CN111021462A - Tandem type hybrid power excavator control system and control method thereof - Google Patents
Tandem type hybrid power excavator control system and control method thereof Download PDFInfo
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- CN111021462A CN111021462A CN201911423781.4A CN201911423781A CN111021462A CN 111021462 A CN111021462 A CN 111021462A CN 201911423781 A CN201911423781 A CN 201911423781A CN 111021462 A CN111021462 A CN 111021462A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/2075—Control of propulsion units of the hybrid type
Abstract
The invention discloses a tandem type hybrid power excavator control system and a control method thereof, and relates to the technical field of engineering machinery. The method comprises the following steps: the whole machine controller, the rectifier and inverter, the engine controller and the flywheel energy storage system are connected through a communication bus; an engine and a flywheel generator system which are connected in series are further arranged between the engine controller and the rectifying and inverter; the engine controller is used for receiving a power generation instruction of the complete machine controller and controlling the engine to drive the flywheel generator system to generate power according to the power generation instruction; and the rectifier and inverter is used for receiving the electric energy generated by the flywheel generator system, converting the electric energy and storing the converted electric energy into the flywheel energy storage system. The use operating mode that can be applicable to the excavator promotes hybrid excavator's performance.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a tandem type hybrid power excavator control system and a control method thereof.
Background
The existing hydraulic excavator is very widely applied, and meanwhile, the hydraulic excavator has the defects of high oil consumption, poor emission and the like, so that the energy-saving research of the hydraulic excavator has very important practical significance. At present, the hybrid excavator is recognized as the most promising energy-saving scheme, so that the development of related research has very important significance for the mature application of the hybrid technology.
One significant difference between hybrid excavators and conventional hydraulic excavators is the need for an electrical energy storage device. The comprehensive consideration of the working condition characteristics of large load change and high change frequency of the excavator is that the expected characteristics of the electric energy storage device are as follows: high specific power, high current acceptance and long cycle life.
In the prior art, a chemical energy storage battery and/or a super capacitor are generally adopted as an electric energy storage device, but the electric energy storage device cannot be well suitable for the working condition characteristics of the excavator, and the use performance of the hybrid excavator is limited.
Disclosure of Invention
The invention aims to provide a tandem type hybrid excavator control system and a control method thereof, which can be suitable for the use working condition of an excavator and improve the use performance of the hybrid excavator.
The embodiment of the invention is realized by the following steps:
in one aspect of the embodiments of the present invention, there is provided a series hybrid excavator control system, including: the whole machine controller, the rectifier and inverter, the engine controller and the flywheel energy storage system are connected through a communication bus;
an engine and a flywheel generator system which are connected in series are further arranged between the engine controller and the rectifying and inverter;
the engine controller is used for receiving a power generation instruction of the complete machine controller and controlling the engine to drive the flywheel generator system to generate power according to the power generation instruction;
and the rectifier and inverter is used for receiving the electric energy generated by the flywheel generator system, converting the electric energy and storing the converted electric energy into the flywheel energy storage system.
Optionally, the series hybrid excavator control system further comprises: a hydraulic control circuit and a rotation control circuit;
and the control end of the hydraulic control circuit and the control end of the rotation control circuit are connected with the whole machine controller through the communication bus and used for receiving a control instruction sent by the whole machine controller.
Optionally, the whole machine controller is configured to acquire electric energy data of the flywheel energy storage system, and determine a current working mode according to the electric energy data and the consumed power; and sending a control command to the hydraulic control circuit and/or the slewing control circuit according to the working mode.
Optionally, the hydraulic control circuit comprises: the hydraulic control system comprises a first motor controller, a first motor, a hydraulic main pump, a main control valve and a load which are connected in sequence;
the control end of the first motor controller is connected with the complete machine controller through the communication bus, and the power supply end of the first motor controller is connected with the rectification and inverter.
