CN103465846A - Drive control system of electric wheel mining car - Google Patents
Drive control system of electric wheel mining car Download PDFInfo
- Publication number
- CN103465846A CN103465846A CN2013104230493A CN201310423049A CN103465846A CN 103465846 A CN103465846 A CN 103465846A CN 2013104230493 A CN2013104230493 A CN 2013104230493A CN 201310423049 A CN201310423049 A CN 201310423049A CN 103465846 A CN103465846 A CN 103465846A
- Authority
- CN
- China
- Prior art keywords
- module
- signal
- rectification
- controller
- vehicle management
- 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.)
- Granted
Links
Images
Classifications
-
- 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
Abstract
The invention relates to a drive control system of an electric wheel mining car. The electric wheel mining car is provided with electric wheels with the number of N; all the electric wheels of the electric wheel mining car are respectively provided with a motor; a vehicle management controller is respectively connected with a rectification brake control unit, a power unit controller and motor controllers with the number of M by a control cable; the vehicle management controller sends an accelerator signal into the power unit controller by a controller area network (CAN) bus; the vehicle management controller sends a switching-off signal, a switching-on signal and a brake allowing signal into the rectification brake control unit by the CAN bus; the vehicle management controller sends a gear position signal, a brake intensity signal, a brake allowing signal and an accelerator magnitude signal into all the motor controllers by the CAN bus; each motor controller is connected with the corresponding motor. By adopting a multi-axial all-wheel drive scheme, the powers and the sizes of all the motors can be greatly reduced, so that the design difficulty and the manufacturing difficulty are greatly reduced, and the cost is greatly lowered.
Description
Technical field
The invention belongs to electric wheel mining vehicle Drive Control Technique field, be specifically related to a kind of electric wheel mining vehicle drive control system.
Background technology
Mining dump truck with electric wheels is widely used in the exploitation of large surface mine at present, and special multiaxis mining dump truck with electric wheels is mechanical, electrical, liquid integrated product, because its load-carrying capacity is large, is mainly used in the above large surface mine exploitation of ton.Up to now, the large-tonnage mining dump truck with electric wheels of domestic use all adopts 4 * 2 type of drive (twin shaft mine car), and the overwhelming majority is dependence on import still, the electric wheel mining vehicle electric drive system is all to adopt the two drive motor centralized control schemes of single shaft, each motor has very large power and volume, manufactures and designs difficulty and cost all very high.This electric wheel mining vehicle control adopts the centralized control scheme, and all power and control element be Uniting all, centralized arrangement.Development along with the multiaxis mining dump truck with electric wheels, four axle mining dump truck with electric wheels have started to occur, this kind of vehicle can reduce 5% with respect to traditional twin shaft mine car consumption of fuel, also can reduce haulway construction cost and better to compatible with environment, it is the inevitable direction of mining dump truck with electric wheels development, if but supporting driving control system still adopts the two drive motor centralized control schemes of single shaft with it, the power and the volume needs that just mean each motor are larger, that is to say and take centralized control scheme technical risk to be difficult to meet requirements, and the universalization degree of centralized control technique is low, poor expandability, cost is very high.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind ofly takes decentralised control, universalization degree high, and extensibility is strong, the electric wheel mining vehicle drive control system that cost is low.
For solving the problems of the technologies described above, technical scheme of the present invention is:
A kind of electric wheel mining vehicle drive control system, described electric wheel mining vehicle has N electric wheel, described driving control system comprises the motor be arranged on each electric wheel, also comprise the vehicle management controller, the rectification brak control unit, a powerplant module controller and M electric machine controller, described vehicle management controller is respectively by control cables and described rectification brak control unit, described powerplant module controller is connected with M described electric machine controller, described vehicle management controller sends throttle signal to described powerplant module controller by the CAN bus, described vehicle management controller sends sub-gate signal by the CAN bus, switching signal, braking allows signal to send to described rectification brak control unit, described vehicle management controller sends gear signal by the CAN bus, the rate of braking signal, braking allows signal, the throttle high low signal is to M described electric machine controller, each described electric machine controller is connected with a corresponding described motor.
Further, described electric wheel mining vehicle drive control system also comprises man-machine interface, described man-machine interface is connected with described vehicle management controller by control cables, and described vehicle management controller sends to described man-machine interface by the CAN bus by described electric wheel mining vehicle working state signal, alerting signal.
