CN111497636A - Integrated control system of electric excavator and electric excavator system - Google Patents

Abstract

The application provides an integrated control system for an electric excavator and an electric excavator system. The high-voltage input end of the high-voltage power management system is electrically connected to the power battery, and the high-voltage output end of the high-voltage power management system is respectively connected to the motor controller and the external plug-in. The working module, the AC vehicle charging module and the DC/DC DC conversion module are electrically connected; the motor controller, the vehicle controller, the external plug-in working module, the AC vehicle charging module, the DC/DC DC conversion module and the power battery are connected through the CAN bus communication connection. By integrating the various control systems of the electric excavator, the space utilization rate is improved, and the magnetic compatibility design of the whole vehicle is facilitated. In addition, some power electronic components in the integrated control system share functions, some high-voltage circuit relays, The fuse and the high-voltage input port are shared, which reduces the production cost to a certain extent.

Description

Electric excavator integrated control system and electric excavator system

technical field

The present application relates to the field of integrated control, and in particular, to an electric excavator integrated control system and an electric excavator system.

Background technique

With the rising international crude oil prices, the operating cost of fuel-based excavators continues to increase. At the same time, the concept of low carbon and environmental protection has become a new concept in product design, and more and more manufacturers are turning their development focus to electric excavators.

However, at present, each control system of most electric excavators is independently designed and distributed, resulting in a low space utilization rate, and it is difficult to meet the space layout requirements of small excavators. In addition, the overall cost of independent design of each independent system is relatively high, and it is difficult to systematically design the magnetic compatibility of the whole vehicle.

SUMMARY OF THE INVENTION

The purposes of the present application include, for example, to provide an integrated control system for an electric excavator and an electric excavator system, which integrates multiple control systems of an electric excavator with a high degree of integration, which not only improves space utilization, but also It is conducive to the magnetic compatibility design of the whole vehicle and reduces the production cost to a certain extent.

The embodiments of the present application can be implemented as follows:

In the first aspect, the embodiments of the present application provide an integrated control system for an electric excavator, including a high-voltage power management system, a motor controller, a vehicle controller, an external plug-in working module, an AC vehicle-mounted charging module, and a DC/DC conversion module. ;

The high-voltage input terminal of the high-voltage power management system is electrically connected with the power battery, and the high-voltage output terminal of the high-voltage power management system is electrically connected with the motor controller, the external plug-in working module, the AC vehicle charging module and the DC/DC conversion module respectively;

Motor controller, vehicle controller, external plug-in working module, AC vehicle charging module, DC/DC DC conversion module and power battery are connected through CAN bus communication;

Among them, the motor controller is used to control the working state of the drive motor module; the external plug-in working module and the AC vehicle charging module are used to convert the externally input AC power into DC power; the DC/DC DC conversion module is used to convert high-voltage DC power into low-voltage DC power .

In an optional embodiment, the AC input terminal of the external plug-in working module and the AC input terminal of the AC vehicle-mounted charging module are electrically connected to the external AC power input module, and the DC output terminal of the external plug-in working module and the AC vehicle-mounted charging module are electrically connected. The DC output terminal is connected to the power battery.

In an optional embodiment, the high-voltage direct current input terminal of the DC/DC conversion module is electrically connected to the power battery, and the low-voltage direct current output terminal of the DC/DC direct current conversion module is electrically connected to the low-voltage battery.

In an optional embodiment, the high-voltage DC input end of the motor controller is electrically connected to the power battery; the output end of the motor controller is electrically connected to the input end of the drive motor module.

In an optional embodiment, the high voltage power management system includes a double pole single throw switch;

The first end of the double-pole single-throw switch is electrically connected to the power battery, and the second end of the double-pole single-throw switch is connected to the high-voltage DC input end of the motor controller, the AC input end of the external plug-in working module, and the AC vehicle charging module. The AC input terminal and the high voltage DC input terminal of the DC/DC DC conversion module.

