CN112248825A - Electric drive mining dump truck pre-torque control system and control method - Google Patents
Electric drive mining dump truck pre-torque control system and control method Download PDFInfo
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- 238000004364 calculation method Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/425—Temperature
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/60—Navigation input
- B60L2240/64—Road conditions
- B60L2240/642—Slope of road
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The electric drive mining dump truck pre-torque application control system comprises an engine and a generator, wherein the generator is connected with a frequency converter, a frequency converter is connected with a driving motor I and a driving motor II, the driving motor I and the driving motor II are respectively connected with a hub driving system I and a hub driving system II, a driving motor rotating speed sensor and a temperature sensor are arranged on the driving motor I and the driving motor II, and the driving motor rotating speed sensor and the temperature sensor are connected with the frequency converter together. The engine drives the generator to generate power, energy is provided for the driving motor through the frequency converter, and the driving motor drives the hub driving system to rotate. The electric drive mining dump truck pre-applied torque control system and the control method can reduce the impact of the torque change of the motor rotor on the hub driving system, automatically match the pre-applied torque value according to the load of the vehicle, prevent the pre-applied torque from sliding down the slope during the slope, and have the advantages of concise control and high reliability.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a pre-torque control system and a pre-torque control method for an electric drive mining dump truck.
Background
With the development of motors and control technologies, more and more large-scale mining equipment adopts an electric transmission mode, and the large-scale mining equipment comprises an electric excavator, an electric shovel, an electric loader and a mining electric transmission dump truck. Especially, the large-tonnage electric transmission mine car has absolute advantages in the aspect of large-scale mine, mountain, earth and stone transportation. The driving system is simple, the control characteristic of the engine is fully utilized, and the rotating speed and the power of the engine are always kept optimal, so that the energy consumption of the mining electric vehicle can be reduced to the greatest extent, and the transportation efficiency is improved. At present, engineering machinery manufacturers are all researching and developing mining electric drive dump trucks. Compared with a mechanical transmission dumper, the electric transmission dumper has the advantages of simple structure, convenience in maintenance, great reduction in operation cost and improvement in production efficiency.
The hub driving system is a key part of a large-tonnage electric transmission mine car and is directly connected with a rotor shaft of a driving motor. The driving motor has the characteristics of large starting torque, wide torque fluctuation range and high rotor vibration frequency, so that the service life of the hub driving system is seriously influenced by adverse factors, the torque impact caused by the driving motor is reduced, the use working condition of the hub driving system can be effectively improved, and the service life is prolonged. If the service life of parts can be prolonged on the basis of not increasing the vehicle cost by optimizing a vehicle control system, the product competitiveness can be greatly improved.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects of the prior art and provide a pre-torque control system and a control method for an electric drive mining dump truck, which have simple structure and good effect.
The invention is realized by the following technical scheme: the utility model provides an electric drive mining dump truck adds torque control system in advance, includes the engine, the engine is connected with the generator, the generator has the converter through three cable connections, the converter is connected with driving motor I and driving motor II, driving motor I and driving motor II are connected with wheel hub driving system I and wheel hub driving system II respectively, be equipped with driving motor speed sensor and temperature sensor on driving motor I and the driving motor II, be equipped with inclination sensor on the vehicle, driving motor speed sensor, temperature sensor and inclination sensor link together with the converter.
It further comprises the following steps: the frequency converter includes a rectifier, an inverter, and a vehicle controller.
And the frequency converter is connected with the driving motor I and the driving motor II through three cables respectively.
And the driving motor I and the driving motor II are connected with the hub driving system I and the hub driving system II through shafts with splines.
After an engine is started and a generator normally works, a vehicle controller in a frequency converter calculates torque required to be applied according to the load and the gradient of a vehicle, and the control system calculates the output torque and the direction of a motor by combining the rotating speed of a driving motor and takes the calculated value as the input of a driving system.
The function f (x, y) = i [ u (x + m) g + cosy + (x + m) g + siny ] calculates the torque required for starting the vehicle according to the load of the vehicle and the gradient of the position, wherein i is a torque transformation coefficient, u is a friction coefficient, x is the load, m is the self weight, and y is the gradient.
