CN106828116B - Four-wheel drive alternating current transmission articulated truck electric control device and differential control method - Google Patents
Four-wheel drive alternating current transmission articulated truck electric control device and differential control method Download PDFInfo
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- CN106828116B CN106828116B CN201710109158.6A CN201710109158A CN106828116B CN 106828116 B CN106828116 B CN 106828116B CN 201710109158 A CN201710109158 A CN 201710109158A CN 106828116 B CN106828116 B CN 106828116B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L9/00—Electric propulsion with power supply external to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/36—Vehicles designed to transport cargo, e.g. trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses an electric control device and a differential control method for a four-wheel drive alternating current transmission articulated truck, and relates to the technical field of articulated truck control. The device and the method replace a driven mechanical differential lock, and save space and cost. The differential control board detects the rotational speed of four wheel limit motors in real time, and according to the rotational speed difference condition of four motors, combines the moment of differential control strategy intelligent regulation traction motor in real time to reach the purpose such as eliminating the differential, preventing wheel slip, quick steering. Therefore, the invention realizes the electronic differential control of the rotating speeds of the four wheel motors of the four-wheel drive truck by using the electric control device to carry out differential control, thereby realizing the electronic differential control of the four wheels and solving the problems caused by the differential control of the truck by using the mechanical differential lock in the prior art.
Description
Technical Field
The invention relates to the technical field of articulated truck control, in particular to a four-wheel drive alternating current transmission articulated truck electric control device and a differential control method.
Background
The front and rear bodies of the alternating current transmission articulated truck are connected by the articulator, and the front and rear frames form a folding angle during turning, so that the turning radius is reduced, the steering is flexible, the vehicle can pass through a narrow passage, and the passing capacity is high. The special suspension and bogie allow the vehicle to run normally in severe and bad terrain.
At present, the articulated truck almost totally adopts mechanical transmission system, carries out the differential control of truck through being furnished with mechanical differential lock on every axle, and mechanical differential lock not only the structure is complicated, makes the load of truck increase moreover, in addition, carries out differential control in-process, can cause the serious wearing and tearing of wheel hub, reduces wheel hub's life, simultaneously, under wet and slippery environment, braking effect is poor, causes the potential safety hazard of truck operation.
Disclosure of Invention
The invention aims to provide an electric control device and a differential control method for a four-wheel drive alternating current transmission articulated truck, so as to solve the problems in the prior art.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a dual-power four-wheel drive alternating current electric drive articulated truck electric control device comprising: the system comprises an overhead power grid, an alternating current generator, a first rectifier, a second rectifier, an inversion loop and a microcontroller, wherein the first rectifier is connected with the second rectifier in parallel;
the overhead power grid is connected in series with the first rectifier, the alternating current generator is connected in series with the second rectifier, and the first rectifier and the second rectifier are both connected with the inversion loop; the inversion loop is connected with the microcontroller;
the inverter circuit comprises an inverter, a wheel motor, an inverter pulse output plate and an inverter control plate, wherein the inverter is connected with the wheel motor, the inverter is connected with the inverter control plate through the inverter pulse output plate, and the inverter control plate is connected with the microcontroller.
Preferably, the inverter circuits comprise four inverter circuits, the four inverter circuits are connected in parallel, the number of the wheel-side motors is four, one wheel-side motor is arranged on one driving wheel, and the inverter circuit further comprises a differential controller which is respectively connected with the four wheel-side motors and the microcontroller.
Preferably, the device further comprises an excitation loop, wherein the excitation loop comprises an excitation winding and an excitation control board, the excitation loop is connected with an alternating current generator through the excitation winding, and the excitation loop is connected with the microcontroller through the excitation control board; the motor further comprises a chopper loop, wherein the chopper loop comprises a chopper and a braking resistor which are connected in series; the chopper loop is connected with the inverter loop in parallel; the chopper loop is connected with the microcontroller, and the braking resistor is a constant value resistor.
Preferably, the intelligent electric power generation system further comprises an electric parameter detection device and an alarm protection device which are connected with the microcontroller, wherein the electric parameter detection device comprises a current sensor, a voltage sensor, a grounding detector, an overhead line open-phase detector and a wheel motor overheat detector.
Preferably, the system further comprises a display, wherein the display is arranged in a cab of the articulated truck and is in data connection with the microcontroller.
Preferably, the electric control device further comprises a storage battery and a tri-stable voltage power supply, wherein the input end of the tri-stable voltage power supply is connected with the storage battery, and the output end of the tri-stable voltage power supply is connected with an electric device in the electric control device of the alternating current transmission system of the multi-wheel drive articulated truck.
