CN112757960A - Driving control method of unmanned electric tractor - Google Patents
Driving control method of unmanned electric tractor Download PDFInfo
- Publication number
- CN112757960A CN112757960A CN202011626650.9A CN202011626650A CN112757960A CN 112757960 A CN112757960 A CN 112757960A CN 202011626650 A CN202011626650 A CN 202011626650A CN 112757960 A CN112757960 A CN 112757960A
- Authority
- CN
- China
- Prior art keywords
- control unit
- charging
- electric tractor
- signal
- bms
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0046—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electric energy storage systems, e.g. batteries or capacitors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/20—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by converters located in the vehicle
- B60L53/22—Constructional details or arrangements of charging converters specially adapted for charging electric vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention aims to solve the technical problem that the existing electric tractor charging strategy is too complicated, and provides a driving control method of an unmanned electric tractor, which comprises the following steps: detecting a mode control signal by setting a control unit: when the control unit detects the charging signal, the control unit sends the charging signal to the BMS; under the condition that the main loop of the electric tractor is high-voltage and a DCDC module in the electric tractor is in an opening working state, a charging pile arranged on the ground performs handshaking and charging until the charging process is finished; when the control unit detects a driving signal, the control unit sends the driving signal to the BMS; the control unit sends an upper high voltage signal to the electric tractor to prepare for work; the control unit receives external signals and controls the electric tractor to enter a required driving mode. The invention is beneficial to prolonging the service life of the electric traction.
Description
Technical Field
The invention relates to the technical field of electric tractor vehicles, in particular to a driving control method of an unmanned electric tractor.
Background
The popularization of the electric automobile can reduce the exhaust emission, and is beneficial to purifying the urban environment and creating a low-carbon society. Especially in the agricultural field, the popularization of electric equipment is more important.
However, the current electric tractor faces the problem of too complicated charging strategy during charging, which results in too long charging detection time, increases the calculation burden of a control unit, such as a VCU, and is not beneficial to the service life of the tractor.
Disclosure of Invention
The invention provides a driving control method of an unmanned electric tractor, aiming at solving the technical problem that the charging strategy of the existing electric tractor is too complicated.
The technical scheme adopted by the invention for solving the technical problems is as follows: a driving control method of an unmanned electric tractor comprises the following steps:
detecting a mode control signal by setting a control unit:
when the control unit detects the charging signal, the control unit sends the charging signal to the BMS;
under the condition that the main loop of the electric tractor is high-voltage and a DCDC module in the electric tractor is in an opening working state, a charging pile arranged on the ground performs handshaking and charging until the charging process is finished;
when the control unit detects a driving signal, the control unit sends the driving signal to the BMS;
the control unit sends an upper high voltage signal to the electric tractor to prepare for work;
the control unit receives external signals and controls the electric tractor to enter a required driving mode.
Before the step of detecting the mode control signal by the setting control unit, the method further comprises the following steps:
firstly, starting a 24V low-voltage electric brake of the whole vehicle;
waking up the control unit and self-checking by using the opening key;
and after the control unit is successfully self-checked, sending a wake-up signal to wake up the unit in the electric tractor.
The "unit in an electric tractor", includes:
the charging assembly is electrically connected with the control unit and is used for a programmable logic processing element related to the charging process;
and the non-charging component is electrically connected with the control unit and is used for a programmable logic processing element irrelevant to the charging process.
The 'control unit sends a charging signal to the BMS', including:
judging whether a fault that charging is not allowed exists;
and if the fault that the charging is not allowed exists, sending a 'charging not allowed' instruction to the BMS, and stopping charging.
The "main loop of the electric tractor is high-pressure", comprising:
if with under the driving state fill electric pile and be connected, get into the charging process under the state that the major loop has gone up high pressure, this moment:
and reducing the power of the electric tractor to 0, and keeping a DCDC module of the electric tractor in an opening working state.
The "set up the electric pile on ground and carry out the handshake under the condition that electric tractor's major loop has been gone up high pressure and DCDC module in the electric tractor is in open operating condition", include:
if the main loop of the electric tractor has no high voltage after the charging pile is connected with the electric tractor, the control unit sends a high voltage command to the BMS;
confirming, by the control unit, whether the BMS receives an "insulation prohibition request";
after receiving the insulation prohibition request, the control unit detects an insulation signal;
and the control unit forwards the insulation signal to the BMS, and at the moment, the BMS and the charging pile perform handshaking.