The function g (a, b) is used for calculating the maximum torque which can be output by combining the information of the rotating speed of the driving motor, wherein a is a calculated value of the torque demand calculated according to the function f (x, y), b is a gear signal, b =1 when the driving motor moves forwards, b = -1 when the driving motor moves backwards, T is the maximum torque of the motor, g (a, b) = ab when a is less than or equal to T, and g (a, b) = Tb when a is more than T.
The invention has the following advantages: the electric drive mining dump truck pre-applied torque control system can reduce the impact of the torque change of the motor rotor on a hub driving system, automatically matches the pre-applied torque value according to the load of a vehicle, prevents the pre-applied torque from sliding down a slope when the slope is started, and has the advantages of concise control and high reliability.
Drawings
FIG. 1 is a schematic illustration of the control system of the present invention;
FIG. 2 is a schematic diagram of the calculation of the drive system input of the present invention.
Detailed Description
The electric drive mining dump truck pre-torque control system comprises an engine, wherein the engine is connected with a generator, the generator is connected with a frequency converter through three cables, the frequency converter is connected with a driving motor I and a driving motor II, the driving motor I and the driving motor II are respectively connected with a hub driving system I and a hub driving system II, the driving motor I and the driving motor II are provided with a driving motor rotating speed sensor and a temperature sensor, the vehicle is provided with an inclination angle sensor, and the driving motor rotating speed sensor, the temperature sensor and the inclination angle sensor are connected with the frequency converter. The electric drive mining dump truck pre-torque-adding control system can prevent a vehicle from sliding down a slope by pre-torque-adding control, reduces impact on a hub driving system, adopts variable frequency control for a driving motor, and is characterized in that an engine is connected with a generator, the generator is connected with a frequency converter, the frequency converter is connected with a driving motor I and a driving motor II, and the driving motor I and the driving motor II are respectively connected with the hub driving system I and the hub driving system II. The frequency converter controls the rotating speed and the torque of the driving motor, when the vehicle is in a preparation state, the frequency converter pre-applies a certain torque to the driving motor I and the driving motor II, so that the vehicle is prevented from sliding down a slope, the impact of the instantaneously applied maximum torque on the hub driving system is reduced, and the purposes of ensuring the safety of the mine car and reducing the impact on the hub driving system are achieved.
The electric drive mining dump truck pre-torque control system shown in fig. 1 to 2 comprises a rectifier, an inverter and a vehicle controller. And the frequency converter is connected with the driving motor I and the driving motor II through three cables respectively. And the driving motor I and the driving motor II are connected with the hub driving system I and the hub driving system II through shafts with splines. The frequency converter comprises a rectifier, an inverter and a vehicle controller, wherein the converter monitors the rotating speed and the torque of a driving motor I and a driving motor II through sensors, the sensors comprise a driving motor rotating speed sensor and a temperature sensor, the temperature sensor is used for detecting the temperature of a motor bearing and a winding, and alarming and unloading are carried out when the temperature is high.
According to the control method of the pre-torque control system for the electric drive mining dump truck, after an engine is started and a generator works normally, a vehicle control unit in a frequency converter calculates torque required to be applied according to load and gradient of a vehicle, the load is obtained according to a gravity sensor, gradient value of the vehicle is obtained through measurement of a vehicle-mounted inclination angle sensor, the control system calculates output torque and direction of a motor by combining the rotating speed of a driving motor, the calculated value is used as the input of a driving system, and the output value of the motor is subjected to speed reduction and torque increase through a speed reducer to obtain a torque requirement value. At the starting stage, the pre-applied torque can reduce the torque change of the rotor shaft of the driving motor at the starting moment, greatly reduce the impact on a hub driving system and prolong the service life of the hub. When starting on a slope, the system can effectively prevent the vehicle from sliding down the slope according to the calculated value and pre-add the calculated value to the driving motor, thereby ensuring the running safety of the vehicle.