Optionally, the slew control circuit comprises: the second motor controller, the second motor and the slewing mechanism are connected in sequence;
the control end of the second motor controller is connected with the complete machine controller through the communication bus, and the power supply end of the second motor controller is connected with the rectification and inverter.
In another aspect of the embodiments of the present invention, there is provided a control method of a tandem type hybrid excavator control system, applied to the tandem type hybrid excavator control system described above, the method including:
the engine controller receives a power generation instruction of the whole machine controller and controls the engine to drive the flywheel generator system to generate power according to the power generation instruction;
and the rectifier and inverter receives the electric energy generated by the flywheel generator system, converts the electric energy and stores the converted electric energy into a flywheel energy storage system.
Optionally, the system further comprises: a hydraulic control circuit and a rotation control circuit; the control end of the hydraulic control circuit and the control end of the rotation control circuit are both connected with the whole machine controller through the communication bus;
the method further comprises the following steps: the hydraulic control circuit receives a control instruction sent by the complete machine controller; and/or the rotation control circuit receives a control instruction sent by the complete machine controller.
Optionally, the method further comprises: the whole machine controller collects electric energy data of the flywheel energy storage system and determines a current working mode according to the electric energy data and a preset threshold; and sending a control command to the hydraulic control circuit and/or the slewing control circuit according to the working mode.
Optionally, the hydraulic control circuit comprises: the hydraulic control system comprises a first motor controller, a first motor, a hydraulic main pump, a main control valve and a load which are connected in sequence; the control end of the first motor controller is connected with the complete machine controller through the communication bus, and the power supply end of the first motor controller is connected with the rectifier and inverter;
the swing control circuit includes: the second motor controller, the second motor and the slewing mechanism are connected in sequence; the control end of the second motor controller is connected with the complete machine controller through the communication bus, and the power supply end of the second motor controller is connected with the rectifier and inverter;
the hydraulic control circuit receives a control instruction sent by the complete machine controller, and the control instruction comprises the following steps:
the control end of the first motor controller receives a control instruction sent by the complete machine controller; and/or the presence of a gas in the gas,
the control instruction that the gyration control circuit received the complete machine controller and sent includes:
and the control end of the second motor controller receives a control command sent by the complete machine controller.
Optionally, the collecting, by the overall controller, the electric energy data of the flywheel energy storage system, and determining the current working mode according to the electric energy data and a preset threshold value include:
the whole machine controller compares the electric energy data with a first preset threshold value, a second preset threshold value, the consumed power and the maximum power of the flywheel generator system;
if the electric energy data is larger than a first preset threshold and the consumed power is smaller than or equal to the maximum power of the flywheel generator system, determining that the current working mode is a pure electric mode, wherein the load and/or the swing mechanism consumes the electric energy in the pure electric mode;
if the electric energy data is smaller than a second preset threshold and the consumed power is smaller than or equal to the maximum power of the flywheel generator system, determining that the current working mode is a first series mode, wherein the load and/or the slewing mechanism consumes the electric energy in the first series mode, and the whole engine controller controls the engine to drive the flywheel generator system to generate electricity through the engine controller;
and if the electric energy data is between the first preset threshold and the second preset threshold and the consumed power is greater than the maximum power of the flywheel generator system, determining that the current working mode is a second series mode, wherein the load and/or the slewing mechanism consumes the electric energy in the second series mode, and the whole machine controller controls the engine to drive the flywheel generator system to generate electricity and controls the flywheel energy storage system to supply power in an auxiliary mode through the engine controller.