After "the control unit detects the driving signal, before the step that the control unit sends the driving signal to BMS", include:
the control unit firstly judges whether the condition that high voltage on the travelling crane is not allowed exists:
if so, the vehicle stops entering the driving state.
After "the control unit detects the driving signal, before the step that the control unit sends the driving signal to BMS", include:
the control unit judges that high voltage on the whole vehicle can be achieved and then sends an 'upper voltage instruction' to the BMS;
and after receiving the signal of the 'high voltage command', the BMS judges whether the battery system of the electric tractor has a fault or does not allow high voltage to be applied.
The control unit, the BMS and the electronic components controlled by the control unit and the BMS and used for charging or driving form closed-loop control.
The control unit receives external signals and controls the electric tractor to enter a required driving mode, and the control unit comprises:
and receiving an external mode control command by using the control unit to enable the electric tractor to enter a network connection mode, an unmanned driving mode or a remote control mode.
The invention has the beneficial effects that: according to the driving control method of the unmanned electric tractor, the control unit is arranged to detect the mode control signal, and the mode control signal is used for distinguishing the functions of the electric tractor, so that the charging process or the driving process is carried out, and even in the driving mode, the charging can be carried out under the condition of the charging pile. Compared with the prior art, the invention has simple charging strategy and small redundancy, and is beneficial to prolonging the service life of electric traction.
Drawings
Fig. 1 is a charging flow chart of the electric tractor according to the present invention.
Fig. 2 is a high-pressure flow chart of the electric tractor according to the invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
The noun explains:
high pressure feeding: high voltage of the power battery, 400-700VDC is distributed and input to a load;
high pressure: cutting off the high-voltage output of the power battery to ensure that the input end of the load is not provided with high voltage electricity;
START signal: from a remote controller, representing a driving signal;
VCU: one of the control units is a programmable logic element;
BMS: a new energy automobile battery management system;
high-pressure tank: an electric tractor high voltage electricity distribution management system;
main and negative relays: in the high-voltage box, the negative end of the power battery controls the switch;
a main positive relay: in the high-voltage box, the positive end of the power battery controls the switch;
cooling the positive relay: in the high-voltage box, a high-voltage positive end of a power battery cooling system controls a switch;
cooling the negative relay: in the high-voltage box, the high-voltage negative end of the power battery cooling system controls a switch;
DCDC relay: in the high-voltage box, DCDC high-voltage electricity is input into a control switch;
MCU1 relay: the high-voltage control switch is responsible for a large motor of a hydraulic system of the whole vehicle in the high-voltage box;
MCU2 relay: the high-voltage control switch is responsible for a small motor of a hydraulic system of the whole vehicle in the high-voltage box;
MCU1 power pack: in the MCU1 controller, the high-voltage input control switch responsible for driving the 1# motor;
MCU2 power pack: in the MCU2 controller, a high-voltage input control switch responsible for driving the 2# motor;
a DCDC module: and the direct current conversion module of the whole vehicle converts the high-voltage electricity of the power battery into 24-27V low voltage which can supply power to the storage battery and the control unit.
A driving control method of an unmanned electric tractor comprises the following steps: detecting a mode control signal by setting a control unit: when the control unit detects the charging signal, the control unit sends the charging signal to the BMS; under the condition that the main loop of the electric tractor is high-voltage and a DCDC module in the electric tractor is in an opening working state, a charging pile arranged on the ground performs handshaking and charging until the charging process is finished; when the control unit detects a driving signal, the control unit sends the driving signal to the BMS; the control unit sends an upper high voltage signal to the electric tractor to prepare for work; the control unit receives external signals and controls the electric tractor to enter a required driving mode.
Before the step of detecting the mode control signal by the setting control unit, the method further comprises the following steps: firstly, starting a 24V low-voltage electric brake of the whole vehicle; waking up the control unit and self-checking by using the opening key; and after the control unit is successfully self-checked, sending a wake-up signal to wake up the unit in the electric tractor.
The "unit in an electric tractor", includes: a charging component, electrically connected to the control unit, for a programmable logic processing element, such as a controller, associated with the charging process; and the non-charging component is electrically connected with the control unit and is used for a programmable logic processing element irrelevant to the charging process, such as a controller.
The 'control unit sends a charging signal to the BMS', including: judging whether a fault that charging is not allowed exists; and if the fault that the charging is not allowed exists, sending a 'charging not allowed' instruction to the BMS, and stopping charging.
