CN112440760B - 叉车坡道电机控制方法 - Google Patents

叉车坡道电机控制方法 Download PDF

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CN112440760B
CN112440760B CN202011274801.9A CN202011274801A CN112440760B CN 112440760 B CN112440760 B CN 112440760B CN 202011274801 A CN202011274801 A CN 202011274801A CN 112440760 B CN112440760 B CN 112440760B
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李飞
姚欣
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Henan Jiachen Intelligent Control Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—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 for braking
    • B60L15/2018—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 for braking for braking on a slope
    • 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
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/0046—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to electric energy storage systems, e.g. batteries or capacitors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/03—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for very low speeds
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B60L2200/42—Fork lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • 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
    • B60L2240/427—Voltage
    • 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
    • B60L2240/429—Current
    • 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
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    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
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  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
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  • Forklifts And Lifting Vehicles (AREA)
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Abstract

本发明涉及叉车坡道控制电机的方法，该方法包含当BMS异常导致主接触器断开，处于正常状态下的低值母线电压受加速下滑中的电机转矩环影响使母线电压升高至大于预设值，从而触发电机进入转矩控制模式；当车辆下滑至平地，母线电压下降至小于预设值，母线电压补偿退出运行。本发明通过车辆下坡时产生的重力势能升高车辆母线电压，从而达到电制动控制车辆下坡的目的。

Description

叉车坡道电机控制方法
本发明是申请号为201911081881.3，申请日为2019年11月07日，申请类型为发明，申请名称为叉车坡道BMS异常断电异步电机控制方法的分案申请。
技术领域
本发明涉及一种叉车坡道电机控制方法。
背景技术
叉车是现代化物流仓储的重要装备，广泛应用在港口、码头、货场、油田和机场等场所。随着物流技术的不断发展推广和应用，叉车使用范围也在日益扩大，成为一种产量和规格最多的装卸仓储搬运机械。若电动叉车在坡道上、下坡的过程中，电池组BMS(电池管理系统)发生故障，切断车载电机控制器供电，此种情况下车辆有失速的风险，只能通过机械刹车的方式才能将车辆安全的刹下来。
目前应对BMS故障，通常采用两种方式，一种是主动关闭控制器输出，车辆惯性下滑；第二种是由于车辆惯性下滑，转矩环饱和，母线电压升高触发保护，车辆的电机控制器停止输出，参见图2所示内容，这是现有技术BMS异常断电电机控制系统框图。以上两种方案的安全性均不高。
发明内容
为了克服已有方案存在的缺陷，本发明提出了一种叉车坡道BMS异常断电异步电机控制方法，具体包括：当BMS异常导致主接触器断开，电机控制器接收到故障信号后，系统不立即保护切断牵引电机控制器输出，电机控制器内部闭环控制正常运行；车辆在重力作用下加速下滑，转矩电流饱和，转矩环为稳定速度造成母线电压升高；母线电压检测环节检测当前母线电压，若当前母线电压大于预先设定的母线电压设定值，电压反馈环起作用：通过PI控制器，生成一个转矩电流限制值，由此触发转矩电流指令限制模块，PI控制环路起作用，限制转矩电流的输出，电机进入转矩控制模式，车辆下降的速度取决于坡道的坡度，母线电压反馈恒定地保持母线电压稳定；当车辆下滑到平地，由于重力势能不足以维持母线电压，母线电压自然下降，当电压值下降到设定值时，母线电压补偿退出运行。
本发明提供的一种叉车坡道BMS异常断电异步电机控制方法，进一步包括：预先设定的母线电压设定值小于母线电容最大可承受电压，大于正常工作时候的电压。
本发明在BMS系统异常断开主接触器、切断电机控制器的供电情况下，利用叉车辆溜坡过程中的重力势能，将其转化为电机的制动转矩，通过电制动的方式使车辆缓慢下坡，提高了车辆使用的安全性。
附图说明
图1是BMS提供与车辆电池组、电机控制器电路连接示意图。
图2是现有的BMS异常断电电机控制系统框图。
图3是车辆在坡道上的受力情况示意图。
图4是本发明BMS异常断电电机控制系统框图。
具体实施方式
参见图3，车辆下坡时为了克服重力势能，电机需要一个与车辆前进反向相反的电磁转矩来平衡。使车辆能够平稳下滑。
图4是本发明的一个完整系统框图，它与现有技术的图2相比改进之处在于：正常情况下，电池组BMS系统控制继电器闭合，由于母线电压比较低，系统处于正常模式。当BMS异常导致主接触器断开，电机控制器接收到故障信号后，系统不立即保护切断牵引电机控制器输出，电机控制器内部闭环控制正常运行。由于车辆重力的影响，车辆会加速下滑，电机的转矩电流饱和。由于电控电流的限制，图4中标记为1的方框为速度环，由于速度环不能跟踪到指令值，导致PI调节器饱和，达到限幅值。即为饱和。转矩环为了稳定速度会造成母线电压升高，母线电压检测环节检测当前母线电压，若当前母线电压大于母线电压的设定值(母线电压的设定值通常选取小于母线电容最大可承受电压，大于正常工作时候的电压)，电压反馈环(即附图4中标记为2的方框，包括PI控制器)起作用。通过PI控制器，即比例积分器，生成一个转矩电流限制值。由此触发转矩电流指令限制模块(即图4中标记为3的方框)，PI控制环路起作用，限制转矩电流的输出，电机进入转矩控制模式。此时车辆下降的速度取决于坡道的坡度，母线电压反馈恒定地保持母线电压稳定，不至于出现过压的情况。当车辆下滑到平地，由于重力势能不足以维持母线电压，母线电压自然下降。当电压值下降到设定值时，母线电压补偿退出运行。
与现有的技术方案相比，本发明通过母线电压的闭环控制，稳定母线电压，来实时的控制转矩电流的大小，适应不同坡道。及时制动，避免车辆不受控下滑，给驾驶员提供反应的时间，提供高了车辆使用的安全性。

Claims (4)

1.叉车坡道电机控制方法，其特征在于：
在BMS系统异常断开主接触器、切断电机控制器的供电情况下，利用叉车辆溜坡过程中的重力势能，将其转化为电机的制动转矩，通过电制动的方式使车辆缓慢下坡；
母线电压检测环节检测当前母线电压大于预先设定的母线电压设定值，电压反馈环(2)起作用：通过PI控制器，生成一个转矩电流限制值，由此触发转矩电流指令限制模块(3)，PI控制环路起作用，限制转矩电流的输出，电机进入转矩控制模式；
预先设定的母线电压设定值小于母线电容最大可承受电压，大于正常工作时候的电压。
2.如权利要求1所述的叉车坡道电机控制方法，其特征在于：当BMS异常导致主接触器断开，电机控制器接收到故障信号后，系统不立即保护切断牵引电机控制器输出，电机控制器内部闭环控制正常运行；
车辆在重力作用下加速下滑，电机转矩电流饱和，转矩环为稳定速度造成母线电压升高。
3.如权利要求2所述的叉车坡道电机控制方法，其特征在于：当BMS异常导致主接触器断开，车辆下降的速度取决于坡道的坡度，母线电压反馈恒定地保持母线电压稳定。
4.如权利要求3所述的叉车坡道电机控制方法，其特征在于：当车辆下滑至平地，母线电压下降至小于预设值，母线电压补偿退出运行。
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