CN105564530A - Hybrid power system and optimal control method for mechanical outer skeleton - Google Patents
Hybrid power system and optimal control method for mechanical outer skeleton Download PDFInfo
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- CN105564530A CN105564530A CN201610026013.5A CN201610026013A CN105564530A CN 105564530 A CN105564530 A CN 105564530A CN 201610026013 A CN201610026013 A CN 201610026013A CN 105564530 A CN105564530 A CN 105564530A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
- B60K6/36—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings
Abstract
The invention provides a hybrid power system and optimal control method for a mechanical outer skeleton. The system is a parallel-connection type power system, and comprises a mechanical power transmitting system, an electric transmitting system and a hydraulic oil transmitting system. The mechanical power transmitting system comprises a gasoline engine and an electric motor which are connected with a hybrid power transmission. The gasoline engine and the electric motor can independently provide power for the hybrid power transmission and can also provide power for the hybrid power transmission together. The electric transmitting system comprises an electric generator and a conversion system. The electric generator is connected with the hybrid power transmission and provides a power supply for the electric motor through the conversion system. The hydraulic oil transmitting system comprises an oil pump and a transmission system. The oil pump is connected with the hybrid power transmission and provides power to the mechanical outer skeleton through the transmission system. The power compensation mode and the power energy storage mode can be switched according to working conditions in real time, energy can be reasonably distributed between the gasoline engine and the electric motor, and the overall efficiency is the highest.
Description
Technical field
The present invention relates to a kind of hybrid power system, particularly relate to a kind of hybrid power system and the method for optimally controlling that are applied to mechanical exoskeleton, belong to power systems art.
Background technology
Based on the mal-condition of coal mine working environment, the core difficult point of individual environmental control system is the contradiction between human bearing's ability and environmental control system weight, and mechanical exoskeleton is the effective way breaking through this contradiction.
Utilize the function of mechanical exoskeleton, solve the heat evil protection of deep coalmining, dust and gas protection, exoskeleton has lifesaving oxygen respiratory system simultaneously, personnel's work load can be alleviated to a great extent, building security, efficiently coal mining environment are of great significance, moving forward steadily to provide and provide powerful support for simultaneously also for China's energy industry.
The Research Challenges of mechanical exoskeleton is again the research of its power system.The power system of domestic and international mechanical exoskeleton is mainly with storage battery power supply at present, under same quality and size, compared with liquid fuel gasoline, the energy density of storage battery is lower, dynamic property is obviously not enough, makes exoskeleton moving range and heavy burden weight be subject to the capacity of storage battery and the restriction of efficiency.But, if simple liquid fuel replaces storage battery power supply, due to the comparatively complexity of coal mine operation environment, easily make driving engine be everlasting under low speed or idle conditions to operate, be difficult to meet the energy requirement under coal mine operation various working, and the fuel economy of driving engine is poor, exhaust emissions amount is large.Therefore, how persistent high efficiency is equipped with and the mechanical exoskeleton power system of energy requirement under meeting coal mine operation various working is urgent problem.
Summary of the invention
According to the deficiencies in the prior art, provide a kind of hybrid power system and the method for optimally controlling that are applied to mechanical exoskeleton, this system achieves the long-term efficient supply of the energy, also meets the energy supply demand that mechanical exoskeleton tackles various working condition simultaneously.
The present invention realizes by following technical scheme:
Be applied to a hybrid power system for mechanical exoskeleton, this system is parallel-connection type power system, and described parallel-connection type power system comprises mechanical power transmission system, electrical power transmission system and hydraulic oil transmission system; Described mechanical power transmission system comprises spark ignition engine and electrical motor, described spark ignition engine is connected with hybrid gearbox respectively with electrical motor, and spark ignition engine and electrical motor can provide power jointly can provide power to hybrid gearbox again to hybrid gearbox separately; Described electrical power transmission system comprises electrical generator and converting system, and described electrical generator is connected with hybrid gearbox, and electrical generator provides power supply by converting system to electrical motor; Described hydraulic oil transmission system comprises oil pump and driving system, and described oil pump is connected with hybrid gearbox, and oil pump provides power by driving system to mechanical exoskeleton.