The differential control method of the four-wheel drive alternating current transmission articulated truck is realized by the electric control device and comprises the following steps of:
s1, the microcontroller collects signals of a direction switch, an accelerator pedal and a brake pedal of the articulated truck, and judges the operation condition of the articulated truck according to the information;
s2, the differential controller collects steering angle information of the truck and sends the information to the microcontroller, the microcontroller calculates torque required by the wheel side motor according to the information,
s3, the microcontroller determines a given moment of the wheel side motor according to the operation condition of the articulated truck and the moment required by the wheel side motor calculated in the S2, and sends the given moment to the inverter;
and S4, the inverter adjusts the voltage and the current required by the wheel motor according to the given moment to control the rotating speed of the wheel motor.
Preferably, in S2, the microcontroller calculates a torque required by the wheel side motor, including the steps of:
s201, calculating total moment required by the four wheel side motors;
s202, calculating average moment according to the total moment;
s203, judging whether the steering angle of the truck is zero, if so, taking the average moment as the moment required by each wheel motor, and if not, executing S204;
s204, calculating the moment required by the wheel side motor according to the following formula:
in the method, in the process of the invention,
T inner part The torque required by the inner wheel rim motor is required;
T outer part The torque required by the motor at the outer side wheel edge is required;
t is the average moment;
alpha is the steering angle of the articulated truck, positive values indicate left turning of the truck, and negative values indicate right turning of the truck;
l1 is the length of the front body of the articulated truck;
l2 is the length of the rear body of the articulated truck;
l3 is the width of the vehicle of the articulated truck.
Preferably, for each rim motor, the rotation speed at the previous moment is set to be n 0 The current rotation speed is n, if n > k 1. N 0 And k1>1.1, judging that the motor is slipping, if the slipping motor and the non-slipping motor exist in the four wheel-side motors, reducing the given moment of the slipping motor, and evenly distributing the reduction of the given moment to the non-slipping motor until the rotating speed of the slipping motor is reduced to the point that the motor is not drivenUntil it slides.
Preferably, for each rim motor, the rotation speed at the previous moment is set to be n 0 The current rotation speed is n, if n > k 1. N 0 And k1>And 2, judging that the motor slips, if more than three slipping motors exist, adopting a torque reduction control strategy to inhibit continuous slipping, and reasonably distributing the torque of the motor after the rotating speed of the slipping motors is reduced so as to finish power distribution as soon as possible.
The beneficial effects of the invention are as follows: the embodiment of the invention provides an electric control device and a differential control method for a four-wheel drive alternating current transmission articulated truck, which replace a transmission mechanical differential lock and save space and cost. The differential control board detects the rotational speed of four wheel limit motors in real time, and according to the rotational speed difference condition of four motors, combines the moment of differential control strategy intelligent regulation traction motor in real time to reach the purpose such as eliminating the differential, preventing wheel slip, quick steering. Therefore, the invention realizes the electronic differential control of the rotating speeds of the four wheel motors of the four-wheel drive truck by using the electric control device to carry out differential control, thereby realizing the electronic differential control of the four wheels and solving the problems caused by the differential control of the truck by using the mechanical differential lock in the prior art.
Drawings
FIG. 1 is a schematic diagram of an overall circuit of an electronic control device provided by the invention;
figure 2 is a schematic diagram of a single current transformer circuit in an electronic control device;
FIG. 3 is a block diagram of generator excitation regulation control when power is supplied to the engine;
FIG. 4 is a graph of torque, slip frequency, current, voltage versus speed control during traction conditions;
FIG. 5 is a graph of braking force, wheel side motor voltage, current and slip frequency versus speed for braking conditions;
FIG. 6 is a schematic illustration of the position of the articulation body of the articulated truck turn simulator;
fig. 7 is a schematic diagram of a differential control flow.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description is presented by way of example only and is not intended to limit the invention.
Example 1
As shown in fig. 1-3, an embodiment of the present invention provides a dual-power four-wheel drive ac electric drive articulated truck electric control device, including: the system comprises an overhead power grid, an alternating current generator, a first rectifier, a second rectifier, an inversion loop and a microcontroller, wherein the first rectifier is connected with the second rectifier in parallel;
the overhead power grid is connected in series with the first rectifier, the alternating current generator is connected in series with the second rectifier, and the first rectifier and the second rectifier are both connected with the inversion loop; the inversion loop is connected with the microcontroller;
the inverter circuit comprises an inverter, a wheel motor, an inverter pulse output plate and an inverter control plate, wherein the inverter is connected with the wheel motor, the inverter is connected with the inverter control plate through the inverter pulse output plate, and the inverter control plate is connected with the microcontroller. In the use process, when the articulated truck runs in a place with an overhead wire power grid, a driver can press a pantograph lifting switch, the pantograph lifts to an overhead wire under the cooperation of an electric control and hydraulic controller, and the lifting of the pantograph is completed after a proper wiring position is found. At this time, the overhead power grid begins to supply power to the electronic control device of the articulated truck; and when the running area of the articulated truck is not provided with an overhead power grid, the control of the microcontroller is used for switching to the power supply of the alternating current generator.
