CN112519594A - Control system and method of transmission system and electric washing and sweeping vehicle - Google Patents

Control system and method of transmission system and electric washing and sweeping vehicle Download PDF

Info

Publication number
CN112519594A
CN112519594A CN202011460866.2A CN202011460866A CN112519594A CN 112519594 A CN112519594 A CN 112519594A CN 202011460866 A CN202011460866 A CN 202011460866A CN 112519594 A CN112519594 A CN 112519594A
Authority
CN
China
Prior art keywords
motor
electromagnetic clutch
stage
control unit
water pump
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202011460866.2A
Other languages
Chinese (zh)
Other versions
CN112519594B (en
Inventor
陈华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zoomlion Heavy Industry Science and Technology Co Ltd
Original Assignee
Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zoomlion Heavy Industry Science and Technology Co Ltd filed Critical Zoomlion Heavy Industry Science and Technology Co Ltd
Priority to CN202011460866.2A priority Critical patent/CN112519594B/en
Publication of CN112519594A publication Critical patent/CN112519594A/en
Application granted granted Critical
Publication of CN112519594B publication Critical patent/CN112519594B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
    • B60K23/02—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for main transmission clutches
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E01H1/005—Mobile installations, particularly for upkeeping in situ road or railway furniture, for instance road barricades, traffic signs; Mobile installations particularly for upkeeping tunnel walls
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H3/00—Applying liquids to roads or like surfaces, e.g. for dust control; Stationary flushing devices
    • E01H3/02—Mobile apparatus, e.g. watering-vehicles
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Transmission Device (AREA)
  • Control Of Fluid Gearings (AREA)
  • Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)

Abstract

The invention discloses a control system and a control method of a transmission system and an electric washing and sweeping vehicle.A high-pressure water pump of the electric washing and sweeping vehicle is in driving connection with a motor by adopting an electromagnetic clutch, can control the electromagnetic clutch to be electrified, attracted or disconnected according to the operation mode of the washing and sweeping vehicle, has higher response speed, and has the combination effect which is not easily influenced by external factors. And, the motor is controlled to run at low speed in the starting operation stage, which is beneficial to the complete meshing of the zigzag electromagnetic clutch during the actuation, avoids the phenomenon that the electromagnetic clutch bears overlarge torque due to acceleration when not completely meshed, effectively protects the electromagnetic clutch, can also avoid belt abrasion and slipping caused by the sudden acceleration of the narrow V-belt mechanism in the zero speed state, controls the motor to stop the speed reduction according to different control strategies whether the high-pressure water pump works or not after the operation is finished, ensures the speed reduction efficiency, avoids the tooth punching abrasion of the electromagnetic clutch caused by the motor feedback, and prolongs the service life of the electromagnetic clutch.

Description

Control system and method of transmission system and electric washing and sweeping vehicle
Technical Field
The invention relates to the technical field of environmental sanitation machines, in particular to a control system and a control method of a transmission system, and in addition, the invention also particularly relates to an electric washing and sweeping vehicle adopting the control system.
Background
Along with the progress of environmental sanitation operation equipment, the mechanical cleaning operation of urban roads in China is basically realized, and environmental sanitation equipment such as a washing and sweeping vehicle, a sweeper and a sprinkler is widely used in the urban road cleaning operation, wherein the washing and sweeping vehicle is one of the most widely applied environmental sanitation operation equipment at present.
A fan and a high-pressure water pump in a transmission system of an existing washing and sweeping vehicle are driven and controlled through a pneumatic clutch, the pneumatic clutch supplies air through a chassis air source, the response speed of the pneumatic clutch is low, the combination effect of the pneumatic clutch is influenced by the chassis air source, the chassis air source is mainly used for a braking system of a chassis of a commercial vehicle, a gearbox, air valve control of the washing and sweeping vehicle, water drainage in winter and the like, the air source of an electric vehicle is provided by an electric air pump, if the power of the electric air pump is low, air supply can be slow after the air source pressure is reduced, the air pressure is low, and therefore the combination effect of the pneumatic clutch is unstable.
Disclosure of Invention
The invention provides a control system and a control method of a transmission system and an electric washing and sweeping vehicle, and aims to solve the technical problems that a fan and a high-pressure water pump of the existing washing and sweeping vehicle are low in response speed and low in combination effect and are influenced by a chassis air source in a driving control mode of adopting an air clutch.