The embodiment of the invention has the beneficial effects that:
according to the tandem type hybrid power excavator control system and the control method thereof provided by the embodiment of the invention, information interaction between the rectification and inverter, the engine controller and the flywheel energy storage system and the whole machine controller is respectively realized through the whole machine controller, the rectification and inverter, the engine controller and the flywheel energy storage system which are connected through the communication bus. Through the engine and the flywheel generator system which are connected in series between the engine controller and the rectifying and inverter, after the engine controller receives a power generation instruction of the whole machine controller, the engine drives the flywheel generator system to generate power, and the generated electric energy is stored in the flywheel energy storage system through the rectifying action of the rectifying and inverter. In addition, the flywheel energy storage system has the characteristics of high specific energy, high specific power, high conversion efficiency between electric energy and mechanical energy, quick charge and discharge, no maintenance, good cost performance and the like, is suitable for occasions requiring short-time high-power electric energy output and frequent charge and discharge times, can be suitable for the use working condition of the excavator, and improves the use performance of the hybrid excavator.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic diagram of a control system architecture of a tandem hybrid excavator according to an embodiment of the present invention;
FIG. 2 is a flowchart of a control method for a tandem hybrid excavator control system according to an embodiment of the present disclosure;
FIG. 3 is a second flowchart of a control method for a tandem hybrid excavator control system according to an embodiment of the present invention;
FIG. 4 is a third flowchart of a control method of a tandem hybrid excavator control system according to an embodiment of the present invention;
fig. 5 is a fourth flowchart of a control method of the tandem hybrid excavator control system according to the embodiment of the invention.
Icon: 100-series hybrid excavator control system; 105-a communication bus; 110-a complete machine controller; 120-rectification and inverter; 130-an engine controller; 132-an engine; 134-flywheel generator system; 140-flywheel energy storage system; 150-hydraulic control circuit; 151-first motor controller; 153-a first motor; 155-hydraulic main pump; 157-a master control valve; 160-a slew control circuit; 161-a second motor controller; 163-a second motor; 165-slewing gear.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, the present embodiment provides a control system 100 for a series hybrid excavator, including: a complete machine controller 110, a rectifier and inverter 120, an engine controller 130 and a flywheel energy storage system 140 connected by a communication bus 105; also included between the engine controller 130 and the rectifier and inverter 120 are an engine 132 and a flywheel generator system 134 in series; the engine controller 130 is used for receiving a power generation instruction of the complete machine controller 110 and controlling the engine 132 to drive the flywheel generator system 134 to generate power according to the power generation instruction; and the rectifier and inverter 120 is configured to receive the electric energy generated by the flywheel generator system 134, convert the electric energy, and store the converted electric energy in the flywheel energy storage system 140.
It should be noted that an engine 132 and a flywheel generator system 134 which are connected in series are further included between the engine controller 130 and the rectifying and inverter 120, wherein the engine 132 is electrically connected with the engine controller 130, the flywheel generator system 134 is electrically connected with the rectifying and inverter 120, the engine 132 is in transmission connection with the flywheel generator system 134, and when the engine controller 130 receives a power generation instruction from the overall controller 110, the engine controller 130 controls the engine 132 to operate, so as to drive the flywheel generator system 134 to generate power. The rectifier and inverter 120 receives the electric energy generated by the flywheel generator system 134, converts the electric energy and stores the converted electric energy into the flywheel energy storage system 140 for the construction of the excavator.
The control system 100 of the series hybrid excavator provided by the embodiment of the invention realizes the information interaction between the rectification and inverter 120, the engine controller 130 and the flywheel energy storage system 140 and the complete machine controller 110 respectively through the complete machine controller 110, the rectification and inverter 120, the engine controller 130 and the flywheel energy storage system 140 which are connected through the communication bus 105. After the engine controller 130 receives a power generation instruction from the overall controller 110, the engine 132 drives the flywheel generator system 134 to generate power through the engine 132 and the flywheel generator system 134 connected in series between the engine controller 130 and the rectifying and inverter 120, and the generated power is rectified by the rectifying and inverter 120 and stored in the flywheel energy storage system 140. In addition, the flywheel energy storage system 140 has the characteristics of high specific energy, high specific power, high conversion efficiency between electric energy and mechanical energy, quick charge and discharge, no maintenance, good cost performance and the like, and the flywheel energy storage system 140 is suitable for occasions requiring short-time high-power electric energy output and frequent charge and discharge times, can be suitable for the use working conditions of the excavator, and improves the use performance of the hybrid excavator.