In an optional embodiment, the high-voltage power management system further includes a pre-charging resistor, a first relay and a second relay;

The first end of the precharge resistor is electrically connected to the second end of the double-pole single throw switch, the second end of the precharge resistor is electrically connected to the first end of the first relay, and the second end of the first relay is electrically connected to the DC/ The high-voltage DC input terminal of the DC-DC conversion module is electrically connected;

The second relay is connected in parallel with the first relay and the pre-charging resistor, and both ends of the second relay are electrically connected to the high-voltage DC input terminal of the DC/DC conversion module and the second terminal of the double-pole single-throw switch respectively.

In an optional embodiment, the high-voltage power management system further includes a third relay and a first fuse;

The first end of the third relay is electrically connected to the second end of the double pole single throw switch, the second end of the third relay is electrically connected to the first end of the first fuse, and the second end of the first fuse is electrically connected to The high-voltage DC input end of the electric air-conditioning module is electrically connected.

In an optional embodiment, the high-voltage power management system further includes a fourth relay and a second fuse;

The first end of the fourth relay is electrically connected to the second end of the double pole single throw switch, the second end of the fourth relay is electrically connected to the first end of the second fuse, and the second end of the second fuse is electrically connected to the second end of the second fuse. The high voltage DC output terminal of the DC charging input module is electrically connected.

In an optional embodiment, the high-voltage power management system, the motor controller, the vehicle controller, the external plug-in working module, the AC vehicle charging module, and the DC/DC conversion module are integrated on the same circuit board.

In a second aspect, an embodiment of the present application provides an electric excavator system, where the electric excavator system includes an intelligent instrument and the electric excavator integrated control system of any one of the foregoing embodiments;

The smart meter communicates with the motor controller, the vehicle controller, the external plug-in working module, the AC vehicle charging module, the DC/DC conversion module, the power battery, the electric air conditioner module, the DC charging input module and the power battery through the CAN bus. Used to collect and display data.

The beneficial effects of the embodiments of the present application:

The application provides an electric excavator integrated control system and electric excavator system, including a high-voltage power management system, a motor controller, a vehicle controller, an external plug-in working module, an AC vehicle-mounted charging module, and a DC/DC DC conversion module. ; The high-voltage input end of the high-voltage power management system is electrically connected to the power battery, and the high-voltage output end of the high-voltage power management system is electrically connected to the motor controller, the external plug-in working module, the AC vehicle charging module and the DC/DC DC conversion module. ; Motor controller, vehicle controller, external plug-in working module, AC vehicle charging module, DC/DC DC conversion module and power battery are connected through CAN bus communication. By integrating the various control systems of the electric excavator, the present application not only improves the space utilization, but also facilitates the design of the magnetic compatibility of the whole vehicle. In addition, the functions of some power electronic components in the integrated control system are shared, and some High-voltage circuit relays, fuses, and high-voltage input ports are shared, which reduces production costs to a certain extent.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present application more clearly, the following drawings will briefly introduce the drawings that need to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore do not It should be regarded as a limitation of the scope, and for those of ordinary skill in the art, other related drawings can also be obtained according to these drawings without any creative effort.

FIG. 1 is one of the connection diagrams of the electric excavator integrated control system provided in this embodiment;

FIG. 2 is the second connection diagram of the electric excavator integrated control system provided by the embodiment of the application;

FIG. 3 is the third connection diagram of the electric excavator integrated control system provided by the embodiment of the present application;

FIG. 4 is a structural diagram of an electric excavator system 1 provided by an embodiment of the present application.

Icons: 1-electric excavator system; 10-electric excavator integrated control system; 110-high voltage power management system; 1101-double-pole single-throw switch; 1102-first relay; 1103-pre-charging resistor; ;1105-third relay;1106-first fuse;1107-fourth relay;1108-second fuse;120-motor controller;130-vehicle controller;140-external plug-in working module;150- AC vehicle charging module; 160-DC/DC DC conversion module; 20-power battery; 30-drive motor module; 40-low voltage battery; 50-AC power input module; 60-electric air conditioner; 70-DC charging input module; 80 -Smart Meter.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. The components of the embodiments of the present application generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations.

