CN105302224A - Power management control system for forestry machine - Google Patents
Power management control system for forestry machine Download PDFInfo
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- CN105302224A CN105302224A CN201510881876.6A CN201510881876A CN105302224A CN 105302224 A CN105302224 A CN 105302224A CN 201510881876 A CN201510881876 A CN 201510881876A CN 105302224 A CN105302224 A CN 105302224A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R21/00—Arrangements for measuring electric power or power factor
- G01R21/133—Arrangements for measuring electric power or power factor by using digital technique
- G01R21/1331—Measuring real or reactive component, measuring apparent energy
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G23/00—Forestry
- A01G23/02—Transplanting, uprooting, felling or delimbing trees
- A01G23/08—Felling trees
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R25/00—Arrangements for measuring phase angle between a voltage and a current or between voltages or currents
- G01R25/04—Arrangements for measuring phase angle between a voltage and a current or between voltages or currents involving adjustment of a phase shifter to produce a predetermined phase difference, e.g. zero difference
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Abstract
The invention discloses a power management control system for a forestry machine. The power management control system includes a power control module, a power module, a cutting tool, a cutting tool positioning system, a propulsion system, a steering system and an engine control module for calculating engine load, wherein the power control module automatically reduces the speed of the cutting tool and at least one of the power of the cutting tool positioning system and the power of the steering system when the calculated engine load exceeds a preset value, and the power control module adjusts the speed of the cutting tool in the speed range defined by the first predetermined percentage higher than set standard speed and the second predetermined percentage lower than the set standard speed.
Description
Technical field
The invention belongs to power management control technology field, particularly relate to a kind of power management control system for forestry machine.
Background technology
The harvester being called as feller buncher is well-known in forestry.During usually operating, the engine capacity that can be used for driving pump is that the load stood by this pump characteristics and this pump determines.Two pump capacities are by providing suitable control and Non-follow control in pilothouse by operator.Once saw raising speed, saw driving pump operates usually under delivery, and discharge of main pump is wanted according to this operator load that how soon to operate machines or be applied on machine by its various function and controlled by operator.The harvester being called as feller buncher is well-known in forestry.But, the more situation of power that the total value that there is the power of the pump load of combination can provide than engine.Such as, the operation of falling trees is considered.When machine begins to cut close to setting and cutting, saw speed will reduce.Then, operator can order from sawing the more various flow of motor and/or pump to increase saw speed.If also at maximum pump discharge, then the load of combining may exceed maximum engine power for other pump and motor (propelling, cantilever function etc.), therefore, make to stall.
The first known solution of power management problems comprises reduction machine speed.Operator can reduce machine and drive the speed of cutting, thus reduces the demand in saw power and propulsion system.It is too fast that this method prevents saw speed from declining, but have the shortcoming reducing throughput rate.Second known solution needs operator to adjust propelling or cantilever function declines to prevent engine speed too much during cutting.This method depends on the timely intervention of operator.Operator also need to hear or perception saw, various hydraulic system and engine to estimate their correlated performance.This solution has multiple shortcoming: the speed that (1) cuts through tree usually consequently can not make effective reaction to the change of power demand in time too soon for operator; (2) sound of modern cab and isolating technique can stop operator effectively to hear and feel how engine and hydraulic system react to load; (3) the extra emission control system on Modern Engine and more effective sound suppressor have reduced the amount of the exhaust energy of discharging from engine.Consequently more unpleasant to hear to the more quiet engine with estimated engine load exactly for operator.
There is the problem of still unsolved hydraulic system of operating machines in a coordinated fashion for the purpose of raising the efficiency in the prior art.Operator can not operate each hydraulic system the most effectively putting simultaneously.Therefore, the method for the power of multiple different systems of handle machine is needs.
Summary of the invention
The object of the present invention is to provide a kind of power management control system for forestry machine, be intended to change traditional form of teaching, the speed that the information that can increase transmits and amplitude, be convenient to student for the reception of information and digestion.
The present invention realizes like this, a kind of power management control system for forestry machine, this power management control system being used for forestry machine comprises power control module, power module, cutting tool, cutting tool positioning system, propulsion system, steering, engine control module, for calculation engine load; Wherein, described power control module reduces at least one in the speed of cutting tool, the power of cutting tool positioning system and the power of steering automatically when the engine loading of described calculating exceedes predetermined value, and described power control module adjusts the speed of described cutting tool in the velocity range defined by the first predetermined percentage higher than standard setting speed and the second predetermined percentage lower than standard setting speed.
Further, described power control module comprises main control computer, power sensor, storer and display module.
Further, described power sensor comprises power measurement resistance and power measurement controller; Described power measurement resistance is arranged on the left side of described power sensor, and described power measurement controller is arranged on the right side of described power measurement resistance; Described power measurement controller comprises attaching plug, display screen, capacitance body; Attaching plug is arranged on the right side of the lower end of described power measurement controller, and described display screen is arranged on the upper end of described power measurement controller, and described capacitance body is arranged on the lower end of described display screen.
Further, described power module comprises power supply connecting device, electrical storage device and protective relaying device.
Further, described power supply connecting device comprises at least one power supply input circuit connecting external power source is connected load load output circuit with at least one.
Further, described electrical storage device comprises the accumulator charging/discharging circuit connecting accumulator.
Further, described cutting tool comprises the cutting tool speed pickup be associated with described cutting tool.
Further, described described power control module adjusted at least two in the power of the power of described cutting tool positioning system, the power of described steering and described propulsion system before the speed of the described cutting tool of adjustment.