According to one aspect of the invention, a control system of a transmission system is provided, which is suitable for an electric washing and sweeping vehicle and comprises a vehicle control unit, a motor controller, a motor, a fan and a high-pressure water pump, wherein the fan is in driving connection with the motor through a narrow V-belt mechanism, the high-pressure water pump is in driving connection with the motor through an electromagnetic clutch and the narrow V-belt mechanism, the motor controller is connected with the motor, the motor controller and the electromagnetic clutch are both connected with the vehicle control unit, the vehicle control unit controls the electromagnetic clutch to be attracted or separated to control the working state of the high-pressure water pump according to the operation mode of the washing and sweeping vehicle, the vehicle control unit is used for sending a control command, the motor controller controls the working state of the motor according to the control command, and feeds back the working state parameters of the motor to the vehicle control unit;
the working process of the motor is divided into a starting stage, an accelerating stage, an operating stage and a decelerating and stopping stage in sequence, and the vehicle control unit controls the motor to operate according to the starting stageAccording to a first target rotation speed VaRunning at low speed in an electric mode, and controlling the motor to accelerate to a second target rotating speed V according to a set step length by the vehicle control unit in an acceleration stage0In the operation stage, the vehicle control unit controls the motor to maintain a second target rotating speed V0And in the deceleration stop stage, the vehicle control unit sets different control strategies according to whether the high-pressure water pump works to control the motor to decelerate and stop.
Further, in a starting stage in the washing and sweeping mode, the vehicle control unit judges whether the electromagnetic clutch is successfully combined by detecting whether the output torque and the current of the motor generate step changes, and controls the motor to enter an acceleration stage after judging that the electromagnetic clutch is successfully combined.
Further, in the deceleration stop stage, if the high-pressure water pump works, the vehicle control unit firstly controls the motor to rapidly decelerate to the third target rotating speed V at the first braking torque Te1 in the power generation mode1And then controlling the motor to rotate at a third target rotating speed V in the electric mode1Stably running, and slowly reducing the speed of the motor to a fourth target speed V at a second braking torque Te2 in the power generation mode2Finally, controlling the motor to stop;
if the high-pressure water pump does not work, the vehicle control unit firstly controls the motor to rapidly decelerate to a third target rotating speed V in a power generation mode by using the first braking torque Te11And then controls the motor to slowly decelerate to the fourth target rotation speed V at the second braking torque Te2 in the power generation mode2And finally, controlling the motor to stop.
Further, in the deceleration stop stage, the vehicle control unit further detects whether the motor rotates reversely, and if the motor rotates reversely, the vehicle control unit controls the third target rotating speed V1Corrected third target rotation speed V1’＝V1+V2Wherein V is2Is the maximum rotating speed when the motor rotates reversely, and controls the motor to rapidly decelerate to the corrected third target rotating speed V at the first braking torque Te1 in the power generation mode in the initial stage of deceleration stop1’。
Further, the vehicle control unit compares the actual stop time of the deceleration stop stage with a preset stop time threshold, and if the actual stop time is greater than the preset stop time threshold, the tension of the narrow V-belt mechanism needs to be readjusted or the narrow V-belt mechanism needs to be replaced.
In addition, the invention also provides a control method of the transmission system, which adopts the control system and comprises the following steps:
step S1: starting operation, controlling the motor to rotate at a first target rotating speed VaLow speed operation in electric mode;
step S2: selecting an operation mode of the electric washing and sweeping vehicle, controlling the electromagnetic clutch to be attracted or separated according to the operation mode of the washing and sweeping vehicle, controlling the electromagnetic clutch to be disconnected in a power-off mode in a sweeping mode, and controlling the electromagnetic clutch to be electrified and attracted in a washing and sweeping mode;
step S3: controlling the motor to accelerate to a second target rotating speed V according to a set step length0And maintaining the rotation speed to run;
step S4: after the operation is finished, different control strategies are formulated according to whether the high-pressure water pump operates to control the motor to be decelerated and stopped.