By adopting the double-power mode, the power can be supplied by using the generator at the place without the overhead line power grid, so that the normal use of the truck is ensured, and the power is switched to the power supply of the power grid at the place with the overhead line power grid, and the alternating current transmission system of the power supply of the power grid has the advantages of high power, strong overload capacity, large traction force, low running cost and the like.
Therefore, the electric control device for the double-power four-wheel drive alternating current transmission articulated truck provided by the embodiment fully utilizes the advantages of power grid and engine power supply, and exerts the characteristics of an alternating current transmission system.
The electric control device of the hinged card with the structure comprises the following working processes:
the method comprises the steps of collecting signals such as the switching value and the angle of a direction switch, an accelerator pedal and a brake pedal of a vehicle, sending the collected signals to a microcontroller, changing the braking force or the traction force of a wheel motor according to a control algorithm after the microcontroller carries out logic operation according to the angle signal of the brake pedal or the accelerator pedal, sending the signals to an excitation controller, a chopper controller and a variable flow controller, finally controlling the wheel motor to operate under traction or braking working conditions by a variable flow pulse output board, realizing operation under various working conditions such as forward traction, backward traction, forward braking and backward braking of an articulated truck, and completing truck working condition switching by an electric control device according to the intention of a driver in the operation of the articulated truck.
In this embodiment, the inverter circuits include four, and four inverter circuits are connected in parallel, four wheel motors are provided, and one wheel motor is provided on one driving wheel.
With the above structure, individual control of each driving wheel can be ensured.
In the structure, the inverter converts direct current into alternating current with variable frequency according to the torque command and the truck driving requirement, so that the traction control of the asynchronous motor is completed, and the rapid and smooth switching of traction and braking working conditions can be realized. When the articulated truck is in traction operation, the wheel motor is operated in a motor state, the four inverters convert direct current in the middle link into three-phase alternating current with voltage, current and frequency according to the characteristic requirement of the traction motor to drive the four wheel motors to work, meanwhile, the electric control device ensures that three-phase voltages of the four wheel sides are symmetrical, the three-phase current is close to sine, and the influence of harmonic waves and voltage asymmetry on the wheel motor can be reduced. When the vehicle runs under the electric braking working condition, the four wheel motors work in a generator state, and inertial energy of the vehicle is converted into electric energy and output to a middle direct current link. In the process of driving four wheel motors by four inverters, an electric control device is required to rapidly output instructions according to traction and braking characteristics of the wheel motors so as to achieve real-time control of the wheel motors.
In this embodiment, the vehicle wheel hub motor may further include a differential controller, where the differential controller is connected to the four wheel hub motors and the microcontroller respectively.
By adopting the structure, the electric control device has the differential protection function, wherein the differential control board detects the rotating speeds of the four wheel motors in real time, and according to the rotating speed difference condition of the four motors, the moment of the traction motor is intelligently regulated in real time by combining a differential control strategy so as to achieve the purposes of eliminating the differential, preventing the wheels from slipping, quickly steering and the like.
The electric braking mode is adopted to generate braking force, so that the abrasion of the vehicle hub is reduced, the electronic differential is adopted to replace a mechanical differential lock with complex structure and large volume, the situation that the articulated truck adopts mechanical transmission is changed, and the use space of the articulated truck is expanded.
In this embodiment, the device further includes an excitation circuit, where the excitation circuit includes an excitation winding and an excitation control board, the excitation circuit is connected with the alternator through the excitation winding, and the excitation circuit is connected with the microcontroller through the excitation control board.
The exciting circuit also comprises an exciting switch, a diode for preventing reverse conduction and a current limiting resistor. The anti-reverse diode is used for preventing the battery from being charged. When the engine is at low speed, the excitation controller controls the intermediate voltage to linearly change along with the rotating speed of the engine, and the voltage is kept stable after the intermediate voltage reaches a certain rotating speed, so that the traction generator and the inverter are considered. The engine speed n and the intermediate voltage have the following functional relationship: u=f (n). The excitation controller sends the difference value between the given and actually measured intermediate DC voltage values to the generator excitation PI regulator to generate a trigger signal, and the output voltage of the main generator is controlled by adjusting the excitation current of the excitation winding of the generator, so that the purpose of controlling the intermediate DC voltage is achieved.
In this embodiment, the motor may further include a chopper circuit including a chopper and a brake resistor connected in series; the chopper loop is connected with the inverter loop in parallel; the chopper circuit is connected with the microcontroller.
