CN107839488A - A kind of pure electric vehicle current collecting bow lifting control method and device - Google Patents
A kind of pure electric vehicle current collecting bow lifting control method and device Download PDFInfo
- Publication number
- CN107839488A CN107839488A CN201610839893.8A CN201610839893A CN107839488A CN 107839488 A CN107839488 A CN 107839488A CN 201610839893 A CN201610839893 A CN 201610839893A CN 107839488 A CN107839488 A CN 107839488A
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- China
- Prior art keywords
- pantograph
- bow
- vehicle
- drop
- place
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
- B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
- B60L5/22—Supporting means for the contact bow
- B60L5/28—Devices for lifting and resetting the collector
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention relates to a kind of pure electric vehicle current collecting bow lifting control method and device, belong to technical field of rail traffic.Whether present invention detection pantograph when controlling pantograph drop bow drops bow in place in setting time, if detection drop bow is in place, recovers drive mode；If detection drop bow is not in place, the drop that pantograph is observed by camera bends situation, when pantograph drop bow reaches predeterminated position, recovers drive mode, otherwise carries out fault alarm.The present invention is used cooperatively by sensor and camera, the detection for bending situation in place to vehicle pantograph drop can fast and effectively be realized, it is not in place to avoid pantograph drop bow, simultaneously also improve detection accuracy and validity, prevent due to sensor failure itself cause VCU can't detect drop bow in place signal and cause vehicle to be unable to normally travel.
Description
Technical field
The present invention relates to a kind of pure electric vehicle current collecting bow lifting control method and device, belong to technical field of rail traffic.
Background technology
New-energy automobile especially pure electric automobile is the trend of Developing, but pure electric automobile continual mileage is short asks
Topic is not well solved yet, and vehicle needs frequently to charge during operation to be mended electricity and could meet operation demand.By electricity
Bow formula charging system, there is provided a kind of new easily intelligent quick charge scheme, without image of Buddha tradition in pantograph charging process
Insert gun-type charging and low tension is equally provided, pantograph rises to be maintained by certain air pressure, can cause to charge if air pressure deficiency
Bow is dropped in journey, pantograph is caused damage.The charging modes of pantograph are frequently necessary to carry out short time benefit during car operation
Electricity, therefore the lifting of pantograph should be easy to operate as far as possible during charging, control is accurate, and cost is reduced to save the time.
Publication No. CN103991388 patent application documents disclose a kind of energy storage type electric propulsion traffic method of supplying power to,
And specifically disclose when vehicle enters station, pantograph rising bow is connected with contact net to be charged, and is terminated when the dwell time, car
Pantograph drop bow.Although the patent application document discloses vehicle, the current collecting bow lifting in charging process controls, not
There is consideration to cause vehicle that the influence vehicle traveling that scratches occurs under steam in place because bow does not drop in pantograph after charging complete
The problem of safe.
The content of the invention
It is an object of the invention to provide a kind of pure electric vehicle current collecting bow lifting control method and device, to solve current vehicle
The problem of influenceing vehicle safe driving because drop bow is not in place.
The present invention provides a kind of pure electric vehicle current collecting bow lifting control method, the controlling party to solve above-mentioned technical problem
Method comprises the following steps：
1) when controlling pantograph drop bow, whether detection pantograph drops bow in place in setting time, if detection drop bow arrives
Position, then recover drive mode；
If 2) detection drop bow is not in place, the drop that pantograph is observed by camera bends situation, when pantograph drop bow reaches pre-
If during position, recover drive mode, otherwise carry out fault alarm.
The drop bow control of pantograph is after the completion of Vehicular charging, to avoid band during Vehicular charging from carrying cut-out.
When this method is additionally included in vehicle and prepares charging, by detecting vehicle, whether locking controls whether pantograph rises
Charging, to ensure that vehicle is in lockup state in pantograph rising bow charging process.
Whether locking is to pluck gear signal, parking brake signal, GES and main motor contact by detecting vehicle to detection vehicle
Device status signal keeps off signal, parking brake signal and main motor contactor cut-off signal come what is realized when detecting that vehicle is plucked, and car
When fast signal is 0, illustrate that vehicle is in lockup state.