Thus, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the application as claimed, but is merely representative of selected embodiments of the application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In the description of this application, it should be noted that, if the terms "upper", "lower", "inner", "outer", etc. appear, the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the drawings, or It is the usual orientation or positional relationship when the product of the invention is used, which is only for the convenience of describing the application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation , so it cannot be construed as a limitation on this application.

In addition, where the terms "first", "second" and the like appear, they are only used to differentiate the description, and should not be construed as indicating or implying relative importance.

It should be noted that the features in the embodiments of the present application may be combined with each other under the condition of no conflict.

Please refer to FIG. 1 , which is one of the connection diagrams of the electric excavator integrated control system 10 provided in this embodiment. The electric excavator integrated control system 10 includes a high voltage power management system 110 , a motor controller 120 , a vehicle controller 130 , an external plug-in working module 140 , an AC vehicle charging module 150 , and a DC/DC conversion module 160 .

The high-voltage input end of the high-voltage power management system 110 is electrically connected to the power battery 20, and the high-voltage output end of the high-voltage power management system 110 is respectively connected to the motor controller 120, the external plug-in working module 140, the AC vehicle charging module 150, and the DC/DC direct current. The conversion module 160 is electrically connected. The vehicle controller 130 is powered by a separately set low-voltage direct current.

Specifically, in this embodiment, the power battery 20 outputs high-voltage direct current, which is respectively supplied to the motor controller 120 and the DC/DC conversion module 160 through the high-voltage power management system 110 .

The motor controller 120 , the vehicle controller 130 , the external plug-in working module 140 , the AC vehicle charging module 150 , the DC/DC conversion module 160 and the power battery 20 are connected through CAN bus communication for data transmission through the CAN bus.

In this embodiment, the output end of the motor controller 120 is electrically connected to the input end of the driving motor module 30 for controlling the working state of the driving motor module 30 . The external plug-in working module 140 and the AC vehicle charging module 150 are used to convert the externally input AC power into DC power to supply power to the motor controller 120 or to charge the power battery 20 .

The DC/DC conversion module 160 is used to convert the high voltage direct current input from the power battery 20 into low voltage direct current to supply power to the low voltage battery 40 .

Further, please refer to FIG. 2 , which is the second connection diagram of the electric excavator integrated control system 10 provided by the embodiment of the present application.

In this embodiment, the AC input terminal of the external plug-in working module 140 and the AC input terminal of the AC vehicle-mounted charging module 150 are electrically connected to the external AC power input module 50 , and the DC output terminal of the external plug-in working module 140 and the AC vehicle-mounted charging module 150 are electrically connected. The DC output end of the charging module 150 is connected to the power battery 20 .

The high-voltage AC power output by the external AC power input module 50 is converted into high-voltage DC power through the external plug-in working module 140 and the AC vehicle charging module 150 for powering the motor controller 120 or charging the power battery 20 .

Continuing to refer to FIG. 2 , in this embodiment, the high voltage DC input terminal of the DC/DC conversion module 160 is electrically connected to the power battery 20 , and the low voltage DC output terminal of the DC/DC DC conversion module 160 is electrically connected to the low voltage battery 40 . .

The high-voltage direct current output by the power battery 20 is converted into low-voltage direct current after passing through the DC/DC direct current conversion module 160 , so as to charge the low-voltage battery 40 .

In this embodiment, the high-voltage DC input terminal of the motor controller 120 is electrically connected to the power battery 20, and the high-voltage DC output from the power battery 20 is used to supply power to the motor controller 120; the output terminal of the motor controller 120 is connected to the driving motor module The output terminal of 30 is electrically connected. The motor controller 120 sends a control command to the motor driving module, and after receiving the control command, the driving motor module 30 controls the corresponding motor to work according to the content of the control command.