Preferably, described rectification brak control unit comprises left rectification brak control unit and right rectification brak control unit, described vehicle management controller is connected with left rectification brak control unit, right rectification brak control unit by control cables respectively, and described vehicle management controller allows signal to send to described left rectification brak control unit, right rectification brak control unit by CAN bus CAN2 transmission sub-gate signal, switching signal, braking.
Preferably, described powerplant module controller comprises left powerplant module controller and right powerplant module controller, described vehicle management controller is connected with described left powerplant module controller, right powerplant module controller by control cables respectively, and described vehicle management controller sends throttle signal to described left powerplant module controller, right powerplant module controller by CAN bus CAN1.
Preferably, described rectification brak control unit comprises rectification brake control module the one DSP, rectification unit and brake unit, described rectification brake control module the one DSP comprises the IGBT control module, described rectification unit comprises circuit breaker parallel with one another, diode rectifier bridge and the first electric capacity of voltage regulation, described brake unit comprises the first braking resistor, the second braking resistor, DC fan and three road IGBT, described circuit breaker is connected to described rectification brake control module the one DSP port, and in parallel with diode rectifier bridge and the first electric capacity of voltage regulation, described brake unit comprises the first braking resistor, the second braking resistor, DC fan, the IG1 module, 1G2 module and IG3 module, IG1 module wherein, the 1G2 module, the IG3 module is parallel with one another and with the IGBT control module, be connected respectively, the first braking resistor R1 connects with the IG1 module, the second braking resistor is connected with the IG2 module, DC fan is connected with the IG3 module.
Preferably, described electric machine controller comprises motor control module, IGBT three phase inverter bridge, the second electric capacity of voltage regulation, wherein said IGBT three phase inverter bridge is in parallel with described the second electric capacity of voltage regulation, and each the IG module in described IGBT three phase inverter bridge is connected with described motor control module the 2nd DSP respectively.
The invention has the beneficial effects as follows and adopted the multiple-shaft whole-wheel drive scheme, drive wheel quantity increases greatly, corresponding number of motors increases greatly, originally the power averaging that only had 2 motors to bear is assigned on a plurality of motors, so power and the volume of each motor have reduced greatly, its design, manufacture difficulty and cost reduce greatly; Realize many motors Collaborative Control simultaneously, improved greatly travelling and hill climbing ability of vehicle.
The accompanying drawing explanation
Fig. 1 is embodiment of the present invention electric wheel mining vehicle drive control system schematic diagram;
Fig. 2 is rectification brak control unit schematic diagram in embodiment of the present invention electric wheel mining vehicle drive control system;
Fig. 3 is electric machine controller schematic diagram in embodiment of the present invention electric wheel mining vehicle drive control system.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, technical scheme of the present invention is further described in detail.
As shown in Figure 1, a kind of electric drive wheel heavy mining truck, be 4 axis, 8 suspensions, and 16 electric wheels, install a motor on each electric wheel.The electric wheel mining vehicle drive control system also comprises vehicle management controller 1, left rectification brak control unit 21, right rectification brak control unit 22, left powerplant module controller 31, right powerplant module controller 32 and 16 electric machine controllers 1011, 1012, 1021, 1022, 1031, 1032, 1041, 1042, 2011, 2012, 2021, 2022, 2031, 2032, 2041, 2042, vehicle management controller 1 is respectively by control cables and left rectification brak control unit 21, right rectification brak control unit 22, left powerplant module controller 31, right powerplant module controller 32 and 16 electric machine controllers 1011, 1012, 1021, 1022, 1031, 1032, 1041, 1042, 2011, 2012, 2021, 2022, 2031, 2032, 2041, 2042 connect, and vehicle management controller 1 sends throttle signal to left powerplant module controller 31 by a CAN bus CAN1, right powerplant module controller 32, vehicle management controller 1 sends sub-gate signal by the 2nd CAN bus CAN2, switching signal, braking allows signal to send to left rectification brak control unit 21, right rectification brak control unit 22, vehicle management controller 1 sends gear signal by the 3rd CAN bus CAN3, the rate of braking signal, braking allows signal, the throttle high low signal is to electric machine controller 1011, 1012, 1031, 1032, 2011, 2012, 2031, 2032, vehicle management controller 1 sends gear signal by the 4th CAN bus CAN4, the rate of braking signal, braking allows signal, the throttle high low signal is to electric machine controller 1021, 1022, 1041, 1042, 2021, 2022, 2041, 2042.Owing to having adopted two powerplant module controllers and two stream brak control units to carry out decentralised control, can solve the bulky problem of control convenience that centralized control brings, conveniently in compartment, arranged.Each electric machine controller is connected with a corresponding motor.Electric wheel mining vehicle multiaxis multi-drive motor cooperative control system also comprises man-machine interface 4, man-machine interface 4 is connected with vehicle management controller 1 by control cables, and vehicle management controller 1 sends to man-machine interface 5 by the 5th CAN bus CAN5 by electric wheel mining vehicle working state signal, alerting signal.