As shown in fig. 1, the series hybrid excavator control system 100 further includes: a hydraulic control circuit 150 and a swing control circuit 160. The control end of the hydraulic control circuit 150 and the control end of the rotation control circuit 160 are connected to the overall controller 110 through the communication bus 105, and are configured to receive a control command sent by the overall controller 110.
Alternatively, the hydraulic control circuit 150 and the swing control circuit 160 are used as load consuming circuits to consume the electric energy of the flywheel energy storage system 140, or the electric energy generated by the flywheel generator system 134 can be used through the rectifier and inverter 120, and under the control of the overall controller 110, the hydraulic control circuit 150 and the swing control circuit 160 control the excavator to perform the required actions such as walking and digging, so as to ensure the normal operation of construction.
As shown in fig. 1, the overall controller 110 is configured to collect electric energy data of the flywheel energy storage system 140, and determine a current working mode according to the electric energy data and a preset threshold; and sends control commands to hydraulic control circuit 150 and/or swing control circuit 160 based on the operating mode.
Specifically, the electric energy consumption condition of the flywheel energy storage system 140 is determined by comparing the collected electric energy data with a preset threshold, and different working modes, such as whether the flywheel generator system 134 is started, whether the flywheel energy storage system 140 provides auxiliary energy, and the like, are determined according to different electric energy consumption conditions of the flywheel energy storage system 140. In addition, the complete machine controller 110 may only send a control instruction to the hydraulic control circuit 150 or the rotation control circuit 160, or may send a control instruction to the hydraulic control circuit 150 and the rotation control circuit 160 at the same time, so as to implement the control requirement of the actual working condition.
The operating modes may include an electric-only mode in which the load and/or the swing mechanism 165 consumes electrical energy, a first series mode, and a second series mode. In the first series mode, the flywheel energy storage system 140 is charged while the load and/or the swing mechanism 165 is provided with the required electrical energy. In the second series mode, the load and/or swing mechanism 165 consumes power, and the overall controller 110 controls the engine 132 via the engine controller 130 to drive the flywheel generator system 134 to generate power, and controls the flywheel energy storage system 140 to supply auxiliary power.
As shown in fig. 1, the hydraulic control circuit 150 includes: a first motor controller 151, a first motor 153, a hydraulic main pump 155, a main control valve 157 and a load connected in sequence; the control terminal of the first motor controller 151 is connected to the rectifier and inverter 120 via the communication bus 105, and the power supply terminal of the first motor controller 151 is connected to the rectifier and inverter 110.
Specifically, the first motor controller 151 is electrically connected to the first motor 153 and is configured to control start and stop or a rotation speed of the first motor 153, and the first motor 153 is in transmission connection with the hydraulic main pump 155 and provides power for the hydraulic main pump 155. The hydraulic main pump 155 and the main control valve 157 communicate through hydraulic lines to control a load connected to the main control valve 157. Illustratively, the load includes a hydraulic ram and a travel motor, wherein the hydraulic ram powers a work implement, such as a power arm of an excavator for bending or digging, etc. The walking motor provides power for the walking mechanism, such as the position movement of the excavator. In addition, the main control valve 157 is electrically connected with the whole machine controller 110, so that the whole machine controller 110 controls the state of the main control valve 157 to realize the control of the hydraulic oil cylinder or the walking motor.
The control terminal of the first motor controller 151 is connected to the overall controller 110 through the communication bus 105, so that the first motor controller 151 receives a signal command from the overall controller 110. Meanwhile, the power supply terminal of the first motor controller 151 is connected to the rectifier and inverter 120, so that the first motor controller 151 can be supplied with required electric energy, thereby ensuring stable operation of the first motor controller 151.