Further, please refer to FIG. 3 , which is the third connection diagram of the electric excavator integrated control system 10 provided by the embodiment of the application. In this embodiment, the high-voltage power management system 110 includes a double-pole single-throw switch 1101 .

The first end of the double pole single throw switch 1101 is electrically connected to the power battery 20 , and the second end of the double pole single throw switch 1101 is connected to the high voltage DC input end of the motor controller 120 and the AC input end of the external plug-in working module 140 , the AC input terminal of the AC vehicle charging module 150 and the high voltage DC input terminal of the DC/DC DC conversion module 160 .

The double-pole single-throw switch 1101 is used to disconnect the power battery 20 from the motor controller 120, the external plug-in working module 140, the AC vehicle charging module 150, the DC/DC conversion module 160, etc. when maintenance is required or the power battery 20 fails. connection for high-voltage isolation of the various components of the electric excavator integrated control system 10 .

Please continue to refer to FIG. 3 , in this embodiment, the high-voltage power management system 110 further includes a pre-charging resistor 1103 , a first relay 1102 and a second relay 1104 .

The first end of the precharge resistor 1103 is electrically connected to the second end of the double pole single throw switch 1101 , the second end of the precharge resistor 1103 is electrically connected to the first end of the first relay 1102 , and the second end of the first relay 1102 is electrically connected. The two terminals are electrically connected to the high voltage DC input terminal of the DC/DC conversion module 160; the second relay 1104 is connected in parallel with the first relay 1102 and the pre-charging resistor 1103, and the two terminals of the second relay 1104 are respectively connected to the DC/DC conversion The high voltage DC input terminal of the module 160 is electrically connected to the second terminal of the double pole single throw switch 1101 .

The first relay 1102 and the pre-charging resistor 1103 form a pre-charging circuit. Before closing the second relay 1104, in order to prevent the motor controller 120, the DC/DC conversion module 160 and other components from forming a large potential difference with the power battery 20, it is necessary to These components are precharged through a precharge circuit (ie, closing the first relay 1102 ), and after the voltage reaches a threshold value, the second relay 1104 is closed and the first relay 1102 is opened.

The first relay 1102 and the pre-charging resistor 1103 are arranged between the power battery 20, the motor controller 120, the DC/DC converter and other components, so that multiple components can share the same pre-charging circuit.

Please continue to refer to FIG. 3 , in this embodiment, the high-voltage power management system 110 further includes a third relay 1105 and a first fuse 1106 ; the first terminal of the third relay 1105 is electrically connected to the second terminal of the double pole single throw switch 1101 The second end of the third relay 1105 is electrically connected to the first end of the first fuse 1106 , and the second end of the first fuse 1106 is electrically connected to the high voltage DC input end of the electric air conditioner 60 module.

In this embodiment, the electric excavator integrated control system 10 can also be provided with an external socket for electrical connection with the electric air conditioner 60 module, and the third relay 1105 and the first fuse 1106 provided on the high-voltage power management system 110 are connected to each other. The electric air conditioner 60 module performs power management, and the first fuse 1106 is blown when the voltage is too high, the current is too large or a short circuit, thereby disconnecting the electric air conditioner 60 module from the power battery 20 .

Optionally, in this embodiment, the high-voltage power management system 110 further includes a fourth relay 1107 and a second fuse 1108 ; the first end of the fourth relay 1107 is electrically connected to the second end of the double-pole single-throw switch 1101 , the second terminal of the fourth relay 1107 is electrically connected to the first terminal of the second fuse 1108 , and the second terminal of the second fuse 1108 is electrically connected to the high voltage DC output terminal of the DC charging input module 70 .

In this embodiment, the electric excavator integrated control system 10 can also be provided with an external socket to be electrically connected to the DC charging input module 70 , and the fourth relay 1107 and the second fuse 1108 provided on the high-voltage power management system 110 can be connected to each other. The power management of the DC charging input module 70 is performed, and the second fuse 1108 is blown when the voltage is too high, the current is too high or a short circuit, thereby disconnecting the DC charging input module 70 from the power battery 20 .