In the use process, when the direct-current voltage exceeds the upper limit set voltage, the chopping controller controls the chopping IGBT to be conducted, so that the direct-current loop releases energy through the braking resistor to reduce the direct-current voltage. And when the voltage of the direct current bus is reduced to the lower limit of the voltage, the converter charges the capacitor in the middle link. When the charging voltage exceeds the upper limit value, the chopper controller controls the brake resistor to be closed again, the charging and discharging processes are repeated, and the brake resistor is in an intermittent operation state.
In this embodiment, the braking resistor is a constant resistor.
In this embodiment, the system further includes an electrical parameter detection device and an alarm protection device connected to the microcontroller.
The electric parameter detection equipment comprises a current sensor, a voltage sensor, a grounding detector, an overhead line open-phase detector and a wheel motor overheat detector.
The positive and negative detection ends of the grounding detector are respectively connected between the positive electrode and the negative electrode of the direct current loop. Whether the ground fault occurs is determined by detecting the insulation resistance value of the direct current positive and negative poles to the ground, and whether the generator has the ground fault can also be determined according to the detected signal transformation rule. The grounding detector is connected with the microcontroller, so that the microcontroller can detect the grounding faults of the generator and the anode and the cathode of the intermediate direct current loop. When the microcontroller detects the ground fault, an alarm instruction is sent out to prompt an operator to generate the ground fault, and meanwhile, emergency stop energy measures are taken for the converter according to the ground fault condition when necessary so as to prevent the fault from expanding.
The overhead line phase-failure detector is used for dynamically detecting whether the three-phase overhead line is in a phase failure state or not and indicating the state of the three-phase power in real time, and has the advantages of convenience in use, accurate detection, low power consumption and the like. When any one phase voltage in the three-phase overhead line input is in a phase failure, the phase failure detector outputs a phase failure warning signal, and the reliability and stability of the overhead line in power supply are ensured through processing the warning signal, so that the power supply of the engine can be switched to be powered as soon as possible when the overhead line has abnormal power supply.
The microcontroller of the system is connected with a plurality of voltage sensors and current sensors. The voltage sensor is connected with the anode and the cathode of the intermediate circuit to detect the voltage of the intermediate direct current circuit in real time. The electric control device receives a low-voltage signal of 0-10V from the voltage sensor. And the real-time voltage of the intermediate direct current loop is obtained through the calculation of the microcontroller and is transmitted to the variable-flow controller for control by the power supply machine. The current detection loop converts the measured current signal into a voltage signal of 0-10V and transmits the voltage signal to the microcontroller, and the current is obtained through the operation of the microcontroller and is used for controlling the constant power when the engine is powered. The traction motor three-phase current sensor detects the current of the traction motor three phases in real time, and finally sends the current to the microcontroller through the detection circuit for real-time control of the wheel motor.
In this embodiment, the device further comprises a display, the display is disposed in the cab of the articulated truck, and the display is in data connection with the microcontroller.
In the use, the electric control device sends electric quantity signals such as vehicle working conditions, voltage and current of two three-phase rectifiers, three-phase current, power and the like of four traction motors to a display screen of a cab in real time through CAN communication mode information so as to facilitate a driver to master the running conditions of the vehicle and the four motors.
In this embodiment, the electric control device further comprises a storage battery and a tri-voltage-stabilizing power supply, wherein the input end of the tri-voltage-stabilizing power supply is connected with the storage battery, and the output end of the tri-voltage-stabilizing power supply is connected with an electric device in the multi-wheel driving articulated truck alternating current transmission system electric control device.
The input end of the stabilized voltage power supply is connected with the storage battery of the articulated truck, and the output end of the stabilized voltage power supply is connected with the electric control device, the grounding detector, the excitation controller, the variable current controller, the electronic differential controller, the chopper controller and the like through the wiring terminal strip and provides stable 24V direct current for the components. The storage battery on the articulated truck is connected with four-way trip switches which are respectively used for switching on and off each control loop circuit in the system, and when the loop has over-current, short-circuit and other fault phenomena, the corresponding control circuit is automatically disconnected after the trip switches act, so that the purpose of protecting the loop device is achieved.
Example two
The embodiment of the invention provides a differential control method of a four-wheel drive alternating current transmission articulated truck, which is characterized by comprising the following steps of:
s1, the microcontroller collects signals of a direction switch, an accelerator pedal and a brake pedal of the articulated truck, and judges the operation condition of the articulated truck according to the information;
s2, the differential controller collects steering angle information of the truck and sends the information to the microcontroller, the microcontroller calculates torque required by the wheel side motor according to the information,
s3, the microcontroller determines a given moment of the wheel side motor according to the operation condition of the articulated truck and the moment required by the wheel side motor calculated in the S2, and sends the given moment to the inverter;
and S4, the inverter adjusts the voltage and the current required by the wheel motor according to the given moment to control the rotating speed of the wheel motor.
The actual control process of the method comprises the following steps:
the driver operates the direction switch, the accelerator pedal and the brake pedal of the articulated truck, the electric control device judges the operating condition of the truck after logic operation and processing according to the signals of the direction switch, the accelerator pedal, the brake pedal and the like, and then the microcontroller is matched with the variable flow controller to realize traction or braking control of the articulated truck according to the corresponding control instructions sent by the electric control device according to the signals of the collected voltage, current and the like.
When the articulated truck is towed, three-phase alternating current provided by a generator or an overhead wire power grid is rectified into direct current through a three-phase uncontrollable rectifier formed by power diodes, and the direct current is filtered into stable direct current through a supporting capacitor, so that voltage and current meeting the input requirements of a converter are provided. Under the traction working condition, when the intermediate DC bus voltage is over-voltage, the chopper is controlled by the chopper controller to prevent the bus voltage from being over-high; when the articulated truck operates under a braking working condition, the engine supplies power, the main generator provides pre-excitation voltage for the asynchronous motor through the intermediate direct current link and the converter, once the motor starts working under the pre-excitation voltage, the intermediate direct current voltage rapidly reaches a set value by means of the energy fed back when the traction motor brakes, and the main generator does not provide energy for the intermediate direct current link and the braking resistor any more, and the process is not needed when the overhead line is powered. Under a braking working condition, the four converters control the stator frequency of the asynchronous motor to be smaller than the rotor frequency, so that the traction motor works in a power generation state, the articulated truck is in the braking working condition, and the chopper starts to work according to the magnitude of the busbar voltage to maintain the fluctuation of the direct current busbar voltage in a certain range.
As shown in fig. 4, in the full speed range of the traction working condition, the wheel side motor samples the vector control mode in the low-speed section, samples the synchronous modulation module of the segmentation in the middle speed, samples the mixed modulation method of the square wave mode in the high-speed section.
The torque and frequency relationship of the motor is shown as follows:
wherein: f is the frequency of the motor, g is the overload multiple, equal to the maximum torque divided by the torque at the intersection of the motor characteristic curve and the torque curve in fig. 4, and U is the voltage.
The control system controls the mechanical characteristics (torque) of the articulated truck hub motor to change with the rotation speed or frequency according to a certain law of fig. 4 so as to meet the requirement of the vehicle on traction force.
When the articulated truck is started under muddy, soft and other road conditions, a larger traction torque is needed, the wheel-side motor is controlled to run according to the constant torque, the slip frequency of the motor is controlled to be a fixed value by the variable flow controller, the constant torque control of the motor is realized, and then the high-torque quick starting and running of the vehicle are realized. In this phase, the closer the slip frequency is to the critical slip frequency, the greater the torque both attain in the engine and three-phase overhead line mode. The slip frequency at this stage is linearly controlled according to the angle of the driver pedal to achieve constant torque control. The control system adopts a matching mode of a large inverter and a small motor, and the characteristics of the motor are fully exerted.
As shown in fig. 4, as the speed of the articulated truck increases, in order to fully develop the motor characteristics, the motor enters a step-up constant power and constant voltage constant power stage, and according to different speed values or frequency values, the torque of the traction motor is regulated by the variable current controller to ensure the constant power operation of the traction motor. Controlling the voltage, current and slip of the motor according to the characteristics of fig. 4 at this stage achieves constant power control of the motor, which remains in the process
When the rotation speed of the motor rises to the rated voltage, the motor enters a constant voltage and constant power stage, the voltage is not increased along with the frequency but is stabilized at the rated value, and the motor voltage is kept unchanged due to the fact that the motor voltage reaches the rated value in the process, and the overload multiple needs to be controlled and keptTo realize the constant power control of the motor.
As shown in fig. 4, the system further comprises a field weakening control function, when the working voltage of the four traction motors reaches the rated voltage, the motor voltage is limited by the highest voltage, the motor voltage loses the regulation capability, and the variable current controller controls the motor output voltage to be stable at the maximum value. As the frequency of the power supply increases, the motor operates in the field weakening region, and the magnetic flux decreases in inverse proportion to the frequency of the power supply. At the moment, the inversion control board adopts a specific field weakening control strategy to control the torque of the motor to change inversely with the power supply frequency, so that the traction motor operates in a field weakening state, and a proper traction or braking torque can be provided to drive the truck to operate in a traction or braking working condition so as to meet the operation of the articulated truck.
As shown in fig. 5, under a braking condition, the variable flow controller controls the stator frequency of the wheel side motor to be smaller than the rotor frequency, so that the motor works in a generator state, and the articulated truck operates under the braking condition. The resistance braking working condition is divided into three working areas: a constant braking power zone, a constant braking force zone and a braking force reducing zone. Different brake pedal depression depths correspond to different braking force characteristic curves, but the characteristic curves are similar in shape and the principle is the same.
When the wheel side motor is electrically braked at a high speed, the variable flow controller controls the motor to output maximum torque, and before the motor does not reach rated torque, the motor works in a constant braking power area. When the motor reaches rated torque, the motor is not allowed to increase torque along with the reduction of the rotating speed, and the variable-current controller performs constant-torque control at the moment, so that the wheel-side motor of the articulated truck runs in a constant-braking force area. When the rotating speed of the wheel side motor is lower, the power supply frequency and the motor terminal voltage of the wheel side motor are smaller, the variable flow controller controls the braking force of the asynchronous motor to linearly decrease, and the motor works in a braking force decreasing area.
In the embodiment of the present invention, in S2, the microcontroller calculates the torque required by the wheel side motor, including the following steps:
s201, calculating total moment required by the four wheel side motors;
s202, calculating average moment according to the total moment;
s203, judging whether the steering angle of the truck is zero, if so, taking the average moment as the moment required by each wheel motor, and if not, executing S204;
s204, calculating the moment required by the wheel side motor according to the following formula:
in the method, in the process of the invention,
T inner part The torque required by the inner wheel rim motor is required;
T outer part The torque required by the motor at the outer side wheel edge is required;
t is the average moment;
alpha is the steering angle of the articulated truck, positive values indicate left turning of the truck, and negative values indicate right turning of the truck;
l1 is the length of the front body of the articulated truck;
l2 is the length of the rear body of the articulated truck;
l3 is the width of the vehicle of the articulated truck.
In the embodiment of the invention, an electronic differential controller is adopted to replace a mechanical differential lock, and the torque of four wheel motors is used as a control object. The control system continuously adjusts and reasonably dynamically distributes the moment of the four wheel motors in real time through a control strategy to realize quick steering, smooth speed regulation and dynamic control of the vehicle.
In the steering process, because the speeds of the motors at the inner wheel and the outer wheel are different, the distance travelled by the inner wheel is smaller than the distance travelled by the outer wheel, so that the vehicle can rotate inwards, and the turning radius is smaller. As shown in fig. 6, a steering model of a dual-powered articulated truck. The steering angle is obtained by a steering angle sensor mounted at the front and rear vehicle body direct hinge portion. The direction of the wheel side motor speed is the tangential direction of the connecting line from the front wheel to the steering center, and according to the model and mathematical knowledge, the torque of the wheel side motors on the inner side and the outer side when the steering angle alpha of the articulated body is obtained by combining the parameters such as the width, the length, the average speed of the vehicle and the like of the body of the articulated truck, as shown by the formula in S204.
When the truck is turning, the control system obtains moment distribution relations between different turning angles of the articulated body and the rotating speeds of the four wheel motors according to the calculation formula, and then controls the wheel motors to operate according to the new moment distribution relations, and a control flow chart is shown in fig. 7. The differential controller detects signals such as direction, accelerator pedal, brake pedal, hinge body rotation angle, rotation speed of four wheel motors and the like to perform logic operation, judges the working condition of the vehicle, and determines the moment required by the motors by combining the traction or braking characteristics of fig. 4 or 5. When the rotation angle of the articulated body is more than 0, the mine car rotates right, and when the rotation angle of the articulated body is less than 0, the mine car rotates left, and the motor at the steering side is an inner side motor. The differential controller obtains the torque difference of the inner and outer wheel side motors according to the model and sends the torque difference to the main controller, the main controller redistributes the torque of the four motors according to the current working condition, and the torque is given to the converter controllers of the four wheel side motors to drive the motors to realize the differential control function.
In normal running of the truck, the torques of the four wheel motors are evenly distributed. In the turning process of the truck, the torque required by the inner motor is generally smaller than that of the outer motor, and the rotation speed of the outer wheel motor is increased after the torque of the outer motor is increased, so that the outer wheel turns faster, and quick turning is realized.
In the embodiment of the invention, for each wheel motor, the rotating speed at the previous moment is set as n 0 The current rotation speed is n, if n > k 1. N 0 And k1>1.1, judging that the motor is slipping, if the slipping motor and the non-slipping motor exist in the four wheel motors, reducing the given moment of the slipping motor, and evenly distributing the reduction of the given moment to the non-slipping motor until the rotating speed of the slipping motor is reduced to the point that the motor is not slipping.
In a preferred embodiment, for each rim motor, the rotation speed at the previous moment is set to n 0 The current rotation speed is n, if n > k 1. N 0 And k1>And 2, judging that the motor slips, if more than three slipping motors exist, adopting a torque reduction control strategy to inhibit continuous slipping, and reasonably distributing the torque of the motor after the rotating speed of the slipping motors is reduced so as to finish power distribution as soon as possible.
Under the condition of power supply of an engine or a power grid, one or more phenomena of wheel slip, sideslip and the like can occur when a truck runs in a mining area in wet and muddy road conditions and rainy and snowy weather, and a control system is required to take measures to inhibit the slip phenomenon. The rotation speeds of the four wheel rim motors are n1, n2, n3 and n4 in sequence. When four motor slipping occurs, taking the motor rotating speed before slipping as a reference n 0 The method comprises the steps of carrying out a first treatment on the surface of the When more than one motor does not slip, taking the rotation speed of the motor which does not slip as a reference speed n 0 。
Rotational speed of the slipping motor: n > k1 n 0 。
When k1>1.1, the wheels are considered to slip, the torque setting of the slipping motor is reduced, and the reduced torque is evenly distributed to the motor without slipping to ensure the traction force of the whole vehicle to be constant until the rotating speed of the slipping motor is reduced to a normal value.
If the slipping cannot be restrained, when the coefficient k1 is more than 2 or more than three motors slip, a moment-reducing control strategy is needed to restrain the continuous slipping, and the moment of the motors is reasonably distributed after the rotating speed of the slipping motors is reduced so as to finish the distribution of power as soon as possible.
By adopting the technical scheme disclosed by the invention, the following beneficial effects are obtained: the embodiment of the invention provides an electric control device and a differential control method for a four-wheel drive alternating current transmission articulated truck, which replace a mechanical differential lock for transmission and save space and cost. The differential control board detects the rotational speed of four wheel limit motors in real time, and according to the rotational speed difference condition of four motors, combines the moment of differential control strategy intelligent regulation traction motor in real time to reach the purpose such as eliminating the differential, preventing wheel slip, quick steering. Therefore, the invention realizes the electronic differential control of the rotating speeds of the four wheel motors of the four-wheel drive truck by using the electric control device to carry out differential control, thereby realizing the electronic differential control of the four wheels and solving the problems caused by the differential control of the truck by using the mechanical differential lock in the prior art.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
It should be understood by those skilled in the art that the time sequence of the method steps provided in the above embodiments may be adaptively adjusted according to the actual situation, or may be performed concurrently according to the actual situation.
All or part of the steps in the methods according to the above embodiments may be implemented by a program for instructing related hardware, and the program may be stored in a storage medium readable by a computer device, for performing all or part of the steps in the methods according to the above embodiments. The computer device, for example: personal computers, servers, network equipment, intelligent mobile terminals, intelligent home equipment, wearable intelligent equipment, vehicle-mounted intelligent equipment and the like; the storage medium, for example: RAM, ROM, magnetic disk, magnetic tape, optical disk, flash memory, usb disk, removable hard disk, memory card, memory stick, web server storage, web cloud storage, etc.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which is also intended to be covered by the present invention.
Claims (7)
1. A dual-power four-wheel drive alternating current transmission articulated truck electronic control device, comprising: the system comprises an overhead power grid, an alternating current generator, a first rectifier, a second rectifier, an inversion loop and a microcontroller, wherein the first rectifier is connected with the second rectifier in parallel;
the overhead power grid is connected in series with the first rectifier, the alternating current generator is connected in series with the second rectifier, and the first rectifier and the second rectifier are both connected with the inversion loop; the inversion loop is connected with the microcontroller;
the inverter circuit comprises an inverter, a wheel motor, an inverter pulse output plate and an inverter control plate, wherein the inverter is connected with the wheel motor, the inverter is connected with the inverter control plate through the inverter pulse output plate, and the inverter control plate is connected with the microcontroller;
the electric control device can realize the differential control method of the double-power four-wheel drive alternating current transmission articulated truck, which comprises the following steps,
s1, the microcontroller collects signals of a direction switch, an accelerator pedal and a brake pedal of the double-power four-wheel drive alternating current electric transmission articulated truck, and judges the operation condition of the double-power four-wheel drive alternating current electric transmission articulated truck according to the signals;
s2, the differential controller collects the steering angle information of the double-power four-wheel drive alternating current transmission articulated truck and sends the information to the microcontroller, the microcontroller calculates the moment required by the wheel side motor according to the steering angle information,
s3, the microcontroller determines a given moment of the wheel motor according to the operation condition of the double-power four-wheel drive alternating current transmission articulated truck and the moment required by the wheel motor calculated in the S2, and sends the given moment to the inverter;
s4, the inverter adjusts the voltage and the current required by the wheel motor according to the given moment to control the rotating speed of the wheel motor;
in S2, the microcontroller calculates the torque required by the wheel motor, including the following steps:
s201, calculating total moment required by the four wheel side motors;
s202, calculating average moment according to the total moment;
s203, judging whether the steering angle of the dual-power four-wheel drive alternating current transmission articulated truck is zero, if so, taking the average moment as the moment required by each wheel side motor, and if not, executing S204;
s204, calculating the moment required by the wheel side motor according to the following formula:
in the method, in the process of the invention,
T inner part The torque required by the inner wheel rim motor is required;
T outer part The torque required by the motor at the outer side wheel edge is required;
t is the average moment;
alpha is the steering angle of the double-power four-wheel drive alternating current electric transmission articulated truck, positive values indicate the left turn of the double-power four-wheel drive alternating current electric transmission articulated truck, and negative values indicate the right turn of the double-power four-wheel drive alternating current electric transmission articulated truck;
l1 is the length of a front body of the double-power four-wheel drive alternating current transmission articulated truck;
l2 is the length of the rear body of the double-power four-wheel drive alternating current transmission articulated truck;
l3 is the width of the vehicle of the double-power four-wheel drive alternating current transmission articulated truck;
for each wheel motor, the rotation speed at the previous moment is set to be n 0 The current rotation speed is n, if n > k 1. N 0 And k1>1.1, judging that the motor is slipping, if the slipping motor and the non-slipping motor exist in the four wheel motors, reducing the given moment of the slipping motor, and evenly distributing the reduction of the given moment to the non-slipping motor until the rotating speed of the slipping motor is reduced to the point that the motor is not slipping.
2. The electric control device for a dual-power four-wheel-drive alternating-current electric transmission articulated truck according to claim 1, wherein the inverter circuits comprise four, four inverter circuits are connected in parallel, four wheel motors are arranged, one wheel motor is arranged on one driving wheel, and the electric control device further comprises a differential controller, and the differential controller is respectively connected with the four wheel motors and the microcontroller.
3. The dual-power four-wheel-drive alternating-current electric transmission articulated truck electric control device according to claim 1, further comprising an excitation loop, wherein the excitation loop comprises an excitation winding and an excitation control board, the excitation loop is connected with an alternating-current generator through the excitation winding, and the excitation loop is connected with the microcontroller through the excitation control board; the motor further comprises a chopper loop, wherein the chopper loop comprises a chopper and a braking resistor which are connected in series; the chopper loop is connected with the inverter loop in parallel; the chopper loop is connected with the microcontroller, and the braking resistor is a constant value resistor.
4. The dual-power four-wheel-drive alternating current electric drive articulated truck electric control device of claim 1, further comprising an electrical parameter detection device and an alarm protection device connected to the microcontroller, the electrical parameter detection device comprising a current sensor, a voltage sensor, a ground detector, an overhead line phase loss detector, and a wheel side motor overheat detector.
5. The electric control device for a dual-power four-wheel-drive, alternating current electric drive articulated truck of claim 1, further comprising a display disposed within a cab of the dual-power four-wheel-drive, alternating current electric drive articulated truck, the display in data communication with the microcontroller.
6. The electric control device for the double-power four-wheel drive alternating current transmission articulated truck according to claim 1, further comprising a storage battery and a tri-voltage stabilizing power supply, wherein the input end of the tri-voltage stabilizing power supply is connected with the storage battery, and the output end of the tri-voltage stabilizing power supply is connected with an electric device of the electric control device for the double-power four-wheel drive alternating current transmission articulated truck.
7. The electric control device for a double-power four-wheel drive ac electric drive articulated truck according to claim 1, characterized in that for each wheel motor, the rotation speed at the previous moment is set to n 0 The current rotation speed is n, if n > k 1. N 0 And k1>And 2, judging that the motor slips, if more than three slipping motors exist, adopting a torque reduction control strategy to inhibit continuous slipping, and reasonably distributing the torque of the motor after the rotating speed of the slipping motors is reduced so as to finish power distribution as soon as possible.
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| CN108528226A (en) * | 2018-03-23 | 2018-09-14 | 北汽福田汽车股份有限公司 | Drive system, control method and the vehicle of freight truck |
| CN109056686B (en) * | 2018-06-29 | 2021-07-27 | 武汉船用机械有限责任公司 | Protection method of lifting system |
| CN109412469B (en) * | 2018-10-15 | 2021-01-26 | 中车大连机车车辆有限公司 | Traction converter system main circuit, control method and system |
| CN109747436B (en) * | 2019-03-13 | 2020-09-04 | 江苏迈吉易威电动科技有限公司 | Distributed electric drive vehicle speed limit control method |
| WO2021170074A1 (en) * | 2020-02-26 | 2021-09-02 | 国网浙江省电力有限公司电力科学研究院 | Flexible excitation system and control method therefor |
| CN111277000B (en) * | 2020-02-26 | 2021-10-01 | 国网浙江省电力有限公司电力科学研究院 | Dynamic top voltage control method for flexible excitation system |
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