CN101670789B - Power-driven operating vehicle dynamic system and driving control method thereof - Google Patents
Power-driven operating vehicle dynamic system and driving control method thereof Download PDFInfo
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- CN101670789B CN101670789B CN200910197017XA CN200910197017A CN101670789B CN 101670789 B CN101670789 B CN 101670789B CN 200910197017X A CN200910197017X A CN 200910197017XA CN 200910197017 A CN200910197017 A CN 200910197017A CN 101670789 B CN101670789 B CN 101670789B
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- 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
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- 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
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention relates to a power-driven operating vehicle dynamic system and a driving control method thereof. The invention mainly adopts two feed circuit systems, one path is a power-driven system, the other path is a power operating system, and the power-driven system and the power operating system both adopt a lithium iron phosphate power battery and a variable-frequency adjustable-speed motor; any one battery pack can simultaneously supply power to two motor driving systems. Meanwhile, the invention also relates to the driving control method for the dynamic system on the basis of a driving request and a battery SOC. The power-driven operating vehicle dynamic system and the driving control method thereof improve the popularity of the power-driven operating vehicle dynamic system, lower production cost and fully utilize the characteristics of the power supply system of two battery packs; when one battery pack has faults, vehicles still can be driven or operated, thus improving system reliability; the power-driven operating vehicle dynamic system has simple and practical structure, quick and convenient use, stable and reliable service ability and wide applicable range.
Description
Technical field
The present invention relates to the power-driven operating vehicle dynamic system field, particularly power-driven operating vehicle dynamic system actuation techniques field.
Background technology
Whole world petroleum-based energy faces short supply, and energy-saving and emission-reduction have become instant cardinal task, and the automobile noxious emission has become the important source of worldwide atmospheric contamination.
Along with quickening of urbanization process, various city Operation Van constantly occurs, the maintenance of carrying out the city PE that various places all need these Operation Vans to continue, and wherein of paramount importance is exactly the urban sanitation car, and its demand is also grown simultaneously.The environmental sanitation car of urban highway cleaning use mainly comprises water truck, sweeping machine and garbage removing cart at present.In the environmental sanitation vehicles of vehicle-mounted apparatus for work is arranged, such as high pressure washing car, road sweeper etc., two driving engines are installed all on the general big-and-middle-sized car, sustainer, main engine is responsible for powered vehicle and is travelled, and the power that assistant engine is responsible for providing stable is bought car in installments and is carried apparatus for work work.On small-sized environmental sanitation vehicles, for vehicle space and cost consideration, generally all drive many series connected Hydraulic Pumps with monomotor, several Hydraulic Pumps link to each other with HM Hydraulic Motor respectively, and powered vehicle is travelled and apparatus for work work.
Related driven operating vehicle among the present invention mainly is based on electronic environmental sanitation car, and the driven operating vehicle for other is suitable for too certainly.Because the environmental sanitation car speed of a motor vehicle is low, the engine idle time is longer, and power system oil consumption height, especially the sustainer, main engine most of the time of two driving engines are operated in the poor efficiency district, and fuel economy is poor, and tail gas pollution is more serious.The relative oil consumption of a plurality of Hydraulic Pumps of single engine drive is higher, because hydraulic efficiency is more much lower than machinery driving efficiency.So just need the power system of driven operating vehicle be further improved.
Summary of the invention
The objective of the invention is to have overcome above-mentioned shortcoming of the prior art, provide a kind of can realize any power brick can be two motor driven systems power simultaneously, effectively improve that commonality, the cost of vehicular drive power system is lower, reliability is higher, simple and practical, use efficient and convenient, stable and reliable working performance, Applicable scope power-driven operating vehicle dynamic system and drive controlling method thereof comparatively widely.
In order to realize above-mentioned purpose, power-driven operating vehicle dynamic system of the present invention and drive controlling method thereof are as follows:
This power-driven operating vehicle dynamic system, its principal feature is, described power system comprises entire car controller, driving power system and operation power system, described driving power system comprises the drive motor system, chassis electrokinetic cell system and chassis high-tension current shifter, described drive motor system is connected with described chassis electrokinetic cell system by described chassis high-tension current shifter, described operation power system comprises the operation electric system, operation electrokinetic cell system and operating system high-tension current shifter, described operation electric system is connected with described operation electrokinetic cell system by described operating system high-tension current shifter, described operating system high-tension current shifter is connected with described chassis high-tension current shifter, described entire car controller respectively with described drive motor system, the chassis electrokinetic cell system, chassis high-tension current shifter, the operation electric system, the operation electrokinetic cell system is connected with operating system high-tension current shifter, and described vehicle control unit controls described operating system high-tension current shifter and chassis high-tension current shifter, make described chassis electrokinetic cell system be described drive motor system and the power supply of operation electric system simultaneously, perhaps described operation electrokinetic cell system is described drive motor system and the power supply of operation electric system simultaneously.
Chassis electrokinetic cell system in this power-driven operating vehicle dynamic system comprises chassis electrokinetic cell and chassis battery management system, and described entire car controller is connected with described chassis high-tension current shifter by described chassis battery management system, chassis electrokinetic cell successively.
Drive motor system in this power-driven operating vehicle dynamic system comprises drive motor, drive motor controller and change-speed box, described chassis high-tension current shifter is connected with described drive motor by described drive motor controller, and described drive motor is connected with described change-speed box is coaxial.
Change-speed box in this power-driven operating vehicle dynamic system can for but be not limited to mechanical transmission.
Drive motor in this power-driven operating vehicle dynamic system can for but be not limited to the adjustable speed three phase AC induction machine.
Operation electrokinetic cell system in this power-driven operating vehicle dynamic system comprises operation electrokinetic cell and operation battery management system, and described entire car controller is connected with described operating system high-tension current shifter by described operation battery management system, operation electrokinetic cell successively.
Operation electric system in this power-driven operating vehicle dynamic system comprises operation motor, operation electric machine controller, and described operating system high-tension current shifter is connected with described operation motor by described operation electric machine controller.
Also comprise the operation motor and water pump in the operation electric system in this power-driven operating vehicle dynamic system, described operation motor is connected with described operation motor and water pump.