Optionally, in this embodiment, the high-voltage power management system 110 , the motor controller 120 , the vehicle controller 130 , the external plug-in working module 140 , the AC vehicle charging module 150 and the DC/DC conversion module 160 are integrated in the same unit. on the circuit board.

To sum up, the electric excavator integrated control system 10 provided in the embodiment of the present application integrates the motor controller 120 , the vehicle controller 130 , the external plug-in working module 140 , the AC vehicle charging module 150 and the DC/DC DC conversion module 160 , On the premise of realizing the normal operation of the electric excavator, the space utilization rate is improved, the entire body size of the electric excavator can be further reduced, so that the electric excavator can be used in more narrow spaces, and it is also conducive to the overall The magnetic compatibility design of the car, in addition, the functions of some power electronic components in the integrated control system are shared, and some high-voltage circuit relays, fuses, and high-voltage input ports are shared, which reduces the production cost to a certain extent.

In this embodiment, after the vehicle power is turned on, the motor controller 120 , the vehicle controller 130 , and the high-voltage power management system 110 are all awakened and ready to be powered on. Before the power is turned on, the motor controller 120 performs self-checking and testing. Whether each motor is normal, the vehicle controller 130 performs self-test and detects whether the input signal is normal. The high-voltage power management system 110 performs self-test. After the self-test is completed, the motor controller 120, the vehicle controller 130 and the high-voltage power management system 110 According to the test result, confirm whether the power can be turned on. If the power cannot be turned on, the power on is terminated; if the power can be turned on, the high-voltage power management system 110 closes the double-pole single-throw switch 1101, and the vehicle controller 130 receives the double-pole single-throw switch 1101. After the closing instruction of the switch 1101, the vehicle controller 130 closes the first relay 1102 for pre-charging, and receives the voltage information fed back by the motor controller 120. The vehicle controller 130 judges whether the voltage reaches the threshold according to the received voltage information. When the threshold value is reached, the second relay 1104 is closed and the first relay 1102 is disconnected after a delay to complete the power-on.

Please refer to FIG. 4. FIG. 4 is a structural diagram of an electric excavator system 1 provided by an embodiment of the application. The electric excavator system 1 includes an intelligent instrument 80 and an electric excavator integrated control system;

The smart meter 80 communicates with the motor controller 120 , the vehicle controller 130 , the external plug-in working module 140 , the AC vehicle charging module 150 , the DC/DC conversion module 160 and the power battery 20 through the CAN bus for acquisition and display. data.

The electric air-conditioning module and the DC charging input module are communicated and connected with the smart meter through the CAN bus.

In this embodiment, the smart meter 80 is used to collect and display the working data of components such as the complete machine controller, the motor controller 120 , the external plug-in working module 140 and the AC vehicle charging module 150 . For example, the smart meter 80 can be used to display information such as the speed, power level, external AC power supply or power supply from the power battery 20 of the electric excavator, which is convenient for the driver to check.

In this embodiment, the electric excavator system 1 further includes a plurality of signal input terminals for inputting external control signals to the electric excavator integrated control system 10, such as a brake control signal, an air conditioner turn-on control signal or a charging gun insertion signal light, After the electric excavator integrated control system 10 receives the control signal, the processor of the vehicle controller 130 or the motor controller 120 and other components performs operations to obtain the corresponding control information, and sends the control information to the corresponding control execution unit to control the The execution unit generates control instructions according to the control information to control each component (for example, opening or closing the first relay 1102, the second relay 1104, etc.).