Whether Vehicular charging is completed to realize by detecting charging current, when the charging current detected is 0, is said
Bright Vehicular charging is completed.
Vehicle rising bow charging process need to be carried out under On fire, to avoid drop bow risk.
Present invention also offers a kind of pure electric vehicle by electric-lifting control device, the control device include controller, by
Pantograph sensor and pantograph camera, pantograph camera are arranged on the top of vehicle, and the drop for shooting pantograph bends feelings
Condition, pantograph sensor are used to detect whether pantograph drops bow in place, and pantograph sensor is connected with controller, by what is detected
Information is sent to controller, if pantograph sensor detects drop bow signal in place, controller control vehicle in setting time
Recover drive mode；If detection drop bow is not in place, the drop that pantograph is observed by camera bends situation, when pantograph drop bow reaches
During predeterminated position, controller recovers drive mode, otherwise carries out fault alarm.
Described controller also need detect vehicle whether charging complete, just controlled after the completion of controller detects Vehicular charging
The drop bow of pantograph processed, to avoid band during Vehicular charging from carrying cut-out.
Vehicle locking detection module is also associated with described controller, when vehicle prepares to charge, controller is according to car
Whether locking controls whether pantograph rises charging for lock detection module detection vehicle, to ensure that pantograph rising bow charged
Vehicle is in lockup state in journey.
Gear signal, parking brake signal, GES and main motor contactor are plucked in described vehicle locking detection module detection
Status signal, signal, parking brake signal and main motor contactor cut-off signal are kept off when detecting that vehicle is plucked, and GES is 0
When, illustrate that vehicle is in lockup state.
The beneficial effects of the invention are as follows:The present invention control pantograph drop bow when detect pantograph in setting time whether
Drop bow in place, if detection drop bow is in place, recovers drive mode；If detection drop bow is not in place, pantograph is observed by camera
Drop bow situation, when pantograph drop bow reach predeterminated position when, recover drive mode, otherwise carry out fault alarm.The present invention is logical
Being used cooperatively for sensor and camera is crossed, can fast and effectively realize the detection to vehicle pantograph drop bow situation in place,
It is not in place to avoid pantograph drop bow, while also improves detection accuracy and validity, prevents due to sensor failure itself
Cause VCU to can't detect drop to bend signal in place and cause vehicle to be unable to normally travel.
Brief description of the drawings
Fig. 1 is the flow chart of pure electric vehicle current collecting bow lifting control method of the present invention.
Embodiment
The embodiment of the present invention is described further below in conjunction with the accompanying drawings.
The embodiment of the pure electric vehicle current collecting bow lifting control method of the present invention
Whether present invention detection pantograph when controlling pantograph drop bow drops bow in place in setting time, if detection drop bow
In place, then drive mode is recovered；If detection drop bow is not in place, the drop that pantograph is observed by camera bends situation, works as pantograph
When drop bow reaches predeterminated position, recover drive mode, otherwise carry out fault alarm.The flow of this method is as shown in figure 1, specific
Control process is as follows：
Cut off in order to avoid band carries, guarantee charging safety, the control in the present embodiment for pantograph landing is to charge
After the completion of, i.e., after battery is full of, battery management system BMS is sent to charger stops charging instruction, and charger receives this
Instruction stops charging, and BMS is detected and sent charging completion signal to entire car controller after charging current is 0, and the present invention is only receiving
Just control pantograph carries out drop bow operation during the charging completion signal, when not receiving the charging completion signal of BMS transmissions, drives
By declining bow switch, hanging up gear, unclamp the operation such as parking brake and think maloperation, vehicle is not responding to member, does not drop bow.When detecting
After charging complete, control pantograph carries out drop bow operation, and driver can be by controlling drop to bend by bow switch is declined.Drop bow order
After sending, pantograph drop bow state in place in setting time is detected by pantograph sensor, due to pantograph under normal circumstances