Further, a kind of method that power management for forestry machine controls, comprises the following steps:
S1, the load of power control module calculation engine; And when described engine loading exceedes predetermined value, based on the described engine loading calculated, automatically adjust at least one in the power of the speed of cutting tool, the power of cutting tool positioning system, the power of propulsion system and steering;
S2, power control module 1 detect the speed of cutting tool; And at least one based on the speed of described cutting tool and the described engine loading calculated, automatically in the power of adjustment cutting tool positioning system, the power of propulsion system and the power of described steering;
S3, before the speed of the described cutting tool of adjustment, at least two in the power of the automatic adjustment power of described cutting tool positioning system, the power of described propulsion system and described steering.
Another object of the present invention is to the power sensor detection method providing a kind of power management control system, described power sensor detection method adopts the measured signal V measured through the phase shift of adjustable digital formula phase shifter
xwith reference microwave signal V
refthe method of the signal power after synthesis, realizes the accurate measurement to microwave phase, by measured signal V
xafter certain phase angle moved by adjustable digital formula phase shifter, be added to the input port two of power combiner, will with measured signal V
xthe reference microwave signal V that frequency is identical
refbe added to the input port one of power combiner; This two paths of signals carries out through power combiner the input port being added in direct-type micromechanics microwave power detector after Vector modulation;
Adjustable digital formula phase shifter is at measured signal V
xphase place basis on increase extra additive phase, result makes the reference microwave signal V being about to carry out Vector modulation with it
ref180 degree and 0 degree is become relative to the angle of this road signal, this is corresponding is respectively minimum value and maximal value in the signal power at the output port place of power combiner, then minimum value and the maximal value of the output port voltage of direct-type micromechanics microwave power detector just accurately can be detected by digimer, the minimum value of the signal power at the output port place of the corresponding power combiner of difference and maximal value, thus judge that the angle between two vectors being synthesized is 180 degree or 0 degree, if this angle becomes 180 degree, then mean the phase angle of reference signal add 180 degree deduct the phase shift number of degrees shown in adjustable digital formula phase shifter again after be measured signal V
xif this angle of phase place become 0 degree, then mean that the phase angle of reference signal is measured signal V after deducting the phase shift number of degrees shown in adjustable digital formula phase shifter
xthe difference of phase place wherein twice additive phase angle be certainly 180 degree, ensure the measured signal V extrapolated
xformer phase place be a unique value.
Further, described adjustable digital formula phase shifter configuration is optimized and progress control method, and electrical network section is for comprising L node and n
lbar transmission line of electricity, corresponding to described n
lbar transmission line of electricity planned allocation M platform adjustable digital formula phase shifter, wherein, L is the positive integer of>=3, n
lfor the positive integer of>=2, M is≤n
lpositive integer; Described adjustable digital formula phase shifter configuration optimization and progress control method comprise the following steps:
S100: obtain the node data of described electrical network section L node and the planned allocation number of units M of adjustable digital formula phase shifter, described node data comprises node admittance, the generated power on node is exerted oneself, burden with power and reactive power;
S200: with series electrical potential source and parallel-current source equivalence adjustable digital formula phase shifter, utilize Nortons theorem, voltage source branch road is wherein converted into additional nodalinjection power, set up the electric system node power balance equation containing adjustable digital formula phase shifter;
S300: by arranging power weight coefficient w
1with network loss weight coefficient w
2regulate the weight of section transmission power and system losses in optimization aim, maximum and to take into account system losses minimum for optimization aim with section transmission power, set up containing adjustable digital formula phase shifter and the optimal load flow mathematical model that under considering multi-operating condition, section N-1 retrains
max∑m＝1nmf(m，0)(u(m，0)，x(m，0))s.t.h(m，k)(u(m，k)，x(m，k))＝0g&OverBar；(m，k)≤g(m，k)(u(m，k)，x(m，k))≤g&OverBar；(m，k)m＝1，2，…，nm；k＝0，1，…，nk---(3)，]]＞
Wherein, n
mfor the basic method of operation number that optimization problem is considered; Subscript m represents method of operation m; n
kfor N-1 cut-offs mode sum; Subscript k=0 represents that section is sound and runs; K=1,2 ..., n
kthen represent that a kth N-1 cut-offs mode; Scalar function f
(m, 0)the objective function of system under mode m during sound operation; Vector function h
(m, k)=0 node power balance equation cut-offfing mode for kth under mode m is individual; Constant vector g
(m k)represent respectively vector function g
(m, k)the upper and lower limit of constraint; Vector u, x are respectively control vector and state vector;
S400: adopt non-linear primal-dual interior method, power balance equation formula under the method for operation is disconnected for equality constraint at the basic method of operation and N-1 thereof with all nodes, limit with meritorious, the idle restriction of exerting oneself of generator, phase shifting angle, node voltage is restricted to variable bound condition, be restricted to inequality constrain condition with the steady limit of all line power heat, solve described optimal load flow mathematical model;
S500: corresponding to all configuration statuses configuring 2 to M platform adjustable digital formula phase shifter in each bar circuit of electrical network section, adopt the method for exhaustion to repeat invocation step S400 to calculate, under obtaining different configuration status, the various basic method of operation and N-1 thereof cut-off the section transmission capacity under mode;
The section transmission capacity of the various basic method of operation under S600: comparison step S500 each configuration status obtained, the configuration status of adjustable digital formula phase shifter time maximum according to comprehensive section transmission capacity, determine the allocation optimum state of adjustable digital formula phase shifter, described allocation optimum state comprises the installation number of units of adjustable digital formula phase shifter, and each installation site of adjustable digital formula phase shifter in described electrical network section;
S700: the adjustable digital formula phase shifter allocation optimum state determined according to step S600, the transmission line of electricity of electrical network section configures adjustable digital formula phase shifter; With the power weight coefficient w in seasonal objective function
1=0, make about intrafascicular getting perfect method of operation number n
m=1, make rate of load condensate λ ≡ 1, cut-off the various methods of operation of state in system integrity running status and section N-1 corresponding to electrical network section, adopt the method for exhaustion to repeat invocation step S400 to calculate, determine start-up mode and the phase shifting angle value of each adjustable digital formula phase shifter, set up adjustable digital formula phase shifter operational parameter control table;
S800: the running status that adjustable digital formula phase shifter control device is current according to system, read adjustable digital formula phase shifter operational parameter control table, regulate the method for operation and the phase shifting angle of each adjustable digital formula phase shifter according to operational parameter control table, realize the optimization of electrical network section transport capacity in system integrity running status and the N-1 state of cut-offfing.