Further, the step S4 specifically includes the following steps:
if the high-pressure water pump works, the motor is controlled to rapidly decelerate to the third target rotating speed V under the first braking torque Te1 in the power generation mode1And then controlling the motor to rotate at a third target rotating speed V in the electric mode1Stably running, and slowly reducing the speed of the motor to a fourth target speed V at a second braking torque Te2 in the power generation mode2Finally, controlling the motor to stop;
if the high-pressure water pump does not work, the motor is controlled to rapidly decelerate to a third target rotating speed V in the power generation mode by using the first braking torque Te11And then controls the motor to slowly decelerate to the fourth target rotation speed V at the second braking torque Te2 in the power generation mode2And finally, controlling the motor to stop.
Further, the step S2 further includes the following steps:
and detecting whether the output torque and the current of the motor generate step changes or not to judge whether the electromagnetic clutch is successfully combined or not.
Further, the method also comprises the following steps:
step S5: and acquiring the actual stop time of the motor in the deceleration stop stage, comparing the actual stop time with a preset stop time threshold, and readjusting the tension of the narrow V-belt mechanism or replacing the narrow V-belt mechanism if the actual stop time is less than the preset stop time threshold.
In addition, the invention also provides an electric washing and sweeping vehicle which adopts the control system.
The invention has the following effects:
according to the control system of the transmission system, the high-pressure water pump is in driving connection with the motor through the electromagnetic clutch, the vehicle control unit can control the electromagnetic clutch to be powered on, powered on and powered off to be disconnected according to the operation mode of the washing and sweeping vehicle, and compared with the existing pneumatic clutch, the electromagnetic clutch is high in response speed, the combination effect is not easily affected by external factors, and the combination effect is kept stable and reliable for a long time. And in the whole operation process of the electric washing and sweeping vehicle, in the starting operation stage, the whole vehicle controller controls the motor to run at a low speed, which is beneficial to the fact that the zigzag electromagnetic clutch can be completely engaged when being attracted, and avoids the phenomenon that the electromagnetic clutch bears overlarge torque due to acceleration when not being completely engaged, the electromagnetic clutch is effectively protected, meanwhile, belt abrasion and slipping caused by sudden acceleration of the narrow V-belt mechanism in a zero-speed state can be avoided, the motor is controlled to stably accelerate to a second target rotating speed according to a set step length in the acceleration stage, the whole acceleration process is more stable and smooth, and after the operation is finished, the motor is controlled to decelerate and stop according to different control strategies whether the high-pressure water pump works or not, the electromagnetic clutch is prevented from being abraded due to tooth beating when the deceleration efficiency is ensured, and the service life of the electromagnetic clutch is prolonged.
In addition, the control method of the transmission system and the electric washing and sweeping vehicle adopting the control system have the advantages.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic configuration diagram of a control system of a transmission system according to a preferred embodiment of the present invention.
Fig. 2 is a flow chart illustrating a control method of a transmission system according to another embodiment of the present invention.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the accompanying drawings, but the invention can be embodied in many different forms, which are defined and covered by the following description.
As shown in fig. 1, a preferred embodiment of the present invention provides a control system of a transmission system, which is suitable for an electric washing and sweeping vehicle, and includes a vehicle control unit, a motor controller, a motor, a blower and a high pressure water pump, wherein the blower is drivingly connected to the motor through a narrow V-belt mechanism, the high pressure water pump is drivingly connected to the motor through an electromagnetic clutch and a narrow V-belt mechanism, the motor controller is connected to the motor, the motor controller and the electromagnetic clutch are both connected to the vehicle control unit, the vehicle control unit controls the electromagnetic clutch to be engaged or disengaged to control the working state of the high pressure water pump according to an operation mode of the washing and sweeping vehicle, the vehicle control unit is configured to send a control instruction, the motor controller controls the working state of the motor according to the control instruction, and feeds back the working state parameters of the motor to the vehicle control unit to implement closed. The narrow V-belt mechanism comprises a belt pulley and a belt, the vehicle control unit is connected with the motor controller through CAN bus communication, and the motor controller is connected with the motor through a three-phase line. In addition, when the operation mode of the washing and sweeping vehicle is selected to be the washing and sweeping mode, the high-pressure water pump is required to work, and the vehicle control unit controls the electromagnetic clutch to be electrified and closed, so that the high-pressure water pump is driven by the motor; when the operation mode of selecting the washing and sweeping vehicle is the sweeping mode, no longer need high pressure water pump work, vehicle control unit control electromagnetic clutch outage disconnection, high pressure water pump is not driven by the motor. Compared with the existing pneumatic clutch, the electromagnetic clutch has the advantages that the response speed is higher, the combination effect is not easily influenced by external factors, and the combination effect is kept stable and reliable for a long time. The vehicle control unit is used as a control center and used for sending a control command to the motor controller, the motor controller controls the working state of the motor according to the control command sent by the vehicle control unit, namely, the working process of the motor is controlled, the working state parameters of the motor are fed back to the vehicle control unit through the CAN bus, and the vehicle control unit readjusts the control command according to the fed back parameters, so that closed-loop control is realized. The working state parameters of the motor comprise real-time rotating speed, output torque, temperature and the like of the motor.
In the process from the beginning to the stopping of the washing and sweeping vehicle, the working process of the motor is sequentially divided into a starting stage, an accelerating stage, an operating stage and a decelerating and stopping stage. In the starting stage, the vehicle control unit controls the motor to rotate at a first target rotating speed VaThe low-speed operation of the transmission mechanism is beneficial to the fact that the sawtooth-shaped electromagnetic clutch can be completely engaged when attracting, the phenomenon that the electromagnetic clutch bears overlarge torque due to acceleration when not being completely engaged is avoided, the electromagnetic clutch is effectively protected, and meanwhile, belt abrasion and slipping caused by sudden acceleration of a narrow V-belt mechanism in a zero-speed state can be avoided. In the acceleration stage, the vehicle control unit controls the motor to accelerate to a second target rotating speed V according to the set step length0For example, the motor is controlled to accelerate to a second target speed V in steps of 10rpm increase per 100ms0The stability of acceleration is guaranteed. In the operation stage, the vehicle control unit controls the motor to maintain a second target rotating speed V0And (5) stable operation. In the deceleration stop stage, the vehicle control unit controls the motor to decelerate and stop according to different control strategies whether the high-pressure water pump works or not, and because the fan and the high-pressure water pump are large inertia loads, the gear-beating abrasion of the electromagnetic clutch caused by motor reverse transduction is avoided while the deceleration efficiency is ensured, and the vehicle control unit aims at the high-pressure water pumpWhether different control strategies are formulated during operation or not is performed, so that the speed reduction efficiency in the speed reduction stopping process is ensured, and the electromagnetic clutch is protected.
It can be understood that, in the control system of the transmission system of the embodiment, the high-pressure water pump is in driving connection with the motor by adopting the electromagnetic clutch, the vehicle control unit can control the electromagnetic clutch to be powered on, powered off and disconnected according to the operation mode of the washing and sweeping vehicle, and compared with the existing pneumatic clutch, the electromagnetic clutch has the advantages of higher response speed, difficult influence of external factors on the combination effect and long-term stability and reliability of the combination effect. And in the whole operation process of the electric washing and sweeping vehicle, in the starting operation stage, the whole vehicle controller controls the motor to run at a low speed, which is beneficial to the fact that the zigzag electromagnetic clutch can be completely engaged when being attracted, and avoids the phenomenon that the electromagnetic clutch bears overlarge torque due to acceleration when not being completely engaged, the electromagnetic clutch is effectively protected, meanwhile, belt abrasion and slipping caused by sudden acceleration of the narrow V-belt mechanism in a zero-speed state can be avoided, the motor is controlled to stably accelerate to a second target rotating speed according to a set step length in the acceleration stage, the whole acceleration process is more stable and smooth, and after the operation is finished, the motor is controlled to decelerate and stop according to different control strategies whether the high-pressure water pump works or not, the electromagnetic clutch is prevented from being abraded due to tooth beating when the deceleration efficiency is ensured, and the service life of the electromagnetic clutch is prolonged.
It can be understood that, in the starting stage in the washing and sweeping mode, after the electromagnetic clutch is connected, the high-pressure water pump operates along with the electromagnetic clutch, at the moment, the output torque and the current of the motor generate a step change, the vehicle controller determines whether the electromagnetic clutch is successfully combined by detecting whether the output torque and the current of the motor generate the step change, and controls the motor to enter the acceleration stage only after the vehicle controller determines that the electromagnetic clutch is successfully combined, so that the gear punching abrasion of the electromagnetic clutch caused by the incomplete connection of the electromagnetic clutch and the acceleration of the motor is prevented, and the electromagnetic clutch is further protected.
It can be understood that, in the deceleration stop stage, if the high-pressure water pump works, because the fan and the high-pressure water pump are both large inertia loads, in order to ensure the deceleration efficiencyMeanwhile, the gear-beating abrasion of an electromagnetic clutch caused by the reverse rotation of the motor is avoided, and the vehicle control unit firstly controls the motor to rapidly decelerate to a third target rotating speed V at a first braking torque Te1 under the power generation mode1In practical application, V1The speed is set to be 100-150 rpm, the motor can generate power to recover energy generated by load deceleration, and then the motor is controlled to rotate at a third target rotating speed V in an electric mode1After stable operation for a period of time, for example, controlling the rotation speed of the motor to be stable within the range of +/-5 rpm for 2 seconds, then controlling the motor to slowly decelerate to a fourth target rotation speed V at a second braking torque Te2 in the power generation mode2Fourth target rotational speed V2The speed can be 5rpm, at the moment, the motor generates power again to recover energy generated by load deceleration, and finally the motor is controlled to stop, and the rotating speed of the motor returns to zero in a natural deceleration state. The first brake torque Te1 is larger than the second brake torque Te2, so that the first stage of deceleration stop is ensured to decelerate rapidly, and the third stage of deceleration stop is ensured to decelerate slowly, so that the rotational inertia impact generated by the fan and the high-pressure water pump at the end of the deceleration stop is reduced, and the motor is prevented from rotating reversely. The first brake torque Te1 and the second brake torque Te2 are determined by calculation and experiments and are constants. In one embodiment of the present invention, the first braking torque Te1 is 150N.M, and the second braking torque Te2 is 50n.m, although in other embodiments, different values may be selected, and the values of different vehicle types are different. Aiming at the operating state of the high-pressure water pump, the influence of the fan and the high-pressure water pump which are simultaneously used as large inertia loads is fully considered, the deceleration stop stage is divided into a rapid deceleration stage, a transient stable operation stage and a slow deceleration stage, the rapid deceleration stage aims to ensure the deceleration efficiency, the transient stable operation stage aims to prevent the motor from reversing due to the fact that the inertia is too large and the motor decelerates too fast when the fan and the high-pressure water pump simultaneously operate and load is generated, the electromagnetic clutch is further protected, and the slow deceleration stage aims to reduce the rotational inertia impact generated by the fan and the high-pressure water pump at the tail end of the deceleration stop and avoid the motor from reversing.
In addition, if the high-pressure water pump does not work, only the fan is used as an inertia load, and the fan is provided withWhen the coming rotational inertia impact is in a bearable range, the vehicle control unit firstly controls the motor to rapidly decelerate to a third target rotating speed V with a first braking torque Te1 in a power generation mode1And then controls the motor to slowly decelerate to the fourth target rotation speed V at the second braking torque Te2 in the power generation mode2And finally, the motor is controlled to stop, so that the speed reduction efficiency is improved and the motor is prevented from reversing.
In addition, because the narrow V-belt mechanism belongs to a quick-wear part and the tension degree of the belt pulley has yield difference, the tension of the narrow V-belt mechanism is reduced after long-term operation to cause a slip phenomenon, the first braking torque Te1 and the second braking torque Te2 are constant and are kept unchanged for a long time, the brake force of the system is reduced due to the slip of the narrow V-belt mechanism, and the problem that the motor is reversed in the deceleration and shutdown process easily occurs. Therefore, in the deceleration stop stage, the vehicle control unit also detects whether the motor rotates reversely, and if the motor rotates reversely, the vehicle control unit controls the third target rotating speed V1Corrected third target rotation speed V1’＝V1+V2Wherein V is2Is the maximum rotating speed when the motor rotates reversely, and controls the motor to rapidly decelerate to the corrected third target rotating speed V at the first braking torque Te1 in the power generation mode in the initial stage of deceleration stop1' so as to further shorten the time of the first-stage rapid deceleration, prolong the time of the third-stage slow deceleration, reduce the rotational inertia impact caused by the fan and the high-pressure water pump during the third-stage deceleration, and avoid the motor from reversing in the next deceleration shutdown process.
In addition, the vehicle control unit also acquires the actual stop time of the motor in the deceleration stop stage and compares the actual stop time with a preset stop time threshold, and if the actual stop time is greater than the preset stop time threshold, the actual stop time is too long, which means that the narrow V-belt mechanism slips to cause the reduction of braking force, the tension of the narrow V-belt mechanism needs to be readjusted or the narrow V-belt mechanism needs to be replaced. Preferably, after adjusting or replacing the narrow V-belt mechanism, the vehicle control unit further sets a third target rotation speed to a preset value, namely, from V1' adjustment to V1Slightly, aThe time of the first stage of rapid speed reduction is prolonged, and the time of the third stage of slow speed reduction is shortened, so that the operation speed reduction and shutdown efficiency is improved.
In addition, as shown in fig. 2, another embodiment of the present invention also provides a control method of a transmission system, which preferably employs the control system according to the above preferred embodiment, the control method comprising the steps of:
step S1: starting operation, controlling the motor to rotate at a first target rotating speed VaLow speed operation in electric mode;
step S2: selecting an operation mode of the electric washing and sweeping vehicle, controlling the electromagnetic clutch to be attracted or separated according to the operation mode of the washing and sweeping vehicle, controlling the electromagnetic clutch to be disconnected in a power-off mode in a sweeping mode, and controlling the electromagnetic clutch to be electrified and attracted in a washing and sweeping mode;
step S3: controlling the motor to accelerate to a second target rotating speed V according to a set step length0And maintaining the rotation speed to run;
step S4: after the operation is finished, different control strategies are formulated according to whether the high-pressure water pump operates to control the motor to be decelerated and stopped.
In the process from the beginning to the stopping of the washing and sweeping vehicle, the working process of the motor is sequentially divided into a starting stage, an accelerating stage, an operating stage and a decelerating and stopping stage. In the starting stage, the vehicle control unit controls the motor to rotate at a first target rotating speed VaThe low-speed operation of the transmission mechanism is beneficial to the fact that the sawtooth-shaped electromagnetic clutch can be completely engaged when attracting, the phenomenon that the electromagnetic clutch bears overlarge torque due to acceleration when not being completely engaged is avoided, the electromagnetic clutch is effectively protected, and meanwhile, belt abrasion and slipping caused by sudden acceleration of a narrow V-belt mechanism in a zero-speed state can be avoided. In the acceleration stage, the vehicle control unit controls the motor to accelerate to a second target rotating speed V according to the set step length0For example, the motor is controlled to accelerate to a second target speed V in steps of 10rpm increase per 100ms0The stability of acceleration is guaranteed. In the operation stage, the vehicle control unit controls the motor to maintain the secondTwo target rotating speeds V0And (5) stable operation. In the deceleration stop stage, the vehicle control unit controls the motor to decelerate and stop according to the different control strategies made by the high-pressure water pump whether to operate, and because the fan and the high-pressure water pump are large inertia loads, in order to avoid the motor to generate tooth punching abrasion of the electromagnetic clutch in the process of ensuring the deceleration efficiency, different control strategies are made for the high-pressure water pump whether to operate, so as to ensure the deceleration efficiency of the deceleration stop process and protect the electromagnetic clutch.
The control method of the transmission system can control the electromagnetic clutch to be electrified, closed or disconnected according to the operation mode of the washing and sweeping vehicle, and compared with the existing pneumatic clutch, the electromagnetic clutch has the advantages of higher response speed, difficult influence of external factors on the combination effect and long-term stable and reliable combination effect. And, in the whole operation process of the electric washing and sweeping vehicle, in the starting operation stage, the motor is controlled to run at a low speed, which is beneficial to the fact that the zigzag electromagnetic clutch can be completely engaged when being attracted, the phenomenon that the electromagnetic clutch bears overlarge torque due to acceleration when not being completely engaged is avoided, the electromagnetic clutch is effectively protected, meanwhile, belt abrasion and slipping caused by sudden acceleration of the narrow V-belt mechanism in a zero-speed state can be avoided, the motor is controlled to stably accelerate to a second target rotating speed according to a set step length in the acceleration stage, the whole acceleration process is more stable and smooth, and after the operation is finished, the motor is controlled to decelerate and stop according to different control strategies whether the high-pressure water pump works or not, the electromagnetic clutch tooth-beating abrasion caused by motor reversal transduction is avoided while the deceleration efficiency is ensured, and the service life of the electromagnetic clutch is prolonged.
In addition, the step S4 specifically includes the following steps:
if the high-pressure water pump works, the motor is controlled to rapidly decelerate to the third target rotating speed V under the first braking torque Te1 in the power generation mode1And then controlling the motor to rotate at a third target rotating speed V in the electric