As shown in fig. 1, the slew control circuit 160 includes: a second motor controller 161, a second motor 163, and a swing mechanism 165 connected in this order; the control terminal of the second motor controller 161 is connected to the rectifier and inverter 120 via the communication bus 105, and the power supply terminal of the second motor controller 161 is connected to the rectifier and inverter 110.
Specifically, the second motor controller 161 is electrically connected to the second motor 163 for controlling the start/stop or the rotation speed of the second motor 163, and the second motor 163 is in transmission connection with the swing mechanism 165 for providing power to the swing mechanism 165. Such as providing power for the steering of the excavator power arm. The control terminal of the second motor controller 161 is connected to the overall controller 110 via the communication bus 105, so that the second motor controller 161 receives the signal command from the overall controller 110. Meanwhile, the power supply terminal of the second motor controller 161 is connected to the rectifier and inverter 120, so that the second motor controller 161 can be supplied with required electric energy, and stable operation of the second motor controller 161 is ensured.
As shown in fig. 1 and 2, an embodiment of the present invention further provides a control method of a series hybrid excavator control system 100, including:
s100, the engine controller 130 receives a power generation command of the complete machine controller 110, and controls the engine 132 to drive the flywheel generator system 134 to generate power according to the power generation command.
S200, the rectifier and inverter 120 receives the electric energy generated by the flywheel generator system 134, converts the electric energy and stores the converted electric energy into the flywheel energy storage system 140.
Specifically, the overall controller 110 controls the electric quantity generated by the flywheel generator system 134 to be converted by the rectifier and the inverter 120 and then stored in the flywheel energy storage system 140, and the electric quantity can be supplied by the flywheel generator system 134 or the flywheel energy storage system 140 or by both of them, so as to ensure that the excavator is suitable for various working conditions and improve the performance and the use stability of the excavator.
Optionally, the series hybrid excavator control system 100 further comprises: a hydraulic control circuit 150 and a swing control circuit 160; the control end of the hydraulic control circuit 150 and the control end of the rotation control circuit 160 are connected to the overall controller 110 through the communication bus 105. The method further comprises the following steps: the hydraulic control circuit 150 receives a control instruction sent by the complete machine controller 110; and/or, the rotation control circuit 160 receives a control command sent by the overall controller 110.
Specifically, the complete machine controller 110 may send a control instruction to the hydraulic control circuit 150, may also send a control instruction to the rotation control circuit 160, or simultaneously send a control instruction to the hydraulic control circuit 150 and the rotation control circuit 160, so as to complete corresponding construction operations according to actual working conditions.
Optionally, as shown in fig. 3, the method further includes:
s300, the complete machine controller 110 collects electric energy data of the flywheel energy storage system 140, and determines the current working mode according to the electric energy data and a preset threshold value.
And S400, sending a control command to the hydraulic control circuit 150 and/or the rotation control circuit 160 according to the working mode.
Specifically, the collected electric energy data is compared with a preset threshold value to determine the electric energy consumption condition of the flywheel energy storage system 140, and different working modes, such as whether the flywheel generator system 134 is started, whether the flywheel energy storage system 140 provides auxiliary energy, whether the flywheel energy storage system 140 charges the flywheel energy storage system 140, and the like, are determined according to the difference of the electric energy consumption condition of the flywheel energy storage system 140. In addition, the complete machine controller 110 may only send a control instruction to the hydraulic control circuit 150 or the rotation control circuit 160, or may send a control instruction to the hydraulic control circuit 150 and the rotation control circuit 160 at the same time, so as to implement the control requirement of the actual working condition.
Alternatively, as shown in fig. 1, the hydraulic control circuit 150 includes: a first motor controller 151, a first motor 153, a hydraulic main pump 155, a main control valve 157 and a load connected in sequence; the control end of the first motor controller 151 is connected with the whole motor controller 110 through the communication bus 105, and the power supply end of the first motor controller 151 is connected with the rectifying and inverter 120; the hydraulic control circuit 150 receives a control command sent by the overall controller 110, and includes: the control end of the first motor controller 151 receives a control command transmitted from the overall controller 110.