Bow can drop in 5s in place, and in order to ensure the accuracy of detection, the setting time in the present embodiment is 15s；When in setting
After the interior information in place for receiving the detection of pantograph sensor, give electric machine controller to send and instruct, adhesive main motor contactor is whole
Car recovers normal drive mode.If the drop for not receiving the detection of pantograph sensor in setting time (15s) bends signal in place,
Following two situations have been possible to, first, pantograph sensor breaks down in itself, drop bow signal in place can not be detected, second,
The executing agency of pantograph in itself breaks down, and can not drop bow in place.And pantograph sensor ratio pantograph executing agency is more
Be easily damaged, in order to avoid due to the problem of pantograph sensor failure itself causes vehicle to drive a vehicle in time, the present invention it is logical
Cross increases camera in roof shoots the lifting of vehicle pantograph, and the drop that pantograph is observed by camera bends situation, when by
When pantograph drop bow reaches predeterminated position, then recover drive mode, otherwise carry out fault alarm.Due to executing agency's long-play
Drop can be caused to bend situation not in place afterwards, and pantograph it is all drop bow it is not in place not necessarily can all influence vehicle traveling, such as
When pantograph drop bow 70%, although sensor can't detect signal in place, the normal operation of vehicle is had no effect on, therefore
Here predeterminated position is the position for not influenceing traffic safety.
The problem of in order to prevent from causing vehicle launch due to the maloperation of driver in charging process, the present invention is in above-mentioned reality
Apply and carried out further optimization on the basis of example, the charging of pantograph rising bow is just controlled when vehicle is under lockup state.Specifically
Process it is as follows：
Pure electric vehicle drives into the standby charging of Charging apparatus level, detects the vehicle and whether is in lockup state, in the present embodiment
Lockup state refers to that the dynamical system of vehicle is cut off, i.e., plucks gear signal, parking brake signal and GES by detecting vehicle
To control realization, when detecting that vehicle plucks gear signal and parking brake signal, and when GES is 0, control disconnects main motor
Contactor, cut off the power output of vehicle, it is ensured that vehicle is in lockup state.Now, you can control pantograph, which rises, to be started to fill
Electricity.
Due to pantograph rise by certain air pressure maintain, can cause if air pressure deficiency in charging process drop bow, to by
Pantograph causes damage, and causes the risk of drop bow to evade 24V feeds and air pressure deficiency, in vehicle rising bow charging process,
The normal work of the electric accessories such as DC/DC and air compressor machine is must assure that, that is, ensures that charging is carried out under On fire.It is complete in Vehicular charging
Cheng Hou, and pantograph drop bow, when reaching driving demand, directly point Start is fiery, and putting into gear to drive a vehicle.
The embodiment of pure electric vehicle current collecting bow lifting control device of the present invention
The pure electric vehicle current collecting bow lifting control device of the present invention includes controller, pantograph sensor and pantograph shooting
Head, pantograph camera are arranged on the top of vehicle, and the drop for shooting pantograph bends situation, and pantograph sensor is using close
Formula magnetic induction switch sensor, include two parts:Magnetic induction switch and ferromagnetism part, installed in lift cylinder table top and chassis
Table top, for detecting whether pantograph drops bow in place.Pantograph sensor is connected with controller, for the information detected to be sent out
Give controller.If pantograph sensor detects drop bow signal in place in setting time, controller control vehicle recovers row
Car pattern；If detection drop bow is not in place, the drop that pantograph is observed by camera bends situation, when pantograph drop bow reaches default position
When putting, controller recovers drive mode, otherwise carries out fault alarm.Controller can use entire car controller real in the present embodiment
Existing, to entire car controller transmission pantograph drop bow, signal, entire car controller receive this in place after sensor detects signal
After signal, send and instruct to electric machine controller, adhesive main motor contactor, vehicle recovers normal drive mode；Work as full-vehicle control
When device does not receive the signal of sensor, driver can check the pantograph drop bow situation of camera shooting, specific control process
With embodiment of the method, repeat no more here.