In a control method using the pre-torque control system for the electric drive mining dump truck as shown in fig. 2, a function f (x, y) = i [ u (x + m) g + cosy + (x + m) g + siny ] calculates the torque required for starting the vehicle according to the load of the vehicle and the gradient of the position, wherein i is a torque transformation coefficient, u is a friction coefficient, x is the load, m is the self weight, and y is the gradient. The function g (a, b) is used for calculating the maximum torque which can be output by combining the information of the rotating speed of the driving motor, wherein a is a calculated value of the torque demand calculated according to the function f (x, y), b is a gear signal, b =1 when the driving motor moves forwards, b = -1 when the driving motor moves backwards, T is the maximum torque of the motor, g (a, b) = ab when a is less than or equal to T, and g (a, b) = Tb when a is more than T. When the vehicle has traction and is at a standstill, the frequency converter pre-applies a certain torque to the driving motor I and the driving motor II according to information of a vehicle controller, the torque value is matched according to the load of the vehicle, and the torque value is obtained by calculation according to a function f (x, y), so that the impact of the maximum torque on a hub driving system during starting is reduced; when the vehicle runs on a slope, the frequency converter automatically matches a pre-applied torque value according to the working conditions of the load, the slope and the like of the vehicle to prevent the vehicle from sliding down the slope when the vehicle runs on the slope, and the driving system respectively pre-applies torques to the driving motor I and the driving motor II according to the input torque value. Different torques are pre-applied according to different input quantities, if the pre-applied torque is too large, the vehicle can move, if the pre-applied torque is too small, the torque change at the starting moment is too large, and the improvement on the operation condition of the hub driving system is small.
Claims (7)
1. The utility model provides an electric drive mining dump truck adds torque control system in advance which characterized in that: the automobile engine comprises an engine, the engine is connected with the generator, the generator has the converter through three cable junction, the converter is connected with driving motor I and driving motor II, driving motor I and driving motor II are connected with wheel hub actuating system I and wheel hub actuating system II respectively, be equipped with driving motor speed sensor and temperature sensor on driving motor I and the driving motor II, inclination sensor is equipped with on the vehicle, driving motor speed sensor, temperature sensor and inclination sensor link together with the converter.
2. The electric drive mining dump truck pre-torque control system of claim 1, characterized in that: the frequency converter includes a rectifier, an inverter, and a vehicle controller.
3. The electric drive mining dump truck pre-torque control system of claim 1, characterized in that: and the frequency converter is connected with the driving motor I and the driving motor II through three cables respectively.
4. The electric drive mining dump truck pre-torque control system of claim 1, characterized in that: and the driving motor I and the driving motor II are connected with the hub driving system I and the hub driving system II through shafts with splines.
5. A control method using the electric drive mining dump truck pre-torque control system according to claim 1, characterized by comprising the following steps: after the engine is started and the generator works normally, the vehicle control unit in the frequency converter calculates the torque required to be applied according to the load and the gradient of the vehicle, the control system calculates the output torque and the direction of the motor by combining the rotating speed of the driving motor, and the calculated value is used as the input of the driving system.
6. The control method of the electric drive mining dump truck pre-torque control system according to claim 5, characterized by comprising the following steps: the function f (x, y) = i [ u (x + m) g + cosy + (x + m) g + siny ] calculates the torque required for starting the vehicle according to the load of the vehicle and the gradient of the position, wherein i is a torque transformation coefficient, u is a friction coefficient, x is the load, m is the self weight, and y is the gradient.
7. The control method of the electric drive mining dump truck pre-torque control system according to claim 6, characterized by comprising the following steps: the function g (a, b) is used for calculating the maximum torque which can be output by combining the information of the rotating speed of the driving motor, wherein a is a calculated value of the torque demand calculated according to the function f (x, y), b is a gear signal, b =1 when the driving motor moves forwards, b = -1 when the driving motor moves backwards, T is the maximum torque of the motor, g (a, b) = ab when a is less than or equal to T, and g (a, b) = Tb when a is more than T.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011252816.5A CN112248825B (en) | 2020-11-11 | 2020-11-11 | Pre-torque control system and control method for electric transmission mining dump truck |
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| CN202011252816.5A CN112248825B (en) | 2020-11-11 | 2020-11-11 | Pre-torque control system and control method for electric transmission mining dump truck |
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| CN112248825B CN112248825B (en) | 2024-03-26 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112965447A (en) * | 2021-02-01 | 2021-06-15 | 上海同普电力技术有限公司 | Heavy-load AGV (automatic guided vehicle) large-gradient operation control system |
| CN113320400A (en) * | 2021-06-29 | 2021-08-31 | 重庆长安汽车股份有限公司 | Electric vehicle four-wheel drive torque distribution method and system and vehicle |
| CN113696725A (en) * | 2021-08-31 | 2021-11-26 | 徐州徐工矿业机械有限公司 | Self-adaptive safety speed-limiting protection system and method for electric transmission mining dump truck |
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| CN112248825B (en) | 2024-03-26 |
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