In addition, the electric excavator integrated control system 10 can also collect the working data of each component through the CAN bus, and analyze and process the data to obtain the current fault status of each component. Class division is carried out, and different control strategies or alarm strategies are adopted for different levels of faults.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be Covered within the scope of protection of this application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. An integrated control system of an electric excavator is characterized by comprising a high-voltage power supply management system, a motor controller, a vehicle control unit, an external power-on working module, an alternating-current vehicle-mounted charging module and a DC/DC direct-current conversion module;

the high-voltage input end of the high-voltage power supply management system is electrically connected with a power battery, and the high-voltage output end of the high-voltage power supply management system is electrically connected with the motor controller, the external power-on working module, the alternating current vehicle-mounted charging module and the DC/DC direct current conversion module respectively;

the motor controller, the vehicle control unit, the external power plug-in working module, the alternating current vehicle-mounted charging module, the DC/DC conversion module and the power battery are in communication connection through a CAN bus;

the motor controller is used for controlling the working state of the driving motor module; the external plug-in work module and the alternating current vehicle-mounted charging module are used for converting externally input alternating current into direct current; the DC/DC conversion module is used for converting high-voltage direct current into low-voltage direct current.

2. The integrated control system of the electric excavator according to claim 1, wherein the ac input terminal of the external plug-in work module and the ac input terminal of the ac vehicle-mounted charging module are electrically connected to an external ac power input module, and the dc output terminal of the external plug-in work module and the dc output terminal of the ac vehicle-mounted charging module are connected to a power battery.

3. The integrated control system of the electric excavator according to claim 2, wherein the high voltage DC input end of the DC/DC conversion module is electrically connected to the power battery, and the low voltage DC output end of the DC/DC conversion module is electrically connected to the low voltage battery.

4. The integrated control system of an electric excavator according to claim 3, wherein the high voltage dc input of the motor controller is electrically connected to the power battery; the output end of the motor controller is electrically connected with the input end of the driving motor module.

5. The integrated control system of an electric excavator according to any one of claims 1 to 4 wherein the high voltage power management system comprises a double pole single throw switch;

the first end of the double-pole single-throw switch is electrically connected with the power battery, and the second end of the double-pole single-throw switch is connected to the high-voltage direct-current input end of the motor controller, the alternating-current input end of the external power-plugging working module, the alternating-current input end of the alternating-current vehicle-mounted charging module and the high-voltage direct-current input end of the DC/DC direct-current conversion module.

6. The integrated control system of an electric excavator according to claim 5, wherein the high voltage power management system further comprises a pre-charge resistor, a first relay and a second relay;

the first end of the pre-charging resistor is electrically connected with the second end of the double-pole single-throw switch, the second end of the pre-charging resistor is electrically connected with the first end of the first relay, and the second end of the first relay is electrically connected with the high-voltage direct-current input end of the DC/DC direct-current conversion module;

the second relay is connected in parallel to the first relay and the pre-charging resistor, and two ends of the second relay are respectively and electrically connected with the high-voltage direct-current input end of the DC/DC direct-current conversion module and the second end of the double-pole single-throw switch.

7. The integrated control system of an electric excavator according to claim 6, wherein the high voltage power management system further comprises a third relay and a first fuse;

the first end of third relay with the second end electric connection of double-pole single-throw switch, the second end of third relay with the first end electric connection of first fuse, the second end of first fuse and electric air conditioner module's high voltage direct current input electric connection.

8. The integrated control system of an electric excavator according to claim 7, wherein the high voltage power management system further comprises a fourth relay and a second fuse;

the first end of the fourth relay is electrically connected with the second end of the double-pole single-throw switch, the second end of the fourth relay is electrically connected with the first end of the second fuse, and the second end of the second fuse is electrically connected with the high-voltage direct-current output end of the direct-current charging input module.

9. The integrated control system of claim 8, wherein the high voltage power management system, the motor controller, the vehicle controller, the external plug-in work module, the ac vehicle-mounted charging module, and the DC/DC conversion module are integrated on a same circuit board.

10. An electric excavator system, characterized in that the electric excavator system comprises an intelligent instrument and the integrated electric excavator control system of any one of claims 1 to 9;

the intelligent instrument is in communication connection with the motor controller, the vehicle control unit, the external power plug working module, the alternating current vehicle-mounted charging module, the DC/DC direct current conversion module, the electric air conditioning module, the direct current charging input module and the power battery through a CAN bus and is used for collecting and displaying data.

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