The "main loop of the electric tractor is high-pressure", comprising: if with under the driving state fill electric pile and be connected, get into the charging process under the state that the major loop has gone up high pressure, this moment: and reducing the power of the electric tractor to 0, and keeping a DCDC module of the electric tractor in an opening working state.
The "set up the electric pile on ground and carry out the handshake under the condition that electric tractor's major loop has been gone up high pressure and DCDC module in the electric tractor is in open operating condition", include: if the main loop of the electric tractor has no high voltage after the charging pile is connected with the electric tractor, the control unit sends a high voltage command to the BMS; confirming, by the control unit, whether the BMS receives an "insulation prohibition request"; after receiving the insulation prohibition request, the control unit detects an insulation signal; and the control unit forwards the insulation signal to the BMS, and at the moment, the BMS and the charging pile perform handshaking.
After "the control unit detects the driving signal, before the step that the control unit sends the driving signal to BMS", include: the control unit firstly judges whether the condition that high voltage on the travelling crane is not allowed exists: if so, the vehicle stops entering the driving state.
After "the control unit detects the driving signal, before the step that the control unit sends the driving signal to BMS", include: the control unit judges that high voltage on the whole vehicle can be achieved and then sends an 'upper voltage instruction' to the BMS; and after receiving the signal of the 'high voltage command', the BMS judges whether the battery system of the electric tractor has a fault or does not allow high voltage to be applied.
The control unit, the BMS and the electronic components controlled by the control unit and the BMS and used for charging or driving form closed-loop control.
The control unit receives external signals and controls the electric tractor to enter a required driving mode, and the control unit comprises: and receiving an external mode control command by using the control unit to enable the electric tractor to enter a network connection mode, an unmanned driving mode or a remote control mode.
Preferably, the "charging signal" includes: and the charging pile is connected with the electric tractor through a connecting signal.
Specific example I: as shown in fig. 1-2, the 24V low-voltage electric brake of the whole vehicle is started before driving, the 24V low-voltage normal power is supplied to all controllers including the VCU, then the key is turned on to wake up the VCU and perform self-checking, two wake-up signals are started after the self-checking is successful, and the two wake-up signals comprise: one path of all controllers related to charging and one path of all controllers unrelated to charging can only wake up the controllers related to charging during charging, so that the method is safe, reliable, energy-saving and synergistic.
After the two controllers are awakened and self-checked, the VCU STARTs to circularly detect whether a charging gun connection signal or a START signal is received or not so as to judge whether charging or driving is required.
If the charging gun connection signal is detected, the charging process is started, and if the START signal is detected, the driving process is started, and the high-voltage process on the whole vehicle is started. Before high voltage, the VCU can judge whether the situation that high voltage is not allowed exists or not, and the high voltage condition on the whole vehicle is as follows: 1. the high-voltage contactor at the finished automobile end is in an off state; 2. the high-voltage contactor at the end of the whole vehicle has no contact adhesion fault; 3. the whole vehicle end has no fault of an electrical appliance which does not allow high voltage to be supplied; 4. the high-voltage electric appliance at the whole vehicle end is in an disabled state; 5. other conditions defined by the vehicle do not allow for high pressure.
The VCU can send 'high voltage instruction' to the BMS after judging that the high voltage can be achieved, the BMS also needs to judge whether the battery system has a fault or does not allow the high voltage to be achieved after receiving the signal, if not, a main negative relay closing request is sent to the VCU, the VCU sends a main negative relay closing command to the high-voltage box to execute, the state is fed back to the VCU after the main negative relay is successfully closed by the high-voltage box, and the VCU simultaneously forwards the state to the BMS to form a closed loop. And then the main positive relay and the cooling positive relay are closed through the same logic, a command for closing the DCDC relay is sent to the distribution box, the DCDC module is enabled after the DCDC relay is successfully closed, then the closed two-in-one relay, the MCU1 relay and the MCU2 relay are continuously sent to the distribution box, the three loops start pre-charging, the hydraulic motor and the gearbox motor are enabled after the pre-charging is finished, the MCU1 and the MCU2 power pack are started, the whole vehicle finishes a high-voltage process at the moment, and is in a Ready state.
The remote controller can switch the control mode into an internet connection mode or an unmanned driving mode, the remote control mode can send commands of a working mode, an accelerator, a brake, a four-wheel drive mode, a PTO (power take off), a lifting mode, an acousto-optic mode and the like to the VCU to control the whole vehicle, and the internet connection system can be connected with the remote control mode and the unmanned driving mode in parallel and simultaneously work to transmit back the parameter state and the working condition video information of the whole vehicle.