Described converting system comprises inverter and storage battery, is connected again after described inverter is connected with electrical generator with storage battery, and described storage battery is connected with electrical motor.
Described storage battery adopts lithium cell.
Described driving system comprises servovalve and oil cylinder, is connected again after described servovalve is connected with oil pump with oil cylinder, and described oil cylinder is connected with mechanical exoskeleton.
Also comprise fuel tank and energy storage, described fuel tank is connected with oil pump, is connected again after described energy storage is connected with oil pump with servovalve.
Described spark ignition engine is connected with hybrid gearbox by power-transfer clutch II; Described electrical motor is connected with hybrid gearbox by power-transfer clutch I.
Described hybrid gearbox comprises two blocks of side plates, by sleeve interval, bearing I is installed between described two blocks of side plates, bearing II and bearing III, described bearing I is provided with gear I, described bearing II is provided with coaxial gear II and gear III, described bearing III is provided with gear IV, and described gear I is connected to transmit with gear II by belt I and forms primary speed-down, and described gear III is connected to transmit with gear IV by belt II and forms double reduction.
The reduction ratio of described primary speed-down is 3, and the reduction ratio of described double reduction is 4, described bearing I is also provided with flywheel, plays storage compartment energy, the effect of stabilized speed.
A kind of method for optimally controlling of hybrid power system of mechanical exoskeleton, using the main drive source of spark ignition engine as hybrid power system, electric propulsion system is as the assistive drive source of hybrid power system, according to the change of motor current, by the retroactive effect of motor current, by feedback current as the on-off signal opening and closing spark ignition engine, such electrical motor can play the effect of peak load shifting to the Driving Torque of spark ignition engine; Then utilizing least square fitting observed data, obtaining fitting formula by organizing observed data more, finally utilize the function multinomial of matching to ask extreme value to obtain degree of mixing, the fitting formula obtained by organizing observed data is more:
。
When degree of mixing is 0.33, the peak power of electrical motor and the peak power ratio of spark ignition engine are 1:3, and hybrid power system is most effective, and fuel saving ratio is maximum.
The principle of the invention:
This hybrid power system need bear the back people, and move with human body, power system entirety adopts parallel, this make these two propulsions source of spark ignition engine and electrical motor power can superpose, thus low power spark ignition engine and electrical motor can be adopted, make whole power system quality, size is all less, to meet the requirement in human body back space.Due to the complexity of the inferior operating environment of coal mine, easily make spark ignition engine be everlasting under low speed or idle conditions to operate, the fuel economy of spark ignition engine is poor, and discharge is large, and in parallel system, on the one hand, spark ignition engine now can be closed and only be carried out drive system with electrical motor, on the other hand, also can increase the load of spark ignition engine, drive electrical generators generates electricity, and charges a battery for future use.In order to reach the energy requirement under each operating mode, play the effect of energy-saving and emission-reduction, whole power system can meet three kinds of mode of operations according to the hybrid gearbox of design, selects according to energy requirement.
If the driving power of exoskeleton job requirements is less than the minimum power of spark ignition engine work, then by storage battery power supply, start under electrical motor works independently pattern, under this pattern, control system sends signal to the power-transfer clutch I of electrical motor makes it close, by the gear of electrical motor by power transimission to output shaft, thus drive operation of oil pump.Now other gear cluster is idle running, and along with turning down gradually of flow regulating valve valve opening, the pressure of output constantly raises thereupon, and to meet the energy requirement that mechanical exoskeleton starts and walks, in motion process, valve opening becomes large, then delivery pressure decreases.The flow of system also reduces along with the reduction of valve opening, and unnecessary flow flows back to fuel tank after by pass valve.
If the driving power of exoskeleton demand exceedes this limit value, now the power-transfer clutch of spark ignition engine closes, and replaces electric motor drive system run by spark ignition engine.Motor reel dallies, along with the rising of petrol engine rotational speed, double reduction gear is all devoted oneself to work, and the moment of torsion of spark ignition engine is delivered to output shaft, the moment of torsion of spark ignition engine, pump discharge pressure, flow system flow all increase, and can meet the energy requirement of mechanical exoskeleton heavy burden and quick walking movement.System delivery pressure reduces after keeping a period of time after increasing to peak again, and the flow of by pass valve first becomes greatly and diminishes.This is because after valve throttle, the unnecessary flow of pump discharge flows back to fuel tank through by pass valve.
When system run into needs run walk rapidly, the large operating mode such as jump run time, now, the power-transfer clutch of spark ignition engine and electrical motor is all closed, jointly as propulsion source driving hydraulic oil pump.Motor start-up is very fast, first drives loaded work piece, and spark ignition engine is devoted oneself to work after needing to start a period of time again.Therefore hybrid power system can shorten the run up time of independent gasoline engine systems, improve the acceleration capability of system simultaneously.Now carry out the power proportions of quantification spark ignition engine and electrical motor with degree of mixing, along with the raising of degree of mixing, spark ignition engine reduces to increase gradually with motor gradually, more can give full play to overall energy-saving effect in principle.But because the increase of motor weight can cause increasing considerably of whole system weight, therefore the degree of mixing value of system is between 0 to 0.5, measure drive load time consume hydraulic-oil quantity to design the dynamic property of gross horsepower, the best degree of mixing establishing power of motor and engine power as constraint condition is 1:3.Now the fuel saving ratio of system is maximum, most effective.
Beneficial effect of the present invention:
The present invention is under the prerequisite of the dynamic property and requirement such as other fundamental technology performance and costs etc. that meet system, power compensation pattern and the switching of power energy storage pattern can be carried out in real time, simultaneously by adopting clutch for clutch control mode can realize the seamless switching between various pattern smoothly and the dynamic impact brought in handoff procedure can be eliminated according to operating mode; Control policy can realize energy and can effectively and reasonably distribute between spark ignition engine, electrical motor, makes whole efficiency reach the highest, obtains overall maximum fuel economy, minimum discharge and pulsation-free performance characteristic.
Accompanying drawing explanation
Fig. 1 is hybrid power system install in parallel schematic diagram;
Fig. 2 is power system schematic diagram;
Fig. 3 is hybrid gearbox structural representation;
Fig. 4 is for being mechanical exoskeleton front view (adding human design);
Fig. 5 is mechanical exoskeleton left view;
1-side plate, 2-bearing I, 3-bearing II, 4-bearing III, 5-gear I, 6-gear II, 7-gear III, 8-gear IV, 9-belt I, 10-belt II, 11-flywheel, 12-sleeve, 100-ankle-joint parts, 101-shank pole, 102-ankle-joint pressure sensor, the naked joint hydraulic actuator of 103-, 104-hauling rope I, 200-knee components, 201-thigh pole, 202-displacement pickup, 203-knee joint hydraulic unit driver, 204-hauling rope II, 300-hip joint components, 301-multiple bay, 302-hip joint pressure sensor, hydraulic unit driver after 303-hip joint, hydraulic unit driver before 304-hip joint, 305-rigidity waistband, 306-hauling rope III, 400-function unit, 401-AD A and D converter group, 402-analog comparator group, 403-DA D and A converter group, 404-signal amplifier group, 500-hybrid power system.
Detailed description of the invention
Below in conjunction with accompanying drawing, by specific embodiment, the present invention is further illustrated.
As shown in Figures 1 to 5, a kind of mechanical exoskeleton, this mechanical exoskeleton comprises ankle-joint parts 100, knee components 200, hip joint components 300 and function unit 400, ankle-joint parts 100 connect knee components 200 by shank pole 101, knee components 200 connects hip joint components 300 by thigh pole 201, and ankle-joint parts 100, knee components 200, hip joint components 300 realize mechanical exoskeleton by function unit 400 and complete the action similar to human body; Also comprising one for mechanical exoskeleton provides the hybrid power system 500 of power.
This hybrid power system 500 is parallel-connection type power system, parallel-connection type power system comprises hybrid gearbox, hybrid gearbox comprises two blocks of side plates 1, by sleeve 12 interval, bearing I 2 is installed between two blocks of side plates 1, bearing II 3 and bearing III 4, bearing I 2 is provided with gear I 5, bearing II 3 is provided with coaxial gear II 6 and gear III 7, bearing III 4 is provided with gear IV 8, gear I 5 is connected to transmit with gear II 6 by belt I 9 and forms primary speed-down, gear III 7 is connected to transmit with gear IV 8 by belt II 10 and forms double reduction, the reduction ratio of primary speed-down is 3, the reduction ratio of double reduction is 4, bearing I 2 is also provided with flywheel 11.One end of bearing I 2 connects power-transfer clutch II, power-transfer clutch II connects spark ignition engine again, what spark ignition engine was chosen is power is the DLA32 type of 2.83KW, the other end connects electrical generator, and be connected with storage battery again after electrical generator is connected with inverter, storage battery is connected with electrical motor again, electrical motor is connected with bearing II 3 by power-transfer clutch I, bearing III 4 is connected with oil pump by coupler, is connected again after oil pump is connected with servovalve with oil cylinder, and oil cylinder is connected with the actuator in each joint in mechanical exoskeleton.Also comprise fuel tank and energy storage, fuel tank is connected with oil pump, is connected again after energy storage is connected with oil pump with servovalve.
Function unit 400 comprises the receiving sensor being positioned at each joint, receiving sensor is connected with AD digital to analogy conversion group 401, AD digital to analogy conversion group 401 is connected with analog comparator group 402, analog comparator group 402 is connected with DA digital to analogy conversion group 403, DA digital to analogy conversion 403 is connected with signal amplifier group 404, signal amplifier group 404 is connected with servovalve group, and servovalve group is connected with the actuator of each joint by oil cylinder.Receiving sensor comprises the ankle-joint pressure sensor 102 being positioned at ankle, is positioned at the displacement pickup 202 at knee joint place and is positioned at the hip joint pressure sensor 302 at hip joint place.Actuator comprises the naked joint hydraulic actuator 103 that is positioned at back multiple bay 301 and knee joint hydraulic unit driver 203, be positioned at the hip joint of rigidity waistband 305 after hydraulic unit driver 304 before hydraulic unit driver 303 and hip joint.
Whole working process:
When naked joint pressure sensor 102 detects the action of human body ankle, naked joint pressure sensor 102 signal processes through AD A and D converter group 401, analog comparator group 402, DA D and A converter group 403, signal amplifier group 404, be transported to servovalve, the action of ankle-joint hydraulic unit driver 103 is controlled by oil cylinder, ankle-joint hydraulic unit driver 103 pulling traction rope I 104, hauling rope I 104 pulls ankle-joint parts 100, ankle action is proposed, until mechanical exoskeleton ankle position rotation amplitude and people's ankle turn identical to complete.
During human body knee joint action, the signal that two displacement pickups 202 on knee joint obtain processes through AD A and D converter group 401, analog comparator group 402, DA D and A converter group 403, signal amplifier group 404, be transported to servovalve, the action of knee joint hydraulic unit driver 203 is controlled by oil cylinder, knee joint hydraulic unit driver 203 pulling traction rope II 204, hauling rope II 204 pulls knee components 200, to complete knee joint action, until mechanical exoskeleton knee joint position rotation amplitude and human knee joint turn identical.
When hip joint action, the hip joint pressure sensor 302 at this position by signal via AD A and D converter group 401, analog comparator group 402, DA D and A converter group 403, signal amplifier 404 groups of process, be transported to servovalve, by hydraulic unit driver 303 fuel feeding before oil cylinder control hip joint, hydraulic unit driver 304 oil return after hip joint, pulling traction rope III 306, hauling rope III 306 pulls hip joint components 300, to complete hip joint action, until rotational angle is consistent with human body.
Claims (10)
1. be applied to a hybrid power system for mechanical exoskeleton, it is characterized in that: this system is parallel-connection type power system, described parallel-connection type power system comprises mechanical power transmission system, electrical power transmission system and hydraulic oil transmission system;
Described mechanical power transmission system comprises spark ignition engine and electrical motor, described spark ignition engine is connected with hybrid gearbox respectively with electrical motor, and spark ignition engine and electrical motor can provide power jointly can provide power to hybrid gearbox again to hybrid gearbox separately;
Described electrical power transmission system comprises electrical generator and converting system, and described electrical generator is connected with hybrid gearbox, and electrical generator provides power supply by converting system to electrical motor;
Described hydraulic oil transmission system comprises oil pump and driving system, and described oil pump is connected with hybrid gearbox, and oil pump provides power by driving system to mechanical exoskeleton.
2. a kind of hybrid power system being applied to mechanical exoskeleton according to claim 1, it is characterized in that: described converting system comprises inverter and storage battery, be connected with storage battery again after described inverter is connected with electrical generator, described storage battery is connected with electrical motor.
3. a kind of hybrid power system being applied to mechanical exoskeleton according to claim 1, is characterized in that: described storage battery adopts lithium cell.
4. a kind of hybrid power system being applied to mechanical exoskeleton according to claim 1, it is characterized in that: described driving system comprises servovalve and oil cylinder, be connected with oil cylinder again after described servovalve is connected with oil pump, described oil cylinder is connected with mechanical exoskeleton.
5. a kind of hybrid power system being applied to mechanical exoskeleton according to claim 4, it is characterized in that: also comprise fuel tank and energy storage, described fuel tank is connected with oil pump, is connected again after described energy storage is connected with oil pump with servovalve.
6. a kind of hybrid power system being applied to mechanical exoskeleton according to claim 1, is characterized in that: described spark ignition engine is connected with hybrid gearbox by power-transfer clutch II; Described electrical motor is connected with hybrid gearbox by power-transfer clutch I.
7. a kind of hybrid power system being applied to mechanical exoskeleton according to any one of claim 1 to 6, it is characterized in that: described hybrid gearbox comprises two pieces of side plates (1), by sleeve (12) interval, bearing I (2) is installed between described two pieces of side plates (1), bearing II (3) and bearing III (4), described bearing I (2) is provided with gear I (5), described bearing II (3) is provided with coaxial gear II (6) and gear III (7), described bearing III (4) is provided with gear IV (8), described gear I (5) is connected to transmit with gear II (6) by belt I (9) and forms primary speed-down, described gear III (7) is connected to transmit with gear IV (8) by belt II (10) and forms double reduction.
8. a kind of hybrid power system being applied to mechanical exoskeleton according to claim 7, it is characterized in that: the reduction ratio of described primary speed-down is 3, the reduction ratio of described double reduction is 4, and described bearing I (2) is also provided with flywheel (11).
9. utilize a method for optimally controlling for the hybrid power system of mechanical exoskeleton described in any one of claim 1 to 6, it is characterized in that:
Using the main drive source of spark ignition engine as hybrid power system, electric propulsion system is as the assistive drive source of hybrid power system, according to the change of motor current, by the retroactive effect of motor current, by feedback current as the on-off signal opening and closing spark ignition engine, such electrical motor can play the effect of peak load shifting to the Driving Torque of spark ignition engine; Then utilizing least square fitting observed data, obtaining fitting formula by organizing observed data more, finally utilize the function multinomial of matching to ask extreme value to obtain degree of mixing.
10. the method for optimally controlling of a kind of hybrid power system of mechanical exoskeleton according to claim 9, it is characterized in that: when degree of mixing is 0.33, the peak power of electrical motor and the peak power ratio of spark ignition engine are 1:3, and hybrid power system is most effective, and fuel saving ratio is maximum.
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| CN201610026013.5A CN105564530A (en) | 2016-01-15 | 2016-01-15 | Hybrid power system and optimal control method for mechanical outer skeleton |
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Application publication date: 20160511 |
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