Further, described step S400 comprises following action:
S410: arrange initial value, makes iterations k=0, maximum permission iterations K
max=50, Center Parameter σ ∈ (0,1], computational accuracy ε=10
-6, select relaxation factor [1, u]
t> 0, Lagrange multiplier [z > 0, w < 0, y ≠ 0]
t, choose the initial value of variable;
S420: if k < is K
max, go to step S430; Otherwise iterative computation does not restrain, exit iterative loop;
S430: be calculated as follows duality gap Gap:
Gap＝1
Tz-u
Tw(16)
If Gap < is ε, calculate successfully, export optimum solution, exit iterative loop; Otherwise, go to step S440;
S440: by formula (17) calculation perturbation factor mu, solves update equation formula (19), obtains Δ y, its back substitution is obtained Δ 1 to formula (18), Δ u, Δ z, Δ w:
μ＝σGap2r---(17)；]]＞
In formula, parameter centered by σ, meet σ ∈ (0,1];
[-&dtri；x&OverBar；2f(x&OverBar；)+&dtri；x&OverBar；2h(x&OverBar；)y+&dtri；x&OverBar；2g(x&OverBar；)(z+w)]Δx&OverBar；+&dtri；x&OverBar；h(x&OverBar；)Δy+&dtri；x&OverBar；g(x&OverBar；)(Δz+Δw)＝Lx&OverBar；&dtri；x&OverBar；h(x&OverBar；)TΔx&OverBar；＝-Ly&dtri；x&OverBar；g(x&OverBar；)TΔx&OverBar；-Δ1＝-Lz&dtri；x&OverBar；g(x&OverBar；)TΔx&OverBar；+Δu＝-LwZΔ1+LΔz＝-L1μWΔu+UΔw＝-Luμ---(18)；]]＞
In formula, the control vector u in vector representation optimal load flow mathematical model and state vector x; The gloomy matrix in sea for objective function; The gloomy matrix in sea for equality constraint; The gloomy matrix in sea for inequality constrain;
H&OverBar；&dtri；x&OverBar；h(x&OverBar；)&dtri；x&OverBar；h(x&OverBar；)T0Δx&OverBar；Δy＝Lx&OverBar；-Ly---(19)；]]＞
In formula:
H&OverBar；＝H1+H2H1＝-&dtri；x&OverBar；2f(x&OverBar；)+&dtri；x&OverBar；2h(x&OverBar；)y+&dtri；x&OverBar；2g(x&OverBar；)(z+w)H2＝&dtri；x&OverBar；g(x&OverBar；)[U-1W-L-1Z]&dtri；x&OverBar；g(x&OverBar；)TL&OverBar；x&OverBar；＝Lx&OverBar；+&dtri；x&OverBar；g(x&OverBar；)[L-1(L1μ+ZLz)+U-1(Luμ-WLw)]---(20)，]]＞
S470: by the step-length α of following formula determination original variable and dual variable
p, α
d:
αp＝0.9995min{mini(-1iΔ1i，Δ1i＜0；-uiΔui，Δui＜0)，1}(i＝1，2，…，r)αd＝0.9995min{mini(-ziΔzi，Δzi＜0；-wiΔwi，Δwi＞0)，1}(i＝1，2，…，r)---(21)；]]＞
S480: upgrade original variable and Lagrange multiplier respectively:
x&OverBar；1u＝x&OverBar；1u+αpΔx&OverBar；Δ1Δu---(22)；]]＞
yzw＝yzw+αdΔyΔzΔw----(23)；]]＞
S490:k=k+1, returns step S420.
Further, described step S400 also comprises following action:
S450: by choice variable and equation sequence, by the state variable x under the various method of operation
(m, k)with dual variable y
(m, k)arranged together, make the matrix of coefficients of update equation structurally become arrow-like matrix;
S460: by the state variable x under control variable u and each method of operation
0~ x
nksolve respectively after decoupling zero, update equation formula (19) is converted to the linear equation that exponent number significantly reduces and solves.
The present invention is used for the power management control system of forestry machine, for adopting technique scheme, can calculation engine load at least two that adjust according to engine loading in the speed of described cutting tool and the power of the power of described cutting tool positioning system, the power of described propulsion system and described steering automatically by power control module, greatly increase the service efficiency of forestry machine, handled easily and practicality of the present invention is improved further.The present invention has the higher linearity, have employed direct-type micromechanics microwave power detector, can obtain larger bandwidth.Adjustable digital formula phase shifter configuration of the present invention is optimized and progress control method, by setting up and solve electrical network section optimal load flow mathematical model, what obtain meets the control angle that multi-operating condition and N-1 thereof cut-off the phase shifter installation site of mode, number of units and move down phase device in each mode, electrical network section transport capacity almost can be brought up to the steady limit of theory heat of section.Adjustable digital formula phase shifter configuration of the present invention is optimized and progress control method, by solving the electrical network section optimal load flow mathematical model under allocation optimum state, set up adjustable digital formula phase shifter operational parameter control table, and by regulating the method for operation and the phase shifting angle of each adjustable digital formula phase shifter, ensure that electrical network section all reaches optimized running state in system integrity state and N-1 state of cut-offfing.