And (3) carrying out high pressure under the whole vehicle after meeting the high pressure condition in the driving process, wherein the high pressure condition under the driving of the whole vehicle is as follows: 1. triggering a fault needing high voltage reduction in the fault list; 2. detecting that a fault that high voltage needs to be discharged exists at the end of the whole vehicle; 3. the wake-up signals (Key On, a + and other wake-up signals) disappear. When high voltage is applied, the high-voltage electrical equipment enable is firstly closed (including the MCU1 power set closing and the MCU2 power set closing), then the MCU1 relay, the MCU2 relay, the two-in-one relay and the DCDC relay at the end of the distribution box are disconnected, then the high-voltage contactor at the end of the high-voltage box of the whole vehicle, the whole vehicle cooling positive relay and the main positive relay are disconnected, the VCU sends a 'lower high-voltage instruction to the BMS' after confirming that other high-voltage relays at the end of the whole vehicle except the main negative relay are all disconnected, after receiving the 'request of disconnecting the main negative relay' of the BMS, the 'disconnecting the main negative relay' is sent to the high-voltage box to detect the success of disconnecting the main negative relay of the high-voltage box and then sends a state to the BMS, at the moment, the whole vehicle is in a lower high-voltage state, a charging gun connecting signal and a STAR, and completing the high-voltage electric flow of the whole vehicle during driving.
When charging starts, a 24V low-voltage electric brake needs to be opened firstly, a key is opened to awaken a VCU and perform self-checking, a contactor at the end of a finished automobile can perform gun insertion operation if no adhesion fault exists, the VCU judges whether a fault which does not allow charging exists after receiving a charging connection state signal, if the fault exists, a 'charging not allowed' instruction is sent to the BMS, and if the fault does not exist, a 'charging allowed' instruction is sent to the BMS, at the moment, the VCU judges whether a main loop is subjected to high voltage or not, because the finished automobile can not directly enter a charging process after the key switch is opened, a gun is inserted into the charging process in a driving state, if the main loop is subjected to high voltage at the moment, the power is reduced to 0, a motor is closed to enable, high-voltage accessories (except a DCDC module) are forbidden to work, an accessory relay is disconnected, states of the main relay and the accessory relay. If do not go up the high pressure in the major loop after inserting the rifle then send "go up high-pressure instruction" for the BMS, then closed main negative relay after receiving the request, send the state to the BMS after detecting main negative relay closure success, then closed main positive relay, DCDC relay and cooling positive relay, enable DCDC simultaneously and confirm that DCDC works normally and detect whether receive "insulating forbidding request", send insulating forbidding request to the high-voltage box after receiving, the high-voltage box forbids insulating detection and gives charging pile detection, simultaneously send insulating detector operating condition to VCU, VCU retransmits to BMS again, BMS and charging pile handshake this moment, close charging negative relay and charging positive relay after the success of handshake, begin to charge this moment. After receiving the end signal that charges, the disconnection charges positive relay, disconnection charge negative relay, disconnection cooling positive relay closes DCDC enable, disconnection DCDC relay, sends "high-voltage instruction down" for the BMS, disconnection main negative relay after receiving "disconnection main negative relay request" of BMS, sends main negative relay state after detecting main negative relay disconnection success and gives the BMS, so far accomplishes the charging flow.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A driving control method of an unmanned electric tractor is characterized by comprising the following steps:
detecting a mode control signal by setting a control unit:
when the control unit detects the charging signal, the control unit sends the charging signal to the BMS;
under the condition that the main loop of the electric tractor is high-voltage and a DCDC module in the electric tractor is in an opening working state, a charging pile arranged on the ground performs handshaking and charging until the charging process is finished;
when the control unit detects a driving signal, the control unit sends the driving signal to the BMS;
the control unit sends an upper high voltage signal to the electric tractor to prepare for work;
the control unit receives external signals and controls the electric tractor to enter a required driving mode.
2. The driving control method of an unmanned electric tractor according to claim 1, wherein before the step of detecting the mode control signal by the setting control unit, the method further comprises:
firstly, starting a 24V low-voltage electric brake of the whole vehicle;
waking up the control unit and self-checking by using the opening key;
and after the control unit is successfully self-checked, sending a wake-up signal to wake up the unit in the electric tractor.
3. The method as claimed in claim 2, wherein the "unit in electric tractor" includes:
the charging assembly is electrically connected with the control unit and is used for a programmable logic processing element related to the charging process;
and the non-charging component is electrically connected with the control unit and is used for a programmable logic processing element irrelevant to the charging process.
4. The driving control method of the unmanned electric tractor as claimed in claim 1, wherein the 'control unit sends a charging signal to the BMS' includes:
judging whether a fault that charging is not allowed exists;
and if the fault that the charging is not allowed exists, sending a 'charging not allowed' instruction to the BMS, and stopping charging.
5. The method as claimed in claim 1, wherein the step of controlling the operation of the unmanned electric tractor in which the main circuit of the electric tractor is already high-pressurized comprises:
if with under the driving state fill electric pile and be connected, get into the charging process under the state that the major loop has gone up high pressure, this moment:
and reducing the power of the electric tractor to 0, and keeping a DCDC module of the electric tractor in an opening working state.
6. The method as claimed in claim 1, wherein the step of shaking hands a charging pile disposed on the ground when the main circuit of the electric tractor is high-voltage and the DCDC module of the electric tractor is in an open state comprises:
if the main loop of the electric tractor has no high voltage after the charging pile is connected with the electric tractor, the control unit sends a high voltage command to the BMS;
confirming, by the control unit, whether the BMS receives an "insulation prohibition request";
after receiving the insulation prohibition request, the control unit detects an insulation signal;
and the control unit forwards the insulation signal to the BMS, and at the moment, the BMS and the charging pile perform handshaking.
7. The method as claimed in claim 1, wherein the step of sending the driving signal to the BMS after the driving signal is detected by the control unit comprises:
the control unit firstly judges whether the condition that high voltage on the travelling crane is not allowed exists:
if so, the vehicle stops entering the driving state.
8. The method as claimed in claim 1, wherein the step of sending the driving signal to the BMS after the driving signal is detected by the control unit comprises:
the control unit judges that high voltage on the whole vehicle can be achieved and then sends an 'upper voltage instruction' to the BMS;
and after receiving the signal of the 'high voltage command', the BMS judges whether the battery system of the electric tractor has a fault or does not allow high voltage to be applied.
9. The running control method of the unmanned electric tractor according to claim 1, characterized in that:
the control unit, the BMS and the electronic components controlled by the control unit and the BMS and used for charging or driving form closed-loop control.
10. The method as claimed in claim 1, wherein the step of the control unit receiving an external signal to control the electric tractor to enter a desired driving mode comprises:
and receiving an external mode control command by using the control unit to enable the electric tractor to enter a network connection mode, an unmanned driving mode or a remote control mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011626650.9A CN112757960A (en) | 2020-12-31 | 2020-12-31 | Driving control method of unmanned electric tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011626650.9A CN112757960A (en) | 2020-12-31 | 2020-12-31 | Driving control method of unmanned electric tractor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112757960A true CN112757960A (en) | 2021-05-07 |
Family
ID=75699007
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011626650.9A Pending CN112757960A (en) | 2020-12-31 | 2020-12-31 | Driving control method of unmanned electric tractor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112757960A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104723893A (en) * | 2013-12-20 | 2015-06-24 | 北汽福田汽车股份有限公司 | Battery heating system and electric vehicle |
| CN105235523A (en) * | 2015-09-21 | 2016-01-13 | 郑州宇通客车股份有限公司 | Vehicle charging and travelling interlocking method |
| CN105774589A (en) * | 2016-03-15 | 2016-07-20 | 吉林大学 | Integrated type high-voltage power-on and power-off control method of electrocar |
| WO2017173885A1 (en) * | 2016-04-08 | 2017-10-12 | 北京摩拜科技有限公司 | Motor, motor system, and charging and braking method |
| EP3257731A1 (en) * | 2016-06-17 | 2017-12-20 | Zhejiang Right Digital Technology Co., Ltd. | Vehicle-mounted terminal, charging pile, electric bicycle, and rental system and method thereof |
| JP2017225088A (en) * | 2016-06-17 | 2017-12-21 | 株式会社オートネットワーク技術研究所 | Communication device, charging communication system, transportation equipment and fault diagnosis method |
| CN107662500A (en) * | 2016-07-28 | 2018-02-06 | 长城汽车股份有限公司 | Pure electric automobile electrification control method and pure electric automobile |
| CN107962955A (en) * | 2017-10-17 | 2018-04-27 | 宝沃汽车（中国）有限公司 | Power-on and power-off control method, device and vehicle |
| WO2018076851A1 (en) * | 2016-10-27 | 2018-05-03 | 蔚来汽车有限公司 | Start locking system for mobile charging vehicle |
| DE102018114767A1 (en) * | 2017-06-23 | 2018-12-27 | Shimano Inc. | BIKE POWER SUPPLY SYSTEM |
| CN111016906A (en) * | 2019-12-31 | 2020-04-17 | 洛阳智能农业装备研究院有限公司 | Running control method for unmanned pure electric tractor |
-
2020
- 2020-12-31 CN CN202011626650.9A patent/CN112757960A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104723893A (en) * | 2013-12-20 | 2015-06-24 | 北汽福田汽车股份有限公司 | Battery heating system and electric vehicle |
| CN105235523A (en) * | 2015-09-21 | 2016-01-13 | 郑州宇通客车股份有限公司 | Vehicle charging and travelling interlocking method |
| CN105774589A (en) * | 2016-03-15 | 2016-07-20 | 吉林大学 | Integrated type high-voltage power-on and power-off control method of electrocar |
| WO2017173885A1 (en) * | 2016-04-08 | 2017-10-12 | 北京摩拜科技有限公司 | Motor, motor system, and charging and braking method |
| EP3257731A1 (en) * | 2016-06-17 | 2017-12-20 | Zhejiang Right Digital Technology Co., Ltd. | Vehicle-mounted terminal, charging pile, electric bicycle, and rental system and method thereof |
| JP2017225088A (en) * | 2016-06-17 | 2017-12-21 | 株式会社オートネットワーク技術研究所 | Communication device, charging communication system, transportation equipment and fault diagnosis method |
| CN107662500A (en) * | 2016-07-28 | 2018-02-06 | 长城汽车股份有限公司 | Pure electric automobile electrification control method and pure electric automobile |
| WO2018076851A1 (en) * | 2016-10-27 | 2018-05-03 | 蔚来汽车有限公司 | Start locking system for mobile charging vehicle |
| DE102018114767A1 (en) * | 2017-06-23 | 2018-12-27 | Shimano Inc. | BIKE POWER SUPPLY SYSTEM |
| CN107962955A (en) * | 2017-10-17 | 2018-04-27 | 宝沃汽车（中国）有限公司 | Power-on and power-off control method, device and vehicle |
| CN111016906A (en) * | 2019-12-31 | 2020-04-17 | 洛阳智能农业装备研究院有限公司 | Running control method for unmanned pure electric tractor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107599857B (en) | Pure electric vehicle charging system and charging method based on lithium battery | |
| US9114714B2 (en) | High voltage charge pack | |
| CN102343877B (en) | Low voltage bus stability | |
| US8244422B2 (en) | Control apparatus for vehicle | |
| CN108773281B (en) | Charging management control method for electric automobile | |
| KR101873666B1 (en) | Power-transfer control device | |
| CN107962955A (en) | Power-on and power-off control method, device and vehicle | |
| CN108482154B (en) | Electric automobile control system | |
| CN107187440B (en) | Power-on and power-off time sequence control method of plug-in hybrid electric vehicle | |
| CN102501770A (en) | Electrical system for pure electric vehicle | |
| US10714966B2 (en) | Isolation switch operation | |
| CN102189941A (en) | Hybrid high voltage isolation contactor control | |
| CN104884296A (en) | Power supply system for vehicle, vehicle equipped with same, and method for controlling power supply system for vehicle | |
| CN107128184A (en) | Fuel cell and energy-storage battery hybrid electric vehicle control method and car system | |
| CN108973831B (en) | External power supply system and method for mobile charging vehicle | |
| CN111532137A (en) | High-voltage power-on and power-off control method for new energy automobile | |
| CN112319259A (en) | Control system and control method for alternating current charging electronic lock of electric automobile | |
| WO2024041242A1 (en) | System for controlling remote starting of vehicle | |
| CN114123378B (en) | Power taking control method of electric automobile | |
| WO2022160830A1 (en) | Control system and control method for multi-mode plug-in operation of crane | |
| CN113733912A (en) | Intelligent electricity supplementing method for new energy electric vehicle storage battery | |
| CN108110855A (en) | A kind of compatible auxiliary source charging system and its charging method | |
| CN111890939A (en) | Whole vehicle system, non-road electric vehicle and control method of whole vehicle system | |
| CN112757960A (en) | Driving control method of unmanned electric tractor | |
| CN214363760U (en) | Excavator opens and stops control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210507 |