As shown in Figure 2, the rectification brak control unit that the electric wheel mining vehicle drive control system adopts comprises rectification brake control module the one DSP23, rectification unit 24 and brake unit 25, rectification unit 24 will give brake unit 25 power supplies after the AC rectification voltage stabilizing, rectification brake control module the one DSP23 comprises the IGBT control module, rectification unit 24 comprises circuit breaker Q F, diode rectifier bridge and the first electric capacity of voltage regulation C1, circuit breaker Q F is connected to rectification brake control module the one DSP23 port, and in parallel with diode rectifier bridge and the first electric capacity of voltage regulation C1, brake unit 25 comprises the first braking resistor R1, the second braking resistor R2, DC fan M, the IG1 module, 1G2 module and IG3 module, IG1 module wherein, the 1G2 module, the IG3 module is parallel with one another and with the IGBT control module, be connected respectively, the first braking resistor R1 connects with the IG1 module, the second braking resistor R2 connects with the IG2 module, DC fan M connects with the IG3 module.
The rectification brak control unit gathers bus voltage signal, accept by the CAN bus braking that vehicle management controller 1 sends simultaneously and allow the port signals such as signal, switching signal, sub-gate signal to control inner IGBT control module and circuit breaker Q F, the IGBT control module drives 3 road IGBT drive circuit works; The rectification brak control unit is sent to the vehicle management controller by the RS232/CAN module of a DSP23 inside by the data of rectification brak control unit; The rectification brak control unit also accepts by the RS232/CAN module work that CAN bus data that the vehicle management controller sends is controlled self.
The rectification brak control unit is rectified into direct current (DC) by diode rectifier bridge by the three plase alternating current of electrical generator.The braking that brake unit receives 1 transmission of vehicle management controller allows signal to control the work of braking resistor and blower fan, is specially: after the rectification brak control unit receives braking permission signal, DC fan is devoted oneself to work, and postpones to turn-off in 10 seconds; When bus voltage is greater than 960V, the first braking resistor R1 and the second braking resistor R2 devote oneself to work, and when bus voltage is less than 960V, the first braking resistor R1 and the second braking resistor R2 turn-off.
As shown in Figure 3, the electric machine controller that the electric wheel mining vehicle drive control system adopts comprises IGBT three phase inverter bridge 41, the second electric capacity of voltage regulation C2 and motor control module the 2nd DSP42, wherein IGBT three phase inverter bridge 41 is in parallel with the second electric capacity of voltage regulation C2, and each the IG module in IGBT three phase inverter bridge 41 is connected with motor control module the 2nd DSP42 respectively.The power module of motor control module the 2nd DSP42 converts bus voltage to control voltage, give IGBT control module, the sensor power supply of electric machine controller inside, the RS485/CAN module of motor control module the 2nd DSP42 reads electric parameter, controller state of a control, alarm condition of electric machine controller etc., and becomes the CAN data to send to vehicle management controller 1 these data transfer.
IGBT three phase inverter bridge 41 inverse of the DC into AC, for drive motor work.Electric machine controller is controlled IGBT by motor control module the 2nd DSP42, can export the size alternating current different with frequency and carry out drive motor.The work of electric machine controller is controlled by the vehicle management controller, and electric machine controller receives gear signal, throttle signal, braking permission signal and the rate of braking signal that the vehicle management controller sends.Wherein, the working signal that gear signal is electric machine controller, electric machine controller is started working after receiving gear signal.The driving torque signal that throttle signal is electric machine control, because electric machine controller adopts Study on direct torque control technology, the throttle size is proportional to the driving torque size, electric machine controller is according to the throttle size, by gathering tach signal, bus voltage signal and the three-phase current signal of motor, control the work of IGBT, and then control the level of torque of motor.The rate of braking signal is electric machine controller braking torque strength signal, and its principle of work is identical with throttle signal.Braking allows signal for the switching between electric machine controller drive pattern and braking mode.