Accompanying drawing explanation
Fig. 1 is the structural representation of the power management control system for forestry machine that the embodiment of the present invention provides;
Fig. 2 is the structural representation of the power control module that the embodiment of the present invention provides;
Fig. 3 is the schematic flow sheet of the method for the control of the power management for forestry machine that the embodiment of the present invention provides.
In figure: 1, power control module; 1-1, main control computer; 1-2, power sensor; 1-2-1, power measurement resistance; 1-2-2, power measurement controller; 1-3, storer; 1-4, display module; 2, power module; 2-1, power supply connecting device; 2-2, electrical storage device; 2-3, protective relaying device; 3, cutting tool; 3-1, cutting tool speed pickup; 4, cutting tool positioning system; 5, propulsion system; 6, steering; 7, engine control module; 8, for calculation engine load.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with embodiment, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Below in conjunction with accompanying drawing, application principle of the present invention is further described.
As depicted in figs. 1 and 2, a kind of power management control system for forestry machine of the embodiment of the present invention, this power management control system being used for forestry machine comprises power control module 1, power module 2, cutting tool 3, cutting tool positioning system 4, propulsion system 5, steering 6, engine control module 7, for calculation engine load 8; Wherein, described power control module 1 reduces at least one in the power of the speed of cutting tool 3, the power of cutting tool positioning system 4 and steering 6 automatically when the engine loading of described calculating exceedes predetermined value, and described power control module 1 adjusts the speed of described cutting tool 3 in the velocity range defined by the first predetermined percentage higher than standard setting speed and the second predetermined percentage lower than standard setting speed.
Further, described power control module 1 comprises main control computer 1-1, power sensor 1-2, storer 1-3 and display module 1-4.
Further, described power sensor 1-2 comprises power measurement resistance 1-2-1 and power measurement controller 1-2-2; Described power measurement resistance 1-2-1 is arranged on the left side 1-2 of described power sensor, and described power measurement controller 1-2-2 is arranged on the right side of described power measurement resistance 1-2-1; Described power measurement controller 1-2-2 comprises attaching plug, display screen, capacitance body; Attaching plug is arranged on the right side of the lower end of described power measurement controller 1-2-2, and described display screen is arranged on the upper end of described power measurement controller 1-2-2, and described capacitance body is arranged on the lower end of described display screen.
Further, described power module 2 comprises power supply connecting device 2-1, electrical storage device 2-2 and protective relaying device 2-3.
Further, described power supply connecting device 2-1 comprises at least one power supply input circuit connecting external power source is connected load load output circuit with at least one.
Further, described electrical storage device 2-2 comprises the accumulator charging/discharging circuit connecting accumulator.
Further, described cutting tool 3 comprises the cutting tool speed pickup 3-1 be associated with described cutting tool 3.
Further, described power control module 1 adjusted at least two in the power of the power of described cutting tool positioning system 4, the power of described steering 6 and described propulsion system 5 before the speed of the described cutting tool 3 of adjustment.
As shown in Figure 3, a kind of method that power management for forestry machine controls, comprises the following steps:
S1, the load of power control module 1 calculation engine; And when described engine loading exceedes predetermined value, based on the described engine loading calculated, automatically adjust at least one in the power of the speed of cutting tool 3, the power of cutting tool positioning system 4, the power of propulsion system 5 and steering 6;
S2, power control module 1 detect the speed of cutting tool 3; And at least one based on the speed of described cutting tool 3 and the described engine loading calculated, automatically in the power of adjustment cutting tool positioning system 4, the power of propulsion system 5 and the power of described steering 6;
S3, before the speed of the described cutting tool 3 of adjustment, at least two in the power of automatic adjustment 4 power of described cutting tool positioning system, the power of described propulsion system 5 and described steering 6.
Another object of the present invention is to the power sensor detection method providing a kind of power management control system, described power sensor detection method adopts the measured signal V measured through the phase shift of adjustable digital formula phase shifter
xwith reference microwave signal V
refthe method of the signal power after synthesis, realizes the accurate measurement to microwave phase, by measured signal V
xafter certain phase angle moved by adjustable digital formula phase shifter, be added to the input port two of power combiner, will with measured signal V
xthe reference microwave signal V that frequency is identical
refbe added to the input port one of power combiner; This two paths of signals carries out through power combiner the input port being added in direct-type micromechanics microwave power detector after Vector modulation;
Adjustable digital formula phase shifter is at measured signal V
xphase place basis on increase extra additive phase, result makes the reference microwave signal V being about to carry out Vector modulation with it
ref180 degree and 0 degree is become relative to the angle of this road signal, this is corresponding is respectively minimum value and maximal value in the signal power at the output port place of power combiner, then minimum value and the maximal value of the output port voltage of direct-type micromechanics microwave power detector just accurately can be detected by digimer, the minimum value of the signal power at the output port place of the corresponding power combiner of difference and maximal value, thus judge that the angle between two vectors being synthesized is 180 degree or 0 degree, if this angle becomes 180 degree, then mean the phase angle of reference signal add 180 degree deduct the phase shift number of degrees shown in adjustable digital formula phase shifter again after be measured signal V
xif this angle of phase place become 0 degree, then mean that the phase angle of reference signal is measured signal V after deducting the phase shift number of degrees shown in adjustable digital formula phase shifter
xthe difference of phase place wherein twice additive phase angle be certainly 180 degree, ensure the measured signal V extrapolated
xformer phase place be a unique value.