Specifically, the first motor controller 151 is electrically connected to the first electric motor 153, the first electric motor 153 is drivingly connected to the hydraulic main pump 155, and the hydraulic main pump 155 is communicated with the main control valve 157 through a hydraulic line. The load includes a hydraulic cylinder, a walking motor, and the like, and in addition, the main control valve 157 is electrically connected with the whole machine controller 110, so that the whole machine controller 110 controls the state of the main control valve 157, and the control of the hydraulic cylinder or the walking motor is realized. The control end of the first motor controller 151 is connected to the complete machine controller 110 through the communication bus 105, so that the first motor controller 151 receives a control command of the complete machine controller 110, and the hydraulic control circuit 150 performs a corresponding operation according to the control command. Illustratively, the control instructions include walking, digging, and the like instructions. In addition, the first motor 153 may drive the excavator to travel through the traveling mechanism, and may also perform regenerative power generation during braking, thereby facilitating energy recycling and improving energy utilization.
Optionally, the slew control circuit 160 comprises: a second motor controller 161, a second motor 163, and a swing mechanism 165 connected in this order; the control end of the second motor controller 161 is connected with the whole machine controller 110 through the communication bus 105, and the power supply end of the second motor controller 161 is connected with the rectification and inverter 120; the rotation control circuit 160 receives a control command sent by the overall controller 110, and includes: the control end of the second motor controller 161 receives a control command transmitted from the overall controller 110.
Specifically, the second motor controller 161 is electrically connected to the second motor 163, the second motor 163 is in transmission connection with the swing mechanism 165, and a control end of the second motor controller 161 is connected to the complete machine controller 110 through the communication bus 105, so that the second motor controller 161 receives a signal command from the complete machine controller 110, so that the swing control circuit 160 performs a corresponding operation according to the control command. Similarly, the second motor 163 can drive the swing mechanism 165 to move, and during the swing braking, the second motor can generate electricity by feedback, and the electricity is stored in the flywheel energy storage system 140, thereby being beneficial to recycling energy and improving the energy utilization rate.
Optionally, as shown in fig. 4 and fig. 5, the whole machine controller 110 acquires electric energy data of the flywheel energy storage system 140, and determines the current working mode according to the electric energy data and a preset threshold, including:
and S310, the complete machine controller 110 compares the electric energy data with the first preset threshold value, the second preset threshold value, the consumed power and the maximum power of the flywheel generator system 134.
Specifically, in this embodiment, the first preset threshold is greater than the second preset threshold, for example, if the power data of the flywheel energy storage system 140 is in a saturation state of 10, the first preset threshold may be set to 7, and the second preset threshold may be set to 3, so as to ensure that the energy supplied by the excavator is sufficient when the excavator is in use, and ensure that the excavator is continuously and normally used.
And S320, if the electric energy data is larger than a first preset threshold value and the consumed power is smaller than or equal to the maximum power of the flywheel generator system 134, determining that the current working mode is a pure electric mode, wherein the load and/or the swing mechanism 165 consumes the electric energy in the pure electric mode.
When the electric energy data is greater than the first preset threshold and the consumed power is less than or equal to the maximum power of the flywheel generator system 134, a pure electric mode may be adopted, that is, the complete machine controller 110 sends a control command to the hydraulic control circuit 150 or to the swing control circuit 160 to enable the load or the swing mechanism 165 to work separately or simultaneously, and the electric energy generated by the flywheel generator system 134 driven by the engine 132 may be directly provided to the first motor 153 and the second motor 163, that is, the required electric energy may be provided to the load and/or the swing mechanism 165, which is favorable for improving the energy conversion efficiency. The power consumption is specifically power consumed by the load and the swing mechanism 165 when the excavator is used.