Operation motor in this power-driven operating vehicle dynamic system can for but be not limited to the adjustable speed three phase AC induction machine.
This power-driven operating vehicle dynamic system carries out methods of driving control, and its principal feature is that described method may further comprise the steps:
(1) system carries out the power-up initializing operation;
(2) system carries out trouble diagnosing processing operation;
(3) system judges whether to exist fault;
(4) if, then start the Vehicular system alert program, remind chaufeur to overhaul;
(5) if not, then system carries out precharge and goes up electric treatment;
(6) system reads the accelerator pedal signal of driven operating vehicle, and judges whether Das Gaspedal is operated;
(7) if then system sends the demand torque command to the drive motor system;
(8) if not, then system judges whether job request is arranged at present;
(9) if then carry out the operation electric system and start processing;
(10) if not, then carrying out the operation electric system stops to handle;
(11) system judges whether described chassis electrokinetic cell system and operation electrokinetic cell system satisfy the forceful electric power switching condition;
(12) if not, then repeat above-mentioned steps (11);
(13) if then system carries out power supply switching between chassis electrokinetic cell system and the operation electrokinetic cell system and the forceful electric power operational processes that powers on.
Whether this satisfies the forceful electric power switching condition to judge described chassis electrokinetic cell system and the operation electrokinetic cell system that power-driven operating vehicle dynamic system carries out in the methods of driving control, may further comprise the steps:
(21) whether the state-of-charge of judging the state-of-charge of chassis electrokinetic cell system and operation electrokinetic cell system respectively is greater than the minimum state-of-charge of systemic presupposition;
(22) if the state-of-charge of the state-of-charge of chassis electrokinetic cell system and operation electrokinetic cell system all greater than/less than described minimum state-of-charge, then return the result who does not satisfy the forceful electric power switching condition;
(23) if the state-of-charge of the state-of-charge of chassis electrokinetic cell system/operation electrokinetic cell system greater than described minimum state-of-charge, and the state-of-charge of the state-of-charge of operation electrokinetic cell system/chassis electrokinetic cell system then returns the result who satisfies the forceful electric power switching condition less than described minimum state-of-charge.
This carries out carrying out power supply switching between chassis electrokinetic cell system and the operation electrokinetic cell system and the forceful electric power operational processes that powers in the methods of driving control to power-driven operating vehicle dynamic system, may further comprise the steps:
(31) system carries out power supply and switches warning, reminds chaufeur to carry out forceful electric power and switches;
(32) system judges whether power supply switching command button is pressed;
(33) if not, then return above-mentioned steps (31);
(34) if then system detects and stops and acceleration pedal stops drive motor and the operation of operation motor after not being operated;
(35) state-of-charge that judges whether the chassis electrokinetic cell system greater than the state-of-charge of described minimum state-of-charge and operation electrokinetic cell system less than described minimum state-of-charge;
(36) if then carry out the chassis electrokinetic cell system to the switching power supply of drive motor system and operation electric system and the forceful electric power operational processes that powers on;
(37) if not, judge whether that then the state-of-charge of operation electrokinetic cell system is greater than described minimum state-of-charge;
(38) if then carry out the operation electrokinetic cell system to the switching power supply of drive motor system and operation electric system and the forceful electric power operational processes that powers on;
(39) if not, then the electric fault warning is hanged down by system, and returns above-mentioned steps (4);
(310) system carries out the indication of forceful electric power handover success, reminds the chaufeur forceful electric power to switch and finishes.
This carries out carrying out the chassis electrokinetic cell system to the switching power supply of drive motor system and operation electric system and the forceful electric power operational processes that powers in the methods of driving control to power-driven operating vehicle dynamic system, may further comprise the steps:
(41) system is by vehicle control unit controls described operating system high-tension current shifter and chassis high-tension current shifter;
(42) the described operating system high-tension current of described vehicle control unit controls shifter disconnects and being connected of described operation electrokinetic cell system, and being connected of connection and described chassis high-tension current shifter;
(43) the described chassis of described vehicle control unit controls high-tension current shifter and described chassis electrokinetic cell system is connected.
This carries out carrying out the operation electrokinetic cell system to the switching power supply of drive motor system and operation electric system and the forceful electric power operational processes that powers in the methods of driving control to power-driven operating vehicle dynamic system, may further comprise the steps:
(51) system is by vehicle control unit controls described operating system high-tension current shifter and chassis high-tension current shifter;
(52) the described chassis system high-tension current of described vehicle control unit controls shifter disconnects and being connected of described chassis electrokinetic cell system, and being connected of connection and described operating system high-tension current shifter;
(53) the described operating system high-tension current of described vehicle control unit controls shifter and described operation electrokinetic cell system is connected.
This switches warning to the power supply that carries out that power-driven operating vehicle dynamic system carries out in the methods of driving control, is specially:
The flicker of system alarm lamp, simultaneity factor sounds the alarm.
This is indicated the forceful electric power handover success that carries out that power-driven operating vehicle dynamic system carries out in the methods of driving control, is specially:
System lights forceful electric power handover success indicator lamp.
This carries out the power-up initializing operation to the system that power-driven operating vehicle dynamic system carries out in the methods of driving control, may further comprise the steps:
(61) the car load key is got to the annex shelves;
(62) system powers on to the car load control circuit, and enters the System self-test program.
This carries out trouble diagnosing processing operation to the system that power-driven operating vehicle dynamic system carries out in the methods of driving control, is specially:
Systems inspection entire car controller, drive motor system, operation electric system, chassis electrokinetic cell system, operation electrokinetic cell system.
This judges to the system that power-driven operating vehicle dynamic system carries out in the methods of driving control whether job request is arranged at present, may further comprise the steps:
(71) system judges whether the button of control operation electric system is pressed;
(72) if then return the result of job request;
(73) if not, then return the result of no operatton request.
This starts processing to the operation electric system that carries out that power-driven operating vehicle dynamic system carries out in the methods of driving control, may further comprise the steps:
(81) system judges whether the aqua storage tank sensor in the driven operating vehicle reports to the police;
(82) if then return above-mentioned steps (4);
(83) if not, the relay in the closed described operation motor and water pump of system then;
(83) system sends enabled instruction to described operation electric machine controller, starts described operation motor.
This stops to handle to the operation electric system that carries out that power-driven operating vehicle dynamic system carries out in the methods of driving control, may further comprise the steps:
(91) system judges whether operation motor operating state request button is pressed;
(92), judge then whether the aqua storage tank sensor in the driven operating vehicle reports to the police if be pressed; If report to the police, then return above-mentioned steps (4); If do not report to the police, then system sends to described operation electric machine controller and ceases and desist order, and stops described operation motor;
(93) if be not pressed, then system sends to described operation electric machine controller and ceases and desist order, and stops described operation motor;
(94) system disconnects the relay in the described operation motor and water pump.
The power-driven operating vehicle dynamic system and the drive controlling method thereof of this invention have been adopted, because wherein at the characteristics of driven operating vehicle chassis driving power system and operating system itself, adopted the duplex feeding Circuits System, a branch road is a driving power system, another branch road is the operation power system, and driving power system and operation power system all can adopt but be not limited to and adopt lithium iron phosphate dynamic battery and frequency control motor, realized that simultaneously any one power brick all can be two motor driven systems and powers simultaneously, but also provide mainly based on driving request and battery SOC (State of Charge, state-of-charge) electric power system method for handover control, not only improved the commonality of a driven operating vehicle driving power system, reduced productive costs, different working trucks can use same power system platform, and the electric power system characteristics of two power brick have been made full use of, when a power brick can not be utilized problems such as electric energy or battery management system break down, vehicle still can travel or operation, improved the reliability of total system, not only simple and practical, and use efficient and convenient, stable and reliable working performance, Applicable scope are comparatively extensive.
Description of drawings
Fig. 1 is a power-driven operating vehicle dynamic system configuration diagram of the present invention.
Fig. 2 is the diagram of circuit that power-driven operating vehicle dynamic system is carried out methods of driving control of the present invention.
Fig. 3 carries out operation electric motor starting diagram of circuit in the methods of driving control for of the present invention to power-driven operating vehicle dynamic system.
Fig. 4 stops diagram of circuit for the operation motor that power-driven operating vehicle dynamic system is carried out in the methods of driving control of the present invention.
Fig. 5 carries out forceful electric power circuit switching flow figure in the methods of driving control for of the present invention to power-driven operating vehicle dynamic system.
The specific embodiment
In order more to be expressly understood technology contents of the present invention, describe in detail especially exemplified by following examples.
See also shown in Figure 1, this power-driven operating vehicle dynamic system, comprising entire car controller, driving power system and operation power system, described driving power system comprises the drive motor system, chassis electrokinetic cell system and chassis high-tension current shifter, described drive motor system is connected with described chassis electrokinetic cell system by described chassis high-tension current shifter, described operation power system comprises the operation electric system, operation electrokinetic cell system and operating system high-tension current shifter, described operation electric system is connected with described operation electrokinetic cell system by described operating system high-tension current shifter, described operating system high-tension current shifter is connected with described chassis high-tension current shifter, described entire car controller respectively with described drive motor system, the chassis electrokinetic cell system, chassis high-tension current shifter, the operation electric system, the operation electrokinetic cell system is connected with operating system high-tension current shifter, and described vehicle control unit controls described operating system high-tension current shifter and chassis high-tension current shifter, make described chassis electrokinetic cell system be described drive motor system and the power supply of operation electric system simultaneously, perhaps described operation electrokinetic cell system is described drive motor system and the power supply of operation electric system simultaneously.
Wherein, described chassis electrokinetic cell system comprises chassis electrokinetic cell and chassis battery management system, and described entire car controller is connected with described chassis high-tension current shifter by described chassis battery management system, chassis electrokinetic cell successively; Described drive motor system comprises drive motor, drive motor controller and change-speed box, described chassis high-tension current shifter is connected with described drive motor by described drive motor controller, and described drive motor is connected with described change-speed box is coaxial; Described change-speed box can for but be not limited to mechanical transmission, also can have the device of speed changing function for other; Described drive motor can for but be not limited to the adjustable speed three phase AC induction machine, also can be the drive motor of other type.
Simultaneously, operation electrokinetic cell system in this power-driven operating vehicle dynamic system comprises operation electrokinetic cell and operation battery management system, and described entire car controller is connected with described operating system high-tension current shifter by described operation battery management system, operation electrokinetic cell successively; Described operation electric system comprises operation motor, operation electric machine controller, and described operating system high-tension current shifter is connected with described operation motor by described operation electric machine controller; Also comprise the operation motor and water pump in the described operation electric system, described operation motor is connected with described operation motor and water pump; Described operation motor can for but be not limited to the adjustable speed three phase AC induction machine, also can be the operation motor of other type.
In the middle of practical application, the pure electric-powered system that is used for Operation Van of the present invention, it comprises driving power system and operation power system; Its driving power system comprises drive motor and drive motor controller, mechanical transmission, chassis electrokinetic cell and battery management system thereof, entire car controller; Described drive motor is connected with described change-speed box is coaxial, and described drive motor power is used for powered vehicle behind described speed changer; Described chassis electrokinetic cell bag links to each other with chassis high-tension current shifter, chassis high-tension current shifter links to each other with operating system high-tension current shifter with drive motor controller again, described chassis power brick generally is separately the power supply of described drive motor and controller thereof, also can be operation motor and the power supply of operation electric machine controller when the operation power brick can not be utilized electric energy; Its operation power system comprises operation motor and electric machine controller, operation electrokinetic cell and battery management system and entire car controller; Described operation motor is connected with the operation motor and water pump, and described operation motor power is used to drive pump operation; Described operation electrokinetic cell bag links to each other with described operating system high-tension current shifter, operating system high-tension current shifter links to each other with chassis high-tension current shifter with the operation electric machine controller again, described operation power brick generally is separately the power supply of described operation motor and controller thereof, also can be drive motor and electric machine controller power supply when the chassis power brick does not have the electric energy of utilization; Described entire car controller receives in real time from signal, Das Gaspedal and the acceleration pedal signal of each controller and operating system operation and comprises the operation request signal, chassis power brick SOC (State of Charge, state-of-charge) value, operation power brick SOC value, and send command signal to described drive motor controller, operation electric machine controller, chassis high-tension current shifter, operating system high-tension current shifter, be used to set the mode of operation of drive motor or operation motor; The power supply state of vehicle control unit controls forceful electric power circuit also can be controlled described drive motor controller and give described chassis power brick with the energy back of described drive motor drag.
Wherein, vehicular energy is two independently electrokinetic cell bags, can distinguish independent be drive motor system, high-voltage electric accessory system and the power supply of operation electric system, and the present invention can realize that also any power brick all can be two electric systems and powers simultaneously; Described driving power system and operation power system are relatively independent, require close Operation Van can adopt same driving power system for tractive performance, and adopt different operation power systems; Described entire car controller can be realized the automatic switchover controllable function of electric power system; Described operating system power and control setup thereof adopt motor and electric machine controller.
See also shown in Figure 1, the pure electric-powered system that is used for Operation Van of the present invention, it comprises driving power system and operation power system; Its driving power system comprises drive motor 7 and drive motor controller 6, mechanical transmission 9, chassis electrokinetic cell 12 and battery management system 13 thereof and entire car controller 10; Described drive motor 7 and described 9 coaxial connections of change-speed box, described drive motor 7 power are used for powered vehicle after described change-speed box 9 speed changes; Described chassis electrokinetic cell 12 links to each other with chassis high-tension current shifter 11, chassis high-tension current shifter 11 links to each other with operating system high-tension current shifter 3 with drive motor controller 6 again, described chassis power brick 12 generally is separately described drive motor 7 and controller 6 power supplies thereof, also can be operation motor 5 and 4 power supplies of operation electric machine controller when operation power brick 1 can not be utilized electric energy; Its operation power system comprises operation motor 5 and electric machine controller 4, operation electrokinetic cell 1 and battery management system 2 thereof and entire car controller 10; Described operation motor 5 is connected with the operation motor and water pump, and described operation motor 5 power are used to drive pump operation; Described operation electrokinetic cell bag 1 links to each other with described operating system high-tension current shifter 3, operating system high-tension current shifter 3 links to each other with chassis high-tension current shifter 11 with operation electric machine controller 4 again, described operation power brick 1 generally is separately described operation motor 5 and controller 4 power supplies thereof, also can be drive motor 7 and electric machine controller 6 power supplies when power brick 12 nothings in chassis are utilized electric energy; Described entire car controller 10 receives in real time from signal, Das Gaspedal and the acceleration pedal signal of each controller and operating system operation and comprises the operation request signal, the SOC value of chassis power brick 12, the SOC value of operation power brick 1, and send command signal to described drive motor 6 controllers, operation electric machine controller 4, chassis high-tension current shifter 11, operating system high-tension current shifter 3, be used to set the mode of operation of drive motor 7 or operation motor 5; And the power supply state of control forceful electric power circuit; Perhaps control described drive motor controller 6 and give described chassis power brick 12 energy back of described drive motor 7 drags.
Wherein, vehicular energy is two independently electrokinetic cell bags, can distinguish independent be drive motor system, high-voltage electric accessory system and the power supply of operation electric system; The present invention can realize that also any power brick all can be two electric systems and powers simultaneously; Described driving power system and operation power system are relatively independent, require close Operation Van can adopt same driving power system for tractive performance, and adopt different operation power systems; Described entire car controller can be realized the automatic switchover controllable function of electric power system; Described operation power and control setup adopt motor and electric machine controller.
See also Fig. 2 again to shown in Figure 5, this power-driven operating vehicle dynamic system carries out methods of driving control, and its principal feature is that described method may further comprise the steps:
(1) system carries out the power-up initializing operation, may further comprise the steps:
(a) the car load key is got to the annex shelves;
(b) system powers on to the car load control circuit, and enters the System self-test program;
(2) system carries out trouble diagnosing processing operation, is specially:
Systems inspection entire car controller, drive motor system, operation electric system, chassis electrokinetic cell system, operation electrokinetic cell system;
(3) system judges whether to exist fault;
(4) if, then start the Vehicular system alert program, remind chaufeur to overhaul;
(5) if not, then system carries out precharge and goes up electric treatment;
(6) system reads the accelerator pedal signal of driven operating vehicle, and judges whether Das Gaspedal is operated;
(7) if then system sends the demand torque command to the drive motor system;
(8) if not, then system judges whether job request is arranged at present, may further comprise the steps:
(a) system judges whether the button of control operation electric system is pressed;
(b) if then return the result of job request;
(c) if not, then return the result of no operatton request;
(9) if, then carry out the operation electric system and start to handle, may further comprise the steps:
(a) system judges whether the aqua storage tank sensor in the driven operating vehicle reports to the police;
(b) if then return above-mentioned steps (4);
(c) if not, the relay in the closed described operation motor and water pump of system then;
(d) system sends enabled instruction to described operation electric machine controller, starts described operation motor;
(10) if not, then carry out the operation electric system and stop to handle, may further comprise the steps:
(a) system judges whether operation motor operating state request button is pressed;
(b), judge then whether the aqua storage tank sensor in the driven operating vehicle reports to the police if be pressed; If report to the police, then return above-mentioned steps (4); If do not report to the police, then system sends to described operation electric machine controller and ceases and desist order, and stops described operation motor;
(c) if be not pressed, then system sends to described operation electric machine controller and ceases and desist order, and stops described operation motor;
(d) system disconnects the relay in the described operation motor and water pump;
(11) system judges that whether described chassis electrokinetic cell system and operation electrokinetic cell system satisfy the forceful electric power switching condition, may further comprise the steps:
(a) whether the state-of-charge of judging the state-of-charge of chassis electrokinetic cell system and operation electrokinetic cell system respectively is greater than the minimum state-of-charge of systemic presupposition;
(b) if the state-of-charge of the state-of-charge of chassis electrokinetic cell system and operation electrokinetic cell system all greater than/less than described minimum state-of-charge, then return the result who does not satisfy the forceful electric power switching condition;
(c) if the state-of-charge of the state-of-charge of chassis electrokinetic cell system/operation electrokinetic cell system greater than described minimum state-of-charge, and the state-of-charge of the state-of-charge of operation electrokinetic cell system/chassis electrokinetic cell system then returns the result who satisfies the forceful electric power switching condition less than described minimum state-of-charge;
(12) if not, then repeat above-mentioned steps (11);
(13) if then system carries out power supply switching between chassis electrokinetic cell system and the operation electrokinetic cell system and the forceful electric power operational processes that powers on, and may further comprise the steps:
(a) system carries out power supply and switches warning, reminds chaufeur to carry out forceful electric power and switches, and is specially:
The flicker of system alarm lamp, simultaneity factor sounds the alarm;
(b) system judges whether power supply switching command button is pressed;
(c) if not, then return above-mentioned steps (a);
(d) if then system detects and stops and acceleration pedal stops drive motor and the operation of operation motor after not being operated;
(e) state-of-charge that judges whether the chassis electrokinetic cell system greater than the state-of-charge of described minimum state-of-charge and operation electrokinetic cell system less than described minimum state-of-charge;
(f) if, then carry out the chassis electrokinetic cell system to the switching power supply of drive motor system and operation electric system and the forceful electric power operational processes that powers on, may further comprise the steps:
(i) system is by vehicle control unit controls described operating system high-tension current shifter and chassis high-tension current shifter;
The described operating system high-tension current of (ii) described vehicle control unit controls shifter disconnects and being connected of described operation electrokinetic cell system, and being connected of connection and described chassis high-tension current shifter;
The described chassis of (iii) described vehicle control unit controls high-tension current shifter is connected with described chassis electrokinetic cell system;
(g) if not, judge whether that then the state-of-charge of operation electrokinetic cell system is greater than described minimum state-of-charge;
(h) if, then carry out the operation electrokinetic cell system to the switching power supply of drive motor system and operation electric system and the forceful electric power operational processes that powers on, may further comprise the steps:
(i) system is by vehicle control unit controls described operating system high-tension current shifter and chassis high-tension current shifter;
The described chassis system high-tension current of (ii) described vehicle control unit controls shifter disconnects and being connected of described chassis electrokinetic cell system, and being connected of connection and described operating system high-tension current shifter;
The described operating system high-tension current of (iii) described vehicle control unit controls shifter is connected with described operation electrokinetic cell system;
(i) if not, then the electric fault warning is hanged down by system, and returns above-mentioned steps (4);
(k) system carries out the indication of forceful electric power handover success, reminds the chaufeur forceful electric power to switch and finishes, and is specially:
System lights forceful electric power handover success indicator lamp.
In the middle of practical application, the drive controlling method that is used for Operation Van's power system among the present invention, it carries out according to following steps:
A, system's power-up initializing, promptly the car load key is got to ACC (Accessory, annex) shelves, and the car load control circuit powers on and enters the System self-test program;
B, enter fault diagnostic program, the controller of inspection comprises: entire car controller, drive motor controller, operation electric machine controller, chassis power brick BMS (Battery Management System, battery management system), operation power brick BMS;
C, check whether each controller exists fault, if execution in step D then if not is execution in step E then;
D, carry out precharge and the flow process that powers on;
E, startup car alarming program remind the driver to overhaul;
F, read accelerator pedal signal, judge whether Das Gaspedal is operated, if execution in step G then, execution in step H then if not;
G, send out the demand torque command to drive motor controller;
H, judged whether job request, promptly whether the button of control operation electric system is pressed, if execution in step I then, execution in step J then if not;
I, execution operation electric motor starting flow process, the initiating task motor;
J, execution operation motor stop flow process, and motor stops operation;
K, judge whether chassis power brick B1 and operation power brick B2 satisfy and be converted to state B, if execution in step L then, execution in step M then if not from state A;
L, motor and water pump thereof stop operation.
M, judge whether chassis power brick B1 and operation power brick B2 satisfy and be converted to state C, if execution in step N then then returns if not from state A;
N, execution forceful electric power circuit changeover program.
Wherein, in the implementation of described step I, further comprising the steps of:
I1, judge whether the aqua storage tank sensor reports to the police, execution in step I2 then if not is if then return;
I2, closed operation motor and water pump relay;
I3, say the word the initiating task motor to the operation electric machine controller.
Wherein, in the implementation of described step J, further comprising the steps of:
J1, judge whether operation motor operating state request button is pressed, if execution in step J2 then, execution in step J3 then if not;
J2, judge whether the aqua storage tank water sensor reports to the police, if execution in step J3 then then returns if not;
J3, say the word to the operation electric machine controller, motor stops operation.
J4, disconnection operation motor and water pump relay.
Wherein, among described step K and the M, the state of chassis power brick B1 and operation power brick B2 is as follows:
● state A:B1 SOC＞SOC min, B2 SOC＞SOC min;
● state B:B1 SOC＞SOC min, B2 SOC＜SOC min;
● state C:B1 SOC＜SOC min, B2 SOC＞SOC min;
● state D:B1 SOC＜SOC min, B2 SOC＜SOC min.
Have only and when state A becomes state B or state C, just have forceful electric power switching indication.State A is the normal condition before switching, and state D is the alarm condition that the electric weight of vehicle-mounted two power brick is about to exhaust.
Wherein, in the implementation of described step N, further comprising the steps of:
N1, execution power supply switch reports to the police, and reminds the driver to carry out forceful electric power and switches;
N2, judge whether power supply switching command button is pressed, if execution in step N3 then then returns N2 if not;
N3, judge the speed of a motor vehicle be zero and the state that is not operated of acceleration pedal whether set up, if execution in step N4 then then returns if not.
N4, stop drive motor and operation motor and the operation of operation motor and water pump;
N5, according to the actual conditions that precharge is finished, disconnect corresponding DC contactor;
N6, carry out precharge and the flow process that powers on,, then carry out the precharge flow process, then drive motor and operation motor are switched to the power brick power supply that can utilize electric energy by having if drive motor controller or operation electric machine controller are not finished precharge; If finished precharge, then directly drive motor and operation motor are switched to the power brick power supply that can utilize electric energy by having;
N7, execution power supply handover success are lighted power supply handover success indicator lamp.
Describe below in conjunction with Fig. 2, Fig. 3 and Fig. 4, drive controlling method of the present invention, carry out according to following steps:
100, system's power-up initializing, promptly the car load key is got to the ACC shelves, and the car load control circuit powers on and enters the System self-test program;
110, enter fault diagnostic program, the controller of inspection comprises: entire car controller, drive motor controller, operation electric machine controller, chassis power brick BMS, operation power brick BMS;
120, check whether each controller exists fault, if execution in step 130 then if not is execution in step 140 then;
130, carry out the precharge and the flow process that powers on;
140, start the car alarming program, remind the driver to overhaul;
150, read accelerator pedal signal, judge whether throttle is operated, if execution in step 160 then, execution in step 170 then if not;
160, send out the demand torque command to drive motor controller;
170, judged whether job request, promptly whether the button of control operation electric system is pressed, if execution in step 180 then, execution in step 190 then if not;
180, carry out operation electric motor starting flow process, initiating task motor;
190, carry out the operation motor and stop flow process, motor stops operation;
200, judging whether chassis power brick and operation power brick satisfy is converted to state B from state A, if execution in step 210 then, execution in step 220 then if not;
210, stop operation motor and water pump thereof;
220, judging whether chassis power brick and operation power brick satisfy is converted to state C from state A, if execution in step 230 is then then returned if not;
230, carry out forceful electric power circuit switching flow.
Wherein, in the implementation of described step 180, further comprising the steps of:
181, judge whether the aqua storage tank sensor reports to the police, execution in step 182 then if not is if then return;
182, closed operation motor and water pump relay;
183, say the word the initiating task motor to the operation electric machine controller.
Wherein, in the implementation of described step 190, further comprising the steps of:
191, judge whether operation motor operating state request button is pressed, if execution in step 192 then, execution in step 193 then if not;
192, judge whether the aqua storage tank water sensor reports to the police, if execution in step 193 is then then returned if not;
193, say the word to the operation electric machine controller, motor stops operation.
194, disconnect operation motor and water pump relay.
Wherein, in the described step 200 and 220, the state of chassis power brick and operation power brick is as follows:
● state A:B1 SOC＞SOC min, B2 SOC＞SOC min;
● state B:B1 SOC＞SOC min, B2 SOC＜SOC min;
● state C:B1 SOC＜SOC min, B2 SOC＞SOC min;
● state D:B1 SOC＜SOC min, B2 SOC＜SOC min.
Have only and when state A becomes state B or state C, just have forceful electric power switching indication.State A is the normal condition before switching, and state D is the alarm condition that the electric weight of vehicle-mounted two power brick is about to exhaust.
Wherein, in the implementation of described step 230, further comprising the steps of:
231, carry out power supply and switch warning, remind the driver to carry out forceful electric power and switch;
232, judge whether power supply switching command button is pressed, if execution in step 233 then then returns 232 if not;
233, judge the speed of a motor vehicle be zero and the state that is not operated of acceleration pedal whether set up, if execution in step 234 is then then returned if not.
234, stop the operation of drive motor and operation motor and operation motor and water pump;
235, the actual conditions of finishing according to precharge disconnect corresponding DC contactor;
236, carry out the precharge and the flow process that powers on,, then carry out the precharge flow process, then drive motor and operation motor are switched to the power brick power supply that can utilize electric energy by having if drive motor controller or operation electric machine controller are not finished precharge; If finished precharge, then directly drive motor and operation motor are switched to the power brick power supply that can utilize electric energy by having;
237, carry out the power supply handover success, light power supply handover success indicator lamp.
In sum, the present invention will drive driving engine and change motor into according to the special operation condition characteristics of Operation Van, change the operating system driving engine into motor, and add cartridge chassis electrokinetic cell bag and operating system power brick.Generally speaking, the chassis power brick is separately drive motor and the power supply of chassis high-voltage electric annex, and the operating system power brick is the operating system power supply separately; When a certain power brick can not be utilized electric energy, can realize that also a certain power brick is that drive motor, chassis high-voltage electric annex and operating system are powered simultaneously simultaneously.Not only improved the commonality of a driven operating vehicle driving power system, cost-cutting, different working trucks can use same power system platform, and have improved the reliability of total system.Native system can realize not having idling, and pure motorized motions and pure electronic operation are simple in structure, and control is convenient, and energy-conserving and environment-protective.Promptly adopt combustion engine traditional power technology with respect to prior art: the engine idle time is longer, system's oil consumption height of two driving engines, the relative oil consumption of a plurality of Hydraulic Pumps of single engine drive is higher, fuel economy is poor, and tail gas pollution is serious, and the present invention adopts pure electric-powered system schema, on the basis of satisfying car load driving and job requirements, can realize zero-emission, pollution-free, operation cost obviously reduces.
Related driven operating vehicle among the present invention mainly is based on electronic environmental sanitation car, and the driven operating vehicle for other is suitable for too certainly.It is pointed out that simultaneously technical scheme of the present invention can also be applied on the engineering truck of vehicle-mounted apparatus for work, might not be confined to city Operation Vans such as water truck, sweeping machine and garbage removing cart.
Above-mentioned power-driven operating vehicle dynamic system and drive controlling method thereof have been adopted, because wherein at the characteristics of driven operating vehicle chassis driving power system and operating system itself, adopted the duplex feeding Circuits System, a branch road is a driving power system, another branch road is the operation power system, and driving power system and operation power system all can adopt but be not limited to and adopt lithium iron phosphate dynamic battery and frequency control motor, realized that simultaneously any one power brick all can be two motor driven systems and powers simultaneously, but also provide mainly based on driving request and battery SOC (State of Charge, state-of-charge) electric power system method for handover control, not only improved the commonality of a driven operating vehicle driving power system, reduced productive costs, different working trucks can use same power system platform, and the electric power system characteristics of two power brick have been made full use of, when a power brick can not be utilized problems such as electric energy or battery management system break down, vehicle still can travel or operation, improved the reliability of total system, not only simple and practical, and use efficient and convenient, stable and reliable working performance, Applicable scope are comparatively extensive.
In this specification sheets, the present invention is described with reference to its certain embodiments.But obviously still can make various modifications and conversion and not deviate from the spirit and scope of the present invention.Therefore, specification sheets and accompanying drawing are regarded in an illustrative, rather than a restrictive.
Claims (21)
1. power-driven operating vehicle dynamic system, it is characterized in that, described power system comprises entire car controller, driving power system and operation power system, described driving power system comprises the drive motor system, chassis electrokinetic cell system and chassis high-tension current shifter, described drive motor system is connected with described chassis electrokinetic cell system by described chassis high-tension current shifter, described operation power system comprises the operation electric system, operation electrokinetic cell system and operating system high-tension current shifter, described operation electric system is connected with described operation electrokinetic cell system by described operating system high-tension current shifter, described operating system high-tension current shifter is connected with described chassis high-tension current shifter, described entire car controller respectively with described drive motor system, the chassis electrokinetic cell system, chassis high-tension current shifter, the operation electric system, the operation electrokinetic cell system is connected with operating system high-tension current shifter, and described vehicle control unit controls described operating system high-tension current shifter and chassis high-tension current shifter, make described chassis electrokinetic cell system be described drive motor system and the power supply of operation electric system simultaneously, perhaps described operation electrokinetic cell system is described drive motor system and the power supply of operation electric system simultaneously.
2. power-driven operating vehicle dynamic system according to claim 1, it is characterized in that, described chassis electrokinetic cell system comprises chassis electrokinetic cell and chassis battery management system, and described entire car controller is connected with described chassis high-tension current shifter by described chassis battery management system, chassis electrokinetic cell successively.
3. power-driven operating vehicle dynamic system according to claim 1, it is characterized in that, described drive motor system comprises drive motor, drive motor controller and change-speed box, described chassis high-tension current shifter is connected with described drive motor by described drive motor controller, and described drive motor is connected with described change-speed box is coaxial.
4. power-driven operating vehicle dynamic system according to claim 3 is characterized in that, described change-speed box is a mechanical transmission.
5. according to claim 3 or 4 described power-driven operating vehicle dynamic systems, it is characterized in that described drive motor is the speed governing three phase AC induction machine.
6. power-driven operating vehicle dynamic system according to claim 1, it is characterized in that, described operation electrokinetic cell system comprises operation electrokinetic cell and operation battery management system, and described entire car controller is connected with described operating system high-tension current shifter by described operation battery management system, operation electrokinetic cell successively.
7. power-driven operating vehicle dynamic system according to claim 1, it is characterized in that, described operation electric system comprises operation motor, operation electric machine controller, and described operating system high-tension current shifter is connected with described operation motor by described operation electric machine controller.
8. power-driven operating vehicle dynamic system according to claim 7 is characterized in that, also comprises the operation motor and water pump in the described operation electric system, and described operation motor is connected with described operation motor and water pump.
9. according to claim 7 or 8 described power-driven operating vehicle dynamic systems, it is characterized in that described operation motor is the speed governing three phase AC induction machine.
10. one kind is carried out methods of driving control to the described power-driven operating vehicle dynamic system of claim 1, it is characterized in that described method may further comprise the steps:
(1) system carries out the power-up initializing operation;
(2) system carries out trouble diagnosing processing operation;
(3) system judges whether to exist fault;
(4) if, then start the Vehicular system alert program, remind chaufeur to overhaul;
(5) if not, then system carries out precharge and goes up electric treatment;
(6) system reads the accelerator pedal signal of driven operating vehicle, and judges whether Das Gaspedal is operated;
(7) if then system sends the demand torque command to the drive motor system;
(8) if not, then system judges whether job request is arranged at present;
(9) if then carry out the operation electric system and start processing;
(10) if not, then carrying out the operation electric system stops to handle;
(11) system judges whether described chassis electrokinetic cell system and operation electrokinetic cell system satisfy the forceful electric power switching condition;
(12) if not, then repeat above-mentioned steps (11);
(13) if then system carries out power supply switching between chassis electrokinetic cell system and the operation electrokinetic cell system and the forceful electric power operational processes that powers on.
11. according to claim 10 power-driven operating vehicle dynamic system is carried out methods of driving control, it is characterized in that, describedly judge that whether described chassis electrokinetic cell system and operation electrokinetic cell system satisfy the forceful electric power switching condition, may further comprise the steps:
(21) whether the state-of-charge of judging the state-of-charge of chassis electrokinetic cell system and operation electrokinetic cell system respectively is greater than the minimum state-of-charge of systemic presupposition;
(22) if the state-of-charge of the state-of-charge of chassis electrokinetic cell system and operation electrokinetic cell system all greater than/less than described minimum state-of-charge, then return the result who does not satisfy the forceful electric power switching condition;
(23) if the state-of-charge of chassis electrokinetic cell system greater than described minimum state-of-charge, and the state-of-charge of operation electrokinetic cell system is less than described minimum state-of-charge; If perhaps the state-of-charge of operation electrokinetic cell system is greater than described minimum state-of-charge, and the state-of-charge of chassis electrokinetic cell system then returns the result who satisfies the forceful electric power switching condition less than described minimum state-of-charge.
12. according to claim 11 power-driven operating vehicle dynamic system is carried out methods of driving control, it is characterized in that, described drive motor system comprises drive motor, drive motor controller and change-speed box, described chassis high-tension current shifter is connected with described drive motor by described drive motor controller, and described drive motor is connected with described change-speed box is coaxial; Described operation electric system comprises operation motor, operation electric machine controller, and described operating system high-tension current shifter is connected with described operation motor by described operation electric machine controller; Described power supply switching between chassis electrokinetic cell system and the operation electrokinetic cell system and the forceful electric power operational processes that powers on of carrying out may further comprise the steps:
(31) system carries out power supply and switches warning, reminds chaufeur to carry out forceful electric power and switches;
(32) system judges whether power supply switching command button is pressed;
(33) if not, then return above-mentioned steps (31);
(34) if then system detects and stops and acceleration pedal stops drive motor and the operation of operation motor after not being operated;
(35) state-of-charge that judges whether the chassis electrokinetic cell system greater than the state-of-charge of described minimum state-of-charge and operation electrokinetic cell system less than described minimum state-of-charge;
(36) if then carry out the chassis electrokinetic cell system to the switching power supply of drive motor system and operation electric system and the forceful electric power operational processes that powers on;
(37) if not, judge whether that then the state-of-charge of operation electrokinetic cell system is greater than described minimum state-of-charge;
(38) if then carry out the operation electrokinetic cell system to the switching power supply of drive motor system and operation electric system and the forceful electric power operational processes that powers on;
(39) if not, then the electric fault warning is hanged down by system, and returns above-mentioned steps (4);
(310) system carries out the indication of forceful electric power handover success, reminds the chaufeur forceful electric power to switch and finishes.
13. according to claim 12 power-driven operating vehicle dynamic system is carried out methods of driving control, it is characterized in that, the described chassis electrokinetic cell system that carries out may further comprise the steps the switching power supply of drive motor system and operation electric system and the forceful electric power operational processes that powers on:
(41) system is by vehicle control unit controls described operating system high-tension current shifter and chassis high-tension current shifter;
(42) the described operating system high-tension current of described vehicle control unit controls shifter disconnects and being connected of described operation electrokinetic cell system, and being connected of connection and described chassis high-tension current shifter;
(43) the described chassis of described vehicle control unit controls high-tension current shifter and described chassis electrokinetic cell system is connected.
14. according to claim 12 power-driven operating vehicle dynamic system is carried out methods of driving control, it is characterized in that, the described operation electrokinetic cell system that carries out may further comprise the steps the switching power supply of drive motor system and operation electric system and the forceful electric power operational processes that powers on:
(51) system is by vehicle control unit controls described operating system high-tension current shifter and chassis high-tension current shifter;
(52) the described chassis system high-tension current of described vehicle control unit controls shifter disconnects and being connected of described chassis electrokinetic cell system, and being connected of connection and described operating system high-tension current shifter;
(53) the described operating system high-tension current of described vehicle control unit controls shifter and described operation electrokinetic cell system is connected.
15. according to claim 12 power-driven operating vehicle dynamic system is carried out methods of driving control, it is characterized in that the described power supply that carries out switches and reports to the police, and is specially:
The flicker of system alarm lamp, simultaneity factor sounds the alarm.
16. according to claim 12 power-driven operating vehicle dynamic system is carried out methods of driving control, it is characterized in that, describedly carry out the indication of forceful electric power handover success, be specially:
System lights forceful electric power handover success indicator lamp.
17., it is characterized in that described system carries out the power-up initializing operation, may further comprise the steps according to each describedly carries out methods of driving control to power-driven operating vehicle dynamic system in the claim 10 to 16:
(61) the car load key is got to the annex shelves;
(62) system powers on to the car load control circuit, and enters the System self-test program.
18., it is characterized in that described system carries out trouble diagnosing and handles operation, is specially according to each describedly carries out methods of driving control to power-driven operating vehicle dynamic system in the claim 10 to 16:
Systems inspection entire car controller, drive motor system, operation electric system, chassis electrokinetic cell system, operation electrokinetic cell system.
19., it is characterized in that described system judges whether job request is arranged at present, may further comprise the steps according to each describedly carries out methods of driving control to power-driven operating vehicle dynamic system in the claim 10 to 16:
(71) system judges whether the button of control operation electric system is pressed;
(72) if then return the result of job request;
(73) if not, then return the result of no operatton request.
20. according to each describedly carries out methods of driving control to power-driven operating vehicle dynamic system in the claim 10 to 16, it is characterized in that, described operation electric system comprises operation motor, operation electric machine controller, described operating system high-tension current shifter is connected with described operation motor by described operation electric machine controller, also comprise the operation motor and water pump in the described operation electric system, described operation motor is connected with described operation motor and water pump, the described operation electric system that carries out starts processing, may further comprise the steps:
(81) system judges whether the aqua storage tank sensor in the driven operating vehicle reports to the police;
(82) if then return above-mentioned steps (4);
(83) if not, the relay in the closed described operation motor and water pump of system then;
(83) system sends enabled instruction to described operation electric machine controller, starts described operation motor.
21. according to each describedly carries out methods of driving control to power-driven operating vehicle dynamic system in the claim 10 to 16, it is characterized in that, described operation electric system comprises operation motor, operation electric machine controller, described operating system high-tension current shifter is connected with described operation motor by described operation electric machine controller, also comprise the operation motor and water pump in the described operation electric system, described operation motor is connected with described operation motor and water pump, the described operation electric system that carries out stops to handle, and may further comprise the steps:
(91) system judges whether operation motor operating state request button is pressed;
(92), judge then whether the aqua storage tank sensor in the driven operating vehicle reports to the police if be pressed; If report to the police, then return above-mentioned steps (4); If do not report to the police, then system sends to described operation electric machine controller and ceases and desist order, and stops described operation motor;
(93) if be not pressed, then system sends to described operation electric machine controller and ceases and desist order, and stops described operation motor;
(94) system disconnects the relay in the described operation motor and water pump.
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| CN102912749B (en) * | 2012-10-22 | 2016-01-27 | 于洪伟 | Road-sweeper actuating unit |
| CN103774595B (en) * | 2014-01-17 | 2016-05-25 | 北京智行鸿远汽车技术有限公司 | Oil loading pump frequency converter DCAC control method on a kind of electric sanitation truck |
| CN106708015A (en) * | 2016-12-19 | 2017-05-24 | 广西升禾环保科技股份有限公司 | Vehicle-mounted terminal with remote monitoring function for sanitation vehicle |
| CN109747424B (en) * | 2019-02-28 | 2021-04-30 | 北京机械设备研究所 | Double-power battery control system of electric automobile |
| CN109778764A (en) * | 2019-03-14 | 2019-05-21 | 常州格力博有限公司 | Snowplough and its power control method |
| CN111422067A (en) * | 2020-04-27 | 2020-07-17 | 徐州徐工汽车制造有限公司 | Power-on and power-off mutual switching control system for double-battery management system and electric commercial vehicle |
| CN114228514A (en) * | 2021-12-16 | 2022-03-25 | 江苏爱玛车业科技有限公司 | Cruising system and method of electric vehicle |
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| WO2006039520A1 (en) * | 2004-09-30 | 2006-04-13 | Mtd Products Inc. | Hybrid utility vehicle |
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