Further, described adjustable digital formula phase shifter configuration is optimized and progress control method, and electrical network section is for comprising L node and n
lbar transmission line of electricity, corresponding to described n
lbar transmission line of electricity planned allocation M platform adjustable digital formula phase shifter, wherein, L is the positive integer of>=3, n
lfor the positive integer of>=2, M is≤n
lpositive integer; Described adjustable digital formula phase shifter configuration optimization and progress control method comprise the following steps:
S100: obtain the node data of described electrical network section L node and the planned allocation number of units M of adjustable digital formula phase shifter, described node data comprises node admittance, the generated power on node is exerted oneself, burden with power and reactive power;
S200: with series electrical potential source and parallel-current source equivalence adjustable digital formula phase shifter, utilize Nortons theorem, voltage source branch road is wherein converted into additional nodalinjection power, set up the electric system node power balance equation containing adjustable digital formula phase shifter;
S300: by arranging power weight coefficient w
1with network loss weight coefficient w
2regulate the weight of section transmission power and system losses in optimization aim, maximum and to take into account system losses minimum for optimization aim with section transmission power, set up containing adjustable digital formula phase shifter and the optimal load flow mathematical model that under considering multi-operating condition, section N-1 retrains
max∑m＝1nmf(m，0)(u(m，0)，x(m，0))s.t.h(m，k)(u(m，k)，x(m，k))＝0g&OverBar；(m，k)≤g(m，k)(u(m，k)，x(m，k))≤g&OverBar；(m，k)m＝1，2，…，nm；k＝0，1，…，nk---(3)，]]＞
Wherein, n
mfor the basic method of operation number that optimization problem is considered; Subscript m represents method of operation m; n
kfor N-1 cut-offs mode sum; Subscript k=0 represents that section is sound and runs; K=1,2 ..., n
kthen represent that a kth N-1 cut-offs mode; Scalar function f
(m, 0)the objective function of system under mode m during sound operation; Vector function h
(m, k)=0 node power balance equation cut-offfing mode for kth under mode m is individual; Constant vector g
(m, k)represent respectively vector function g
(m, k)the upper and lower limit of constraint; Vector u, x are respectively control vector and state vector;
S400: adopt non-linear primal-dual interior method, power balance equation formula under the method for operation is disconnected for equality constraint at the basic method of operation and N-1 thereof with all nodes, limit with meritorious, the idle restriction of exerting oneself of generator, phase shifting angle, node voltage is restricted to variable bound condition, be restricted to inequality constrain condition with the steady limit of all line power heat, solve described optimal load flow mathematical model;
S500: corresponding to all configuration statuses configuring 2 to M platform adjustable digital formula phase shifter in each bar circuit of electrical network section, adopt the method for exhaustion to repeat invocation step S400 to calculate, under obtaining different configuration status, the various basic method of operation and N-1 thereof cut-off the section transmission capacity under mode;
The section transmission capacity of the various basic method of operation under S600: comparison step S500 each configuration status obtained, the configuration status of adjustable digital formula phase shifter time maximum according to comprehensive section transmission capacity, determine the allocation optimum state of adjustable digital formula phase shifter, described allocation optimum state comprises the installation number of units of adjustable digital formula phase shifter, and each installation site of adjustable digital formula phase shifter in described electrical network section;
S700: the adjustable digital formula phase shifter allocation optimum state determined according to step S600, the transmission line of electricity of electrical network section configures adjustable digital formula phase shifter; With the power weight coefficient w1=0 in seasonal objective function, about intrafascicular getting is made to perfect method of operation number n
m=1, make rate of load condensate λ ≡ 1, cut-off the various methods of operation of state in system integrity running status and section N-1 corresponding to electrical network section, adopt the method for exhaustion to repeat invocation step S400 to calculate, determine start-up mode and the phase shifting angle value of each adjustable digital formula phase shifter, set up adjustable digital formula phase shifter operational parameter control table;
S800: the running status that adjustable digital formula phase shifter control device is current according to system, read adjustable digital formula phase shifter operational parameter control table, regulate the method for operation and the phase shifting angle of each adjustable digital formula phase shifter according to operational parameter control table, realize the optimization of electrical network section transport capacity in system integrity running status and the N-1 state of cut-offfing.