To avoid band load during Vehicular charging from cutting off, the controller in the present embodiment also needs to detect whether vehicle has charged
Into just controlling the drop of pantograph to bend after the completion of controller detects Vehicular charging.I.e. battery it is fully charged after, BMS is to charger
Send and stop charging instruction, charger receives the instruction and stops charging, and BMS detection charging currents are sent out after being 0 to entire car controller
Charging completion signal is sent, when receiving the signal in entire car controller, while being switched by decline bow, control pantograph landing,
When not receiving the charging completion signal of BMS transmissions, driver is by declining bow switch, hang up gear, unclamp the operation such as parking brake and recognize
For maloperation, vehicle is not responding to, and does not drop bow.
To ensure that vehicle is in lockup state in pantograph rising bow charging process, the inspection of vehicle locking is also associated with controller
Module is surveyed, when vehicle prepares to charge, controller according to vehicle locking detection module detects vehicle, and whether locking is controlled by electricity
Bend and whether rise charging, the detection of vehicle locking detection module, which is plucked, in the present embodiment keeps off signal, parking brake signal, GES and master
Motor contactor status signal, signal, parking brake signal and main motor contactor cut-off signal are kept off when detecting that vehicle is plucked, and car
When fast signal is 0, illustrate that vehicle is in lockup state.Cause the risk of drop bow to evade 24V feeds and air pressure deficiency,
In vehicle charging process, the electric accessories such as DC/DC and air compressor machine need normal work, the directly point Start fire after charging complete,
Hanging shelves can drive a vehicle.
Claims (10)
1. a kind of pure electric vehicle current collecting bow lifting control method, it is characterised in that the control method comprises the following steps：
1) when controlling pantograph drop bow, whether detection pantograph drops bow in place in setting time, if detection drop bow is in place,
Recover drive mode；
If 2) detection drop bow is not in place, the drop that pantograph is observed by camera bends situation, when pantograph drop bow reaches default position
When putting, recover drive mode, otherwise carry out fault alarm.
2. pure electric vehicle current collecting bow lifting control method according to claim 1, it is characterised in that the drop bow control of pantograph
System is after the completion of Vehicular charging, to avoid band during Vehicular charging from carrying cut-out.
3. pure electric vehicle current collecting bow lifting control method according to claim 1 or 2, it is characterised in that this method is also wrapped
Include when vehicle prepares to charge, by detecting vehicle, whether locking controls whether pantograph rises charging, to ensure pantograph
Vehicle is in lockup state in rising bow charging process.
4. pure electric vehicle current collecting bow lifting control method according to claim 3, it is characterised in that whether detection vehicle is locked
Gear signal, parking brake signal, GES and main motor contactor status signal only are plucked to realize by detecting vehicle, work as inspection
Measure vehicle and pluck gear signal, parking brake signal and main motor contactor cut-off signal, and when GES is 0, illustrate at vehicle
In lockup state.
5. pure electric vehicle current collecting bow lifting control method according to claim 2, it is characterised in that whether Vehicular charging is complete
Realized into by detecting charging current, when the charging current detected is 0, illustrate that Vehicular charging is completed.
6. pure electric vehicle current collecting bow lifting control method according to claim 3, it is characterised in that vehicle rising bow charged
Journey need to be carried out under On fire, to avoid drop bow risk.
7. a kind of pure electric vehicle current collecting bow lifting control device, it is characterised in that the control device includes controller, pantograph passes
Sensor and pantograph camera, pantograph camera are arranged on the top of vehicle, and the drop for shooting pantograph bends situation, by electricity
Bow sensor is used to detect whether pantograph drops bow in place, and pantograph sensor is connected with controller, and the information detected is sent out
Controller is given, if pantograph sensor detects drop bow signal in place in setting time, controller control vehicle recovers row
Car pattern；If detection drop bow is not in place, the drop that pantograph is observed by camera bends situation, when pantograph drop bow reaches default position
When putting, controller recovers drive mode, otherwise carries out fault alarm.
