系统、制动系统、转向系统及附件系统的控制策略，并通过时延、行走制动、作业测试进行试验验证，实现对装载机的远程驾驶控制。测试结果表明：整车端与远程端之间数据传输完整，数据传输时延约为25 ms；随着踩下远程端制动踏板，大约经过0.3 s整车端电机转矩从100 N·m降为0，大约经过0.7 s电机转速从800 r/min降为0；装载机摇臂、动臂均能根据远程先导手柄的控制指令正确反应，但动作存在轻微滞后；远程驾驶控制逻辑设计符合远程驾驶要求，满足实际使用需要。
关键词：新能源装载机；远程驾驶；控制策略；功能测试
Development of remote driving controller for a new energy loader
YUE Yuanhang1, JI Shaobo1,2*, LIU Zhenge3, HU Longyu1, CHEN Zhongyan4, ZHANG Qiang1
1.School of Energy and Power Engineering, Shandong University, Jinan 250061, China;
2.Shandong Province Engineering Research Center, Intelligent Testing and High-end Equipment of Automotive Power Systems, Jinan 250357, China;
3.School of Intelligent Transportation, Shandong Technician Institute, Jinan 250204, China;
4.Shandong Fuel Cell Power in Technology Co., Ltd., Jinan 250100, China
Abstract: To enhance the remote operation performance of a hybrid loader, a controller is developed using a 32-bit high-performance microcontroller. Based on 5G communication technology and Simulink software, control strategies are designed for the loader′s walking system, hydraulic system, braking system, steering system, and accessory systems. Experimental validation is conducted through tests on delay, braking, and operational performance to achieve remote driving control of the loader. The test results indicate that data transmission between the vehicle end and the remote end is complete, with a data transmission delay of approximately 25 ms. When the remote braking pedal is pressed, after about 0.3 s, the motor torque at the vehicle end drops from 100 N·m to 0; after about 0.7 s, the motor speed decreases from 800 r/min to 0. The loader′s rocker arm and boom respond correctly to the control commands from the remote pilot handle, although there is a slight delay in action. The design of the remote driving control logic meets the requirements for remote driving and satisfies practical usage needs.
Keywords: new energy loader; remote driving; control strategy; functional testing