Further, described step S400 comprises following action:
S410: arrange initial value, makes iterations k=0, maximum permission iterations K
max=50, Center Parameter σ ∈ (0,1], computational accuracy ε=10
-6, select relaxation factor [1, u]
t> 0, Lagrange multiplier [z > 0, w < 0, y ≠ 0]
t, choose the initial value of variable;
S420: if k < is K
max, go to step S430; Otherwise iterative computation does not restrain, exit iterative loop;
S430: be calculated as follows duality gap Gap:
Gap＝1
Tz-u
Tw(16)
If Gap < is ε, calculate successfully, export optimum solution, exit iterative loop; Otherwise, go to step S440;
S440: by formula (17) calculation perturbation factor mu, solves update equation formula (19), obtains Δ y, its back substitution is obtained Δ 1 to formula (18), Δ u, Δ z, Δ w:
μ＝σGap2r---(17)；]]＞
In formula, parameter centered by σ, meet σ ∈ (0,1];
[-&dtri；x&OverBar；2f(x&OverBar；)+&dtri；x&OverBar；2h(x&OverBar；)y+&dtri；x&OverBar；2g(x&OverBar；)(z+w)]Δx&OverBar；+&dtri；x&OverBar；h(x&OverBar；)Δy+&dtri；x&OverBar；g(x&OverBar；)(Δz+Δw)＝Lx&OverBar；&dtri；x&OverBar；h(x&OverBar；)TΔx&OverBar；＝-Ly&dtri；x&OverBar；g(x&OverBar；)TΔx&OverBar；-Δ1＝-Lz&dtri；x&OverBar；g(x&OverBar；)TΔx&OverBar；+Δu＝-LwZΔ1+LΔz＝-L1μWΔu+UΔw＝-Luμ---(18)；]]＞
In formula, the control vector u in vector representation optimal load flow mathematical model and state vector x; The gloomy matrix in sea for objective function; The gloomy matrix in sea for equality constraint; The gloomy matrix in sea for inequality constrain;
H&OverBar；&dtri；x&OverBar；h(x&OverBar；)&dtri；x&OverBar；h(x&OverBar；)T0Δx&OverBar；Δy＝Lx&OverBar；-Ly---(19)；]]＞
In formula:
H&OverBar；＝H1+H2H1＝-&dtri；x&OverBar；2f(x&OverBar；)+&dtri；x&OverBar；2h(x&OverBar；)y+&dtri；x&OverBar；2g(x&OverBar；)(z+w)H2＝&dtri；x&OverBar；g(x&OverBar；)[U-1W-L-1Z]&dtri；x&OverBar；g(x&OverBar；)TL&OverBar；x&OverBar；＝Lx&OverBar；+&dtri；x&OverBar；g(x&OverBar；)[L-1(L1μ+ZLz)+U-1(Luμ-WLw)]---(20)，]]＞
S470: by the step-length α of following formula determination original variable and dual variable
p, α
d:
αp＝0.9995min{mini(-1iΔ1i，Δ1i＜0；-uiΔui，Δui＜0)，1}(i＝1，2，…，r)αd＝0.9995min{mini(-ziΔzi，Δzi＜0；-wiΔwi，Δwi＞0)，1}(i＝1，2，…，r)---(21)；]]＞
S480: upgrade original variable and Lagrange multiplier respectively:
x&OverBar；1u＝x&OverBar；1u+αpΔx&OverBar；Δ1Δu---(22)；]]＞
yzw＝yzw+αdΔyΔzΔw---(23)；]]＞
S490:k=k+1, returns step S420.
Further, described step S400 also comprises following action:
S450: by choice variable and equation sequence, by the state variable x under the various method of operation
(m, k)with dual variable y
(m, k)arranged together, make the matrix of coefficients of update equation structurally become arrow-like matrix;
S460: by the state variable x under control variable u and each method of operation
0~ x
nksolve respectively after decoupling zero, update equation formula (19) is converted to the linear equation that exponent number significantly reduces and solves.
A kind of power management control system for forestry machine of the present invention is coordinated in the mode controlling the power being produced by machine and consume by power control module 1.From a building site in the motion process in another building site, pay the utmost attention to propulsion system 5, this discharge capacity that can reduce other pump and motor is with conserve energy, even if operator forgets or ignores the discharge capacity reducing unwanted pump and motor, this also can be coordinated in the mode controlling the power being produced by machine and consume by power control module 1.When cutting through tree when machine in automatically completing from a building site to the fortune in another building site, cutting tool power system is most critical and is paid the utmost attention to.Power control module 1 automatically can reduce the power of other hydraulic system, to give cutting tool power system priority.The problem of cutting tool 3 power is solved when machine moves to another one tree from one tree.The inertia of cutting tool 3 will keep its speed within a tolerance interval at certain hour.Therefore, power control module 1 can reduce the discharge capacity of cutting tool pump and/or motor so that conserve energy.When cutting tool 3 speed be reduced to or lower than acceptable level time, cutting tool speed pickup 3-1 will indicate.Then, power control module 1 can increase cutting tool power.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. the power management control system for forestry machine, it is characterized in that, this power management control system being used for forestry machine comprises power control module, power module, cutting tool, cutting tool positioning system, propulsion system, steering, engine control module;
Engine control module, for calculation engine load; Described power control module reduces at least one in the speed of cutting tool, the power of cutting tool positioning system and the power of steering automatically when the engine loading of described calculating exceedes predetermined value, and described power control module adjusts the speed of described cutting tool in the velocity range defined by the first predetermined percentage higher than standard setting speed and the second predetermined percentage lower than standard setting speed;
Described power control module comprises main control computer, power sensor, storer and display module;
Described power sensor comprises power measurement resistance and power measurement controller; Described power measurement resistance is arranged on the left side of described power sensor, and described power measurement controller is arranged on the right side of described power measurement resistance; Described power measurement controller comprises attaching plug, display screen, capacitance body; Attaching plug is arranged on the right side of the lower end of described power measurement controller, and described display screen is arranged on the upper end of described power measurement controller, and described capacitance body is arranged on the lower end of described display screen;
Described power module comprises power supply connecting device, electrical storage device and protective relaying device; Described power supply connecting device comprises at least one power supply input circuit connecting external power source is connected load load output circuit with at least one; Described electrical storage device comprises the accumulator charging/discharging circuit connecting accumulator;
Described cutting tool comprises the cutting tool speed pickup be associated with described cutting tool, and described power control module adjusted at least two in the power of the power of described cutting tool positioning system, the power of described steering and described propulsion system before the speed of the described cutting tool of adjustment.
2. a control method for power management control system, is characterized in that, the control method of described power management control system comprises the following steps:
The load of power control module calculation engine; And when described engine loading exceedes predetermined value, based on the described engine loading calculated, automatically adjust at least one in the power of the speed of cutting tool, the power of cutting tool positioning system, the power of propulsion system and steering;
Power control module detects the speed of cutting tool; And at least one based on the speed of described cutting tool and the described engine loading calculated, automatically in the power of adjustment cutting tool positioning system, the power of propulsion system and the power of described steering;
Before the speed of the described cutting tool of adjustment, automatically adjust at least two in the power of the power of described cutting tool positioning system, the power of described propulsion system and described steering.
3. a power sensor detection method for power management control system, is characterized in that, described power sensor detection method adopts the measured signal V measured through the phase shift of adjustable digital formula phase shifter
xwith reference microwave signal V
refthe method of the signal power after synthesis, realizes the accurate measurement to microwave phase, by measured signal V
xafter certain phase angle moved by adjustable digital formula phase shifter, be added to the input port two of power combiner, will with measured signal V
xthe reference microwave signal V that frequency is identical
refbe added to the input port one of power combiner; This two paths of signals carries out through power combiner the input port being added in direct-type micromechanics microwave power detector after Vector modulation;
Adjustable digital formula phase shifter is at measured signal V
xphase place basis on increase extra additive phase, result makes the reference microwave signal V being about to carry out Vector modulation with it
ref180 degree and 0 degree is become relative to the angle of this road signal, this is corresponding is respectively minimum value and maximal value in the signal power at the output port place of power combiner, then minimum value and the maximal value of the output port voltage of direct-type micromechanics microwave power detector just accurately can be detected by digimer, the minimum value of the signal power at the output port place of the corresponding power combiner of difference and maximal value, thus judge that the angle between two vectors being synthesized is 180 degree or 0 degree, if this angle becomes 180 degree, then mean the phase angle of reference signal add 180 degree deduct the phase shift number of degrees shown in adjustable digital formula phase shifter again after be measured signal V
xif this angle of phase place become 0 degree, then mean that the phase angle of reference signal is measured signal V after deducting the phase shift number of degrees shown in adjustable digital formula phase shifter
xthe difference of phase place wherein twice additive phase angle be certainly 180 degree, ensure the measured signal V extrapolated
xformer phase place be a unique value.
4. power sensor detection method as claimed in claim 3, is characterized in that, described adjustable digital formula phase shifter configuration is optimized and progress control method, and electrical network section is for comprising L node and n
lbar transmission line of electricity, corresponding to described n
lbar transmission line of electricity planned allocation M platform adjustable digital formula phase shifter, wherein, L is the positive integer of>=3, n
lfor the positive integer of>=2, M is≤n
lpositive integer; Described adjustable digital formula phase shifter configuration optimization and progress control method comprise the following steps:
S100: obtain the node data of described electrical network section L node and the planned allocation number of units M of adjustable digital formula phase shifter, described node data comprises node admittance, the generated power on node is exerted oneself, burden with power and reactive power;
S200: with series electrical potential source and parallel-current source equivalence adjustable digital formula phase shifter, utilize Nortons theorem, voltage source branch road is wherein converted into additional nodalinjection power, set up the electric system node power balance equation containing adjustable digital formula phase shifter;
S300: by arranging power weight coefficient w
1with network loss weight coefficient w
2regulate the weight of section transmission power and system losses in optimization aim, maximum and to take into account system losses minimum for optimization aim with section transmission power, set up containing adjustable digital formula phase shifter and the optimal load flow mathematical model that under considering multi-operating condition, section N-1 retrains
max∑m＝1nmf(m，0)(u(m，0)，x(m，0))s.t.h(m，k)(u(m，k)，x(m，k))＝0g&OverBar；(m，k)≤g(m，k)(u(m，k)，x(m，k))≤g&OverBar；(m，k)m＝1，2，...，nm；k＝0，1，...，nk---(3)，]]＞
Wherein, n
mfor the basic method of operation number that optimization problem is considered; Subscript m represents method of operation m; n
kfor N-1 cut-offs mode sum; Subscript k=0 represents that section is sound and runs; K=1,2 ..., n
kthen represent that a kth N-1 cut-offs mode; Scalar function f
(m, 0)the objective function of system under mode m during sound operation; Vector function h
(m, k)=0 node power balance equation cut-offfing mode for kth under mode m is individual; Constant vector g
(m, k)represent respectively vector function g
(m, k)what retrain is upper. lower limit; Vector u, x are respectively control vector and state vector;
S400: adopt non-linear primal-dual interior method, power balance equation formula under the method for operation is disconnected for equality constraint at the basic method of operation and N-1 thereof with all nodes, limit with meritorious, the idle restriction of exerting oneself of generator, phase shifting angle, node voltage is restricted to variable bound condition, be restricted to inequality constrain condition with the steady limit of all line power heat, solve described optimal load flow mathematical model;
S500: corresponding to all configuration statuses configuring 2 to M platform adjustable digital formula phase shifter in each bar circuit of electrical network section, adopt the method for exhaustion to repeat invocation step S400 to calculate, under obtaining different configuration status, the various basic method of operation and N-1 thereof cut-off the section transmission capacity under mode;
The section transmission capacity of the various basic method of operation under S600: comparison step S500 each configuration status obtained, the configuration status of adjustable digital formula phase shifter time maximum according to comprehensive section transmission capacity, determine the allocation optimum state of adjustable digital formula phase shifter, described allocation optimum state comprises the installation number of units of adjustable digital formula phase shifter, and each installation site of adjustable digital formula phase shifter in described electrical network section;
S700: the adjustable digital formula phase shifter allocation optimum state determined according to step S600, the transmission line of electricity of electrical network section configures adjustable digital formula phase shifter; With the power weight coefficient w in seasonal objective function
1=0, make about intrafascicular getting perfect method of operation number n
m=1, rate of load condensate is made to enter ≡ 1, cut-off the various methods of operation of state in system integrity running status and section N-1 corresponding to electrical network section, adopt the method for exhaustion to repeat invocation step S400 to calculate, determine start-up mode and the phase shifting angle value of each adjustable digital formula phase shifter, set up adjustable digital formula phase shifter operational parameter control table;
S800: the running status that adjustable digital formula phase shifter control device is current according to system, read adjustable digital formula phase shifter operational parameter control table, regulate the method for operation and the phase shifting angle of each adjustable digital formula phase shifter according to operational parameter control table, realize the optimization of electrical network section transport capacity in system integrity running status and the N-1 state of cut-offfing.
5. power sensor detection method as claimed in claim 3, it is characterized in that, described step S400 comprises following action:
S410: arrange initial value, makes iterations k=0, maximum permission iterations K
max=50, Center Parameter σ ∈ (0,1], computational accuracy ε=10
-6, select relaxation factor [1, u]
t> 0, Lagrange multiplier [z > 0, w < 0, y ≠ 0]
t, choose the initial value of variable;
S420: if k < is K
max, go to step S430; Otherwise iterative computation does not restrain, exit iterative loop;
S430: be calculated as follows duality gap Gap:
Gap＝1
Tz-u
Tw(16)
If Gap < is ε, calculate successfully, export optimum solution, exit iterative loop; Otherwise, go to step S440;
S440: by formula (17) calculation perturbation factor mu, solves update equation formula (19), obtains Δ y, its back substitution is obtained Δ 1 to formula (18), Δ u, Δ z, Δ w:
μ＝σGap2r---(17)；]]＞
In formula, parameter centered by σ, meet σ ∈ (0,1];
[-&dtri；x&OverBar；2f(x&OverBar；)+&dtri；x&OverBar；2h(x&OverBar；)y+&dtri；x&OverBar；2g(x&OverBar；)(z+w)]Δx&OverBar；+&dtri；x&OverBar；h(x&OverBar；)Δy+&dtri；x&OverBar；g(x&OverBar；)(Δz+Δw)＝Lx&OverBar；&dtri；x&OverBar；h(x&OverBar；)TΔx&OverBar；＝-Ly&dtri；x&OverBar；g(x&OverBar；)TΔx&OverBar；-Δ1＝-Lz&dtri；x&OverBar；g(x&OverBar；)TΔx&OverBar；+Δu＝-LwZΔ1+LΔz＝-L1μWΔu+UΔw＝-Luμ---(18)；]]＞
In formula, the control vector u in vector representation optimal load flow mathematical model and state vector x; The gloomy matrix in sea for objective function; The gloomy matrix in sea for equality constraint; The gloomy matrix in sea for inequality constrain;
H&OverBar；&dtri；x&OverBar；h(x&OverBar；)&dtri；x&OverBar；h(x&OverBar；)T0Δx&OverBar；Δy＝Lx&OverBar；-Ly---(19)；]]＞
In formula:
H&OverBar；＝H1+H2H1＝-&dtri；x&OverBar；2f(x&OverBar；)+&dtri；x&OverBar；2h(x&OverBar；)y+&dtri；x&OverBar；2g(x&OverBar；)(z+w)H2＝&dtri；x&OverBar；g(x&OverBar；)[U-1W-L-1Z]&dtri；x&OverBar；g(x&OverBar；)TL&OverBar；x&OverBar；＝Lx&OverBar；+&dtri；x&OverBar；g(x&OverBar；)[L-1(L1μ+ZLz)+U-1(Luμ-WLw)]---(20)，]]＞
S470: by the step-length α of following formula determination original variable and dual variable
p, α
d:
αp＝0.9995min{mini(-1iΔ1i，Δ1i＜0；-uiΔui，Δui＜0)，1}(i＝1，2，...，r)αd＝0.9995min{mini(-ziΔzi，Δzi＜0；-wiΔwi，Δwi＞0)，1}(i＝1，2，...，r)---(21)；]]＞
S480: upgrade original variable and Lagrange multiplier respectively:
x&OverBar；1u＝x&OverBar；1u+αpΔx&OverBar；Δ1Δu---(22)；]]＞
yzw＝yzw+αdΔyΔzΔw---(23)；]]＞
S490:k=k+1, returns step S420.
6. power sensor detection method as claimed in claim 3, it is characterized in that, described step S400 also comprises following action:
S450: by choice variable and equation sequence, by the state variable x under the various method of operation
(m, k)with dual variable y
(m, k)arranged together, make the matrix of coefficients of update equation structurally become arrow-like matrix;
S460: by the state variable x under control variable u and each method of operation
0~ x
nksolve respectively after decoupling zero, update equation formula (19) is converted to the linear equation that exponent number significantly reduces and solves.
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| US20080302446A1 (en) * | 2005-12-02 | 2008-12-11 | Ponnsse Oyj | Method For Controlling a Power Source of a Forestry Machine |
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| CN103018559A (en) * | 2012-12-26 | 2013-04-03 | 东南大学 | Device and method for phase detection based on indirect type micromechanical microwave power sensor |
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