8. pure electric vehicle current collecting bow lifting control device according to claim 7, it is characterised in that described controller is also
Need to detect vehicle whether charging complete, just control the drop of pantograph to bend after the completion of controller detects Vehicular charging, to avoid
Band carries cut-out during Vehicular charging.
9. the pure electric vehicle current collecting bow lifting control device according to claim 7 or 8, it is characterised in that described control
Vehicle locking detection module is also associated with device, when vehicle prepares to charge, controller detects according to vehicle locking detection module
Whether locking controls whether pantograph rises charging to vehicle, to ensure that vehicle is in locking shape in pantograph rising bow charging process
State.
10. pure electric vehicle current collecting bow lifting control device according to claim 9, it is characterised in that described vehicle lock
Only gear signal, parking brake signal, GES and main motor contactor status signal are plucked in detection module detection, when detecting vehicle
Gear signal, parking brake signal and main motor contactor cut-off signal are plucked, and when GES is 0, illustrates that vehicle is in locking shape
State.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610839893.8A CN107839488A (en) | 2016-09-21 | 2016-09-21 | A kind of pure electric vehicle current collecting bow lifting control method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610839893.8A CN107839488A (en) | 2016-09-21 | 2016-09-21 | A kind of pure electric vehicle current collecting bow lifting control method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107839488A true CN107839488A (en) | 2018-03-27 |
Family
ID=61657562
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610839893.8A Pending CN107839488A (en) | 2016-09-21 | 2016-09-21 | A kind of pure electric vehicle current collecting bow lifting control method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107839488A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110654240A (en) * | 2018-06-28 | 2020-01-07 | 中车株洲电力机车研究所有限公司 | Intelligent rail trolley bus pantograph lifting control method, control device and system |
| CN111064238A (en) * | 2018-10-17 | 2020-04-24 | 中车株洲电力机车研究所有限公司 | Man-machine interaction system based on pantograph selection charging and charging method thereof |
| CN113619646A (en) * | 2020-06-29 | 2021-11-09 | 株洲中车时代电气股份有限公司 | Control method, device and system for safe train delivery |
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| CN1562661A (en) * | 2004-04-01 | 2005-01-12 | 上海交通大学 | Charging control system for trolleybus charged in station zone |
| US20130020162A1 (en) * | 2010-04-01 | 2013-01-24 | Elways Ab | System Adapted For One or More Electrically Propellable Vehicles (Arm-Shaped Contact Means) |
| CN103935250A (en) * | 2014-05-06 | 2014-07-23 | 南车株洲电力机车有限公司 | Device and method for detecting ascending-descending positions of pantograph |
| CN105691231A (en) * | 2016-03-10 | 2016-06-22 | 中车株洲电力机车有限公司 | Control method for quickly changing, vehicle-mounted system and round charging station control system |
-
2016
- 2016-09-21 CN CN201610839893.8A patent/CN107839488A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1562661A (en) * | 2004-04-01 | 2005-01-12 | 上海交通大学 | Charging control system for trolleybus charged in station zone |
| US20130020162A1 (en) * | 2010-04-01 | 2013-01-24 | Elways Ab | System Adapted For One or More Electrically Propellable Vehicles (Arm-Shaped Contact Means) |
| CN103935250A (en) * | 2014-05-06 | 2014-07-23 | 南车株洲电力机车有限公司 | Device and method for detecting ascending-descending positions of pantograph |
| CN105691231A (en) * | 2016-03-10 | 2016-06-22 | 中车株洲电力机车有限公司 | Control method for quickly changing, vehicle-mounted system and round charging station control system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110654240A (en) * | 2018-06-28 | 2020-01-07 | 中车株洲电力机车研究所有限公司 | Intelligent rail trolley bus pantograph lifting control method, control device and system |
| CN111064238A (en) * | 2018-10-17 | 2020-04-24 | 中车株洲电力机车研究所有限公司 | Man-machine interaction system based on pantograph selection charging and charging method thereof |
| CN113619646A (en) * | 2020-06-29 | 2021-11-09 | 株洲中车时代电气股份有限公司 | Control method, device and system for safe train delivery |
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Application publication date: 20180327 |