S330, if the electric energy data is less than a second preset threshold and the consumed power is less than or equal to the maximum power of the flywheel generator system 134, determining that the current working mode is a first series mode, wherein the load and/or the swing mechanism 165 consumes the electric energy in the first series mode, and the overall controller 110 controls the engine 132 to drive the flywheel generator system 134 to generate electricity through the engine controller 130.
When the electric energy data is less than the second preset threshold and the consumed power is less than or equal to the maximum power of the flywheel generator system 134, the first series mode may be adopted, that is, the complete machine controller 110 sends a control command to the hydraulic control circuit 150 or to the swing control circuit 160 to enable the load or the swing mechanism 165 to work separately or simultaneously, and the electric quantity generated by the flywheel generator system 134 driven by the engine 132 is provided to the first motor 153 and the second motor 163, that is, the required electric energy is provided to the load and/or the swing mechanism 165, and the flywheel energy storage system 140 is charged, so as to ensure that the energy stored in the flywheel energy storage system 140 can be normally supplied when the high power is required to work, which is beneficial to improving the reliability and stability of the excavator in use.
In the pure electric mode, a smaller accelerator may be used to match the power generated by the flywheel generator system 134 with the power consumed by the hydraulic control circuit 150 and the swing control circuit 160 to which the first motor 153 and the second motor 163 belong. In the first series mode, a larger throttle may be used, so that the generated power of the flywheel generator system 134 is greater than the consumed power of the hydraulic control circuit 150 and the swing control circuit 160 to which the first motor 153 and the second motor 163 belong, and the surplus electric energy is used for storing to the flywheel energy storage system 140.
And S340, if the electric energy data is between a first preset threshold and a second preset threshold and the consumed power is greater than the maximum power of the flywheel generator system 134, determining that the current working mode is a second series mode, wherein the load and/or the swing mechanism 165 consumes the electric energy in the second series mode, and the complete machine controller 110 controls the engine 132 to drive the flywheel generator system 134 to generate electricity and controls the flywheel energy storage system 140 to supply power in an auxiliary mode through the engine controller 130.
The second series mode is suitable for higher power consumption conditions where the flywheel generator system 134 is already unable to generate power to provide the power consumed by the hydraulic control circuit 150 and swing control circuit 160 associated with the first and second electric motors 153 and 163, and the flywheel energy storage system 140 is required to discharge energy to provide the required consumption to the load and/or swing mechanism 165 while the flywheel generator system 134 is generating power.
It is understood that if the power data is between the first predetermined threshold and the second predetermined threshold and the consumed power is less than or equal to the maximum power of the flywheel generator system 134, the current operation mode is determined to be the first series mode. In addition, regardless of the amount of electric energy in the flywheel energy storage system 140, as long as the consumed power is greater than the maximum power of the flywheel generator system 134, the second series mode is adopted in order to ensure the stable operation of the excavator. The above embodiments have already described the operation modes of the first series mode and the second series mode, and are not described herein again.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A tandem hybrid excavator control system, comprising: the whole machine controller, the rectifier and inverter, the engine controller and the flywheel energy storage system are connected through a communication bus;
an engine and a flywheel generator system which are connected in series are further arranged between the engine controller and the rectifying and inverter;
the engine controller is used for receiving a power generation instruction of the complete machine controller and controlling the engine to drive the flywheel generator system to generate power according to the power generation instruction;
and the rectifier and inverter is used for receiving the electric energy generated by the flywheel generator system, converting the electric energy and storing the converted electric energy into the flywheel energy storage system.
2. The system of claim 1, further comprising: a hydraulic control circuit and a rotation control circuit;
and the control end of the hydraulic control circuit and the control end of the rotation control circuit are connected with the whole machine controller through the communication bus and used for receiving a control instruction sent by the whole machine controller.
3. The system of claim 2, wherein the overall controller is configured to collect power data of the flywheel energy storage system, and determine a current operating mode according to the power data and a power consumption; and sending a control command to the hydraulic control circuit and/or the slewing control circuit according to the working mode.
4. The system of claim 2 or 3, wherein the hydraulic control circuit comprises: the hydraulic control system comprises a first motor controller, a first motor, a hydraulic main pump, a main control valve and a load which are connected in sequence;
the control end of the first motor controller is connected with the complete machine controller through the communication bus, and the power supply end of the first motor controller is connected with the rectification and inverter.
5. The system of claim 2 or 3, wherein the slew control circuit comprises: the second motor controller, the second motor and the slewing mechanism are connected in sequence;
the control end of the second motor controller is connected with the complete machine controller through the communication bus, and the power supply end of the second motor controller is connected with the rectification and inverter.
6. A control method of a series hybrid excavator control system, applied to the system of any one of claims 1 to 5, the method comprising:
the engine controller receives a power generation instruction of the whole machine controller and controls the engine to drive the flywheel generator system to generate power according to the power generation instruction;
and the rectifier and inverter receives the electric energy generated by the flywheel generator system, converts the electric energy and stores the converted electric energy into a flywheel energy storage system.
7. The method of claim 6, wherein the system further comprises: a hydraulic control circuit and a rotation control circuit; the control end of the hydraulic control circuit and the control end of the rotation control circuit are both connected with the whole machine controller through the communication bus;
the method further comprises the following steps:
the hydraulic control circuit receives a control instruction sent by the complete machine controller; and/or the presence of a gas in the gas,
and the rotation control circuit receives a control instruction sent by the complete machine controller.
8. The method of claim 7, further comprising:
the whole machine controller collects electric energy data of the flywheel energy storage system and determines a current working mode according to the electric energy data and a preset threshold; and sending a control command to the hydraulic control circuit and/or the slewing control circuit according to the working mode.
9. The method of claim 7 or 8, wherein the hydraulic control circuit comprises: the hydraulic control system comprises a first motor controller, a first motor, a hydraulic main pump, a main control valve and a load which are connected in sequence; the control end of the first motor controller is connected with the complete machine controller through the communication bus, and the power supply end of the first motor controller is connected with the rectifier and inverter;
the swing control circuit includes: the second motor controller, the second motor and the slewing mechanism are connected in sequence; the control end of the second motor controller is connected with the complete machine controller through the communication bus, and the power supply end of the second motor controller is connected with the rectifier and inverter;
the hydraulic control circuit receives a control instruction sent by the complete machine controller, and the control instruction comprises the following steps:
the control end of the first motor controller receives a control instruction sent by the complete machine controller; and/or the presence of a gas in the gas,
the control instruction that the gyration control circuit received the complete machine controller and sent includes:
and the control end of the second motor controller receives a control command sent by the complete machine controller.
10. The method of claim 9, wherein the overall controller collects power data of the flywheel energy storage system, and determines a current operating mode according to the power data and a preset threshold, comprising:
the whole machine controller compares the electric energy data with a first preset threshold value, a second preset threshold value, the consumed power and the maximum power of the flywheel generator system;
if the electric energy data is larger than a first preset threshold and the consumed power is smaller than or equal to the maximum power of the flywheel generator system, determining that the current working mode is a pure electric mode, wherein the load and/or the swing mechanism consumes the electric energy in the pure electric mode;
if the electric energy data is smaller than a second preset threshold and the consumed power is smaller than or equal to the maximum power of the flywheel generator system, determining that the current working mode is a first series mode, wherein the load and/or the slewing mechanism consumes the electric energy in the first series mode, and the whole engine controller controls the engine to drive the flywheel generator system to generate electricity through the engine controller;
and if the electric energy data is between the first preset threshold and the second preset threshold and the consumed power is greater than the maximum power of the flywheel generator system, determining that the current working mode is a second series mode, wherein the load and/or the slewing mechanism consumes the electric energy in the second series mode, and the whole machine controller controls the engine to drive the flywheel generator system to generate electricity and controls the flywheel energy storage system to supply power in an auxiliary mode through the engine controller.
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