The operational process of this electric wheel mining vehicle drive control system is:
After system starts, the three plase alternating current that electrical generator G sends converts direct current (DC) to through the rectification unit of left and right rectification brak control unit, and direct current (DC) converts respectively 16 motors of three plase alternating current driving of changeable frequency to through 16 electric machine controllers.
Each electric machine controller, powerplant module controller, rectification brak control unit send to the vehicle management controller by each CAN bus by mode of operation and alarm message respectively, the vehicle management controller is analyzed the mode of operation of each parts by the data that receive each CAN bus, when state is normal, the vehicle management controller is controlled whole system and is entered mode of operation, if mal report to the police by man-machine interface.
After system enters mode of operation, vehicle management controller 1 is crossed and is received the mode of operation of controlling car load from the operating order of operator's compartment, when vehicle advances, vehicle management controller 1 progress signal and dtc signal send to 16 electric machine controllers, after electric machine controller receives progress signal, control the motor steering direction forward, after electric machine controller receives dtc signal, control motor output torque, now vehicle moves ahead, when vehicle rollback, vehicle management controller 1 backing signal and dtc signal send to 16 electric machine controllers, after electric machine controller receives backing signal, control the motor steering direction backwards, after electric machine controller receives dtc signal, control motor output torque, now vehicle rollback, the vehicle management controller by receive the operator's compartment accelerator pedal signal and by analysis the current driving condition of vehicle control left and right powerplant module controller by control cables and realize the control to engine speed, when vehicle is carried out electric braking, the 1 output braking of vehicle management controller allows signal to 16 electric machine controllers and a left side, right rectification brak control unit, now the motor controller controls motor is carried out braking, the vehicle management controller also sends to respectively 16 electric machine controllers by the brake pedal strength signal of operator's compartment inside simultaneously, electric machine controller is controlled motor according to the rate of braking signal control and is realized the rate of braking regulatory function, when car brakeing, motor oppositely generates electricity, the rectification brak control unit receives braking and allows the electricity after signal, motor sent by two braking resistor R1, thereby R2 consumes and realizes electric braking.
This electric wheel mining vehicle drive control system has adopted 4 axle 16 wheel drive schemes, drive wheel quantity increases greatly, corresponding number of motors increases greatly, originally the power averaging that only had 2 motors to bear is assigned on 16 motors, so power and the volume of each motor have reduced greatly, its design, manufacture difficulty and cost reduce greatly; Realize many motors Collaborative Control simultaneously, improved greatly travelling and hill climbing ability of vehicle.
It should be noted last that, the above specific embodiment is only unrestricted in order to technical scheme of the present invention to be described, although with reference to preferred embodiment, the present invention is had been described in detail, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement technical scheme of the present invention, and not breaking away from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of claim scope of the present invention.
Claims (6)
1. an electric wheel mining vehicle drive control system, described electric wheel mining vehicle has N electric wheel, it is characterized in that, described driving control system comprises the motor be arranged on each electric wheel, also comprise the vehicle management controller, the rectification brak control unit, a powerplant module controller and M electric machine controller, described vehicle management controller is respectively by control cables and described rectification brak control unit, described powerplant module controller is connected with M described electric machine controller, described vehicle management controller sends throttle signal to described powerplant module controller by the CAN bus, described vehicle management controller sends sub-gate signal by the CAN bus, switching signal, braking allows signal to send to described rectification brak control unit, described vehicle management controller sends gear signal by the CAN bus, the rate of braking signal, braking allows signal, the throttle high low signal is to M described electric machine controller, each described electric machine controller is connected with a corresponding described motor.
2. electric wheel mining vehicle drive control system according to claim 1, it is characterized in that, also comprise man-machine interface, described man-machine interface is connected with described vehicle management controller by control cables, and described vehicle management controller sends to described man-machine interface by the CAN bus by described electric wheel mining vehicle working state signal, alerting signal.
3. electric wheel mining vehicle drive control system according to claim 1 and 2, it is characterized in that, described rectification brak control unit comprises left rectification brak control unit and right rectification brak control unit, described vehicle management controller is connected with left rectification brak control unit, right rectification brak control unit by control cables respectively, and described vehicle management controller allows signal to send to described left rectification brak control unit, right rectification brak control unit by CAN bus CAN2 transmission sub-gate signal, switching signal, braking.
4. electric wheel mining vehicle drive control system according to claim 1 and 2, it is characterized in that, described powerplant module controller comprises left powerplant module controller and right powerplant module controller, described vehicle management controller is connected with described left powerplant module controller, right powerplant module controller by control cables respectively, and described vehicle management controller sends throttle signal to described left powerplant module controller, right powerplant module controller by CAN bus CAN1.
5. electric wheel mining vehicle drive control system according to claim 1 and 2, it is characterized in that, described rectification brak control unit comprises rectification brake control module the one DSP, rectification unit and brake unit, described rectification brake control module the one DSP comprises the IGBT control module, described rectification unit comprises circuit breaker parallel with one another, diode rectifier bridge and the first electric capacity of voltage regulation, described brake unit comprises the first braking resistor, the second braking resistor, DC fan and three road IGBT, described circuit breaker is connected to described rectification brake control module the one DSP port, and in parallel with diode rectifier bridge and the first electric capacity of voltage regulation, described brake unit comprises the first braking resistor, the second braking resistor, DC fan, the IG1 module, 1G2 module and IG3 module, IG1 module wherein, the 1G2 module, the IG3 module is parallel with one another and with the IGBT control module, be connected respectively, the first braking resistor R1 connects with the IG1 module, the second braking resistor is connected with the IG2 module, DC fan is connected with the IG3 module.
6. electric wheel mining vehicle drive control system according to claim 1 and 2, it is characterized in that, described electric machine controller comprises motor control module, IGBT three phase inverter bridge, the second electric capacity of voltage regulation, wherein said IGBT three phase inverter bridge is in parallel with described the second electric capacity of voltage regulation, and each the IG module in described IGBT three phase inverter bridge is connected with described motor control module the 2nd DSP respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310423049.3A CN103465846B (en) | 2013-09-17 | 2013-09-17 | A kind of electric wheel mining vehicle drive control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310423049.3A CN103465846B (en) | 2013-09-17 | 2013-09-17 | A kind of electric wheel mining vehicle drive control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103465846A true CN103465846A (en) | 2013-12-25 |
| CN103465846B CN103465846B (en) | 2016-03-09 |
Family
ID=49790969
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310423049.3A Active CN103465846B (en) | 2013-09-17 | 2013-09-17 | A kind of electric wheel mining vehicle drive control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103465846B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104883099A (en) * | 2015-05-22 | 2015-09-02 | 贵州中航道科技有限公司 | Electric car multi-motor control method and electric car controller |
| CN105480117A (en) * | 2015-10-10 | 2016-04-13 | 杭州伯坦动力科技有限公司 | Multiple-motor driving system for electric automobile and control method of multiple-motor driving system |
| CN107422719A (en) * | 2017-06-08 | 2017-12-01 | 杭州伯坦科技工程有限公司 | Support the electric automobile drive assembly system and its control method of multi_motor control |
| CN109361310A (en) * | 2018-11-21 | 2019-02-19 | 珠海格力电器股份有限公司 | Residual charge leadage circuit, inverter and air conditioner |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004129459A (en) * | 2002-10-07 | 2004-04-22 | Meidensha Corp | Speed command control unit and speed controller for electrically-propelled vehicle |
| CN101277837A (en) * | 2005-09-29 | 2008-10-01 | 卡特彼勒公司 | Electric powertrain for work machine |
| US20100066280A1 (en) * | 2008-09-15 | 2010-03-18 | Caterpillar Inc. | Electric drive retarding system and method |
| CN101973269A (en) * | 2010-09-02 | 2011-02-16 | 北京科技大学 | Control system for mine electric wheel dump truck by using fieldbus technology |
| CN102328595A (en) * | 2011-08-05 | 2012-01-25 | 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 | Electric transmission device of electric wheel mining truck |
| CN102481860A (en) * | 2009-07-27 | 2012-05-30 | 卡特彼勒公司 | Method and system for controlling a driving direction of an electric drive machine |
| US20130126251A1 (en) * | 2011-11-18 | 2013-05-23 | Caterpillar, Inc. | Power System Control Strategy For Mining Truck |
-
2013
- 2013-09-17 CN CN201310423049.3A patent/CN103465846B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004129459A (en) * | 2002-10-07 | 2004-04-22 | Meidensha Corp | Speed command control unit and speed controller for electrically-propelled vehicle |
| CN101277837A (en) * | 2005-09-29 | 2008-10-01 | 卡特彼勒公司 | Electric powertrain for work machine |
| US20100066280A1 (en) * | 2008-09-15 | 2010-03-18 | Caterpillar Inc. | Electric drive retarding system and method |
| CN102481860A (en) * | 2009-07-27 | 2012-05-30 | 卡特彼勒公司 | Method and system for controlling a driving direction of an electric drive machine |
| CN101973269A (en) * | 2010-09-02 | 2011-02-16 | 北京科技大学 | Control system for mine electric wheel dump truck by using fieldbus technology |
| CN102328595A (en) * | 2011-08-05 | 2012-01-25 | 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 | Electric transmission device of electric wheel mining truck |
| US20130126251A1 (en) * | 2011-11-18 | 2013-05-23 | Caterpillar, Inc. | Power System Control Strategy For Mining Truck |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104883099A (en) * | 2015-05-22 | 2015-09-02 | 贵州中航道科技有限公司 | Electric car multi-motor control method and electric car controller |
| CN105480117A (en) * | 2015-10-10 | 2016-04-13 | 杭州伯坦动力科技有限公司 | Multiple-motor driving system for electric automobile and control method of multiple-motor driving system |
| CN107422719A (en) * | 2017-06-08 | 2017-12-01 | 杭州伯坦科技工程有限公司 | Support the electric automobile drive assembly system and its control method of multi_motor control |
| CN109361310A (en) * | 2018-11-21 | 2019-02-19 | 珠海格力电器股份有限公司 | Residual charge leadage circuit, inverter and air conditioner |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103465846B (en) | 2016-03-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101767542B (en) | Intelligent drive platform for four wheels of electric automobile | |
| CN104002802A (en) | Energy management and control method and device for plug-in four-wheel drive hybrid car | |
| CN103481766B (en) | A kind of drive system of electronlmobil and method | |
| CN204340934U (en) | A kind of new-energy automobile entire car controller | |
| CN103481798A (en) | CAN (controller area network) bus-based driving-driven distribution type control system of electric vehicle driven by hub motors | |
| CN105438007A (en) | Electric vehicle driving device | |
| CN103738192A (en) | Dual-motor two-gear drive system and brake control method thereof | |
| CN202686354U (en) | Integrated variable speed drive device and electric control energy and management system for hybrid power vehicle | |
| CN103863103B (en) | A kind of have double dynamical electric transmission underground mining truck | |
| CN103465846B (en) | A kind of electric wheel mining vehicle drive control system | |
| CN104260720A (en) | Series-parallel hybrid power control system and control method achieved by adopting same | |
| CN201442527U (en) | Intelligent four-wheel drive platform for electric vehicles | |
| CN101774379A (en) | Vehicle hybrid four-wheel electric drive system | |
| CN103660971B (en) | A kind of mining dump truck with electric wheels four-wheel drive system | |
| CN103318046B (en) | A kind of pure electric light bus dynamic assembly | |
| CN104097501A (en) | Hybrid structure for multi-axle heavy off-road vehicle | |
| CN206900682U (en) | A kind of power control unit of electrodynamic type aircraft tractor | |
| CN105375828A (en) | Automotive four-motor controller and control system | |
| CN201677876U (en) | Hybrid four-wheel type electric drive system for vehicles | |
| CN205970881U (en) | Pure electric drive's of machinery differential electric automobile | |
| CN103552480A (en) | Completely power-driven dedicated school bus adopting dual charging modes | |
| CN103754215A (en) | Hybrid-power vehicle control system | |
| CN113978334B (en) | Wheel-shaft cooperative hybrid unmanned mining dump truck and control method thereof | |
| CN206264816U (en) | A kind of electric vehicle motor controller | |
| CN102205799A (en) | Finished structure of pure electric car |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C53 | Correction of patent of invention or patent application | ||
| CB02 | Change of applicant information |
Address after: 432000 No. 1 Wan Shan Road, Xiaogan Development Zone, Hubei Applicant after: Aerospace Heavy Engineering Equipment Co., Ltd. Address before: 430040 Wuhan, East and West Lake District, Jinshan Road, No. 9, Hubei Applicant before: Aerospace Heavy Engineering Equipment Co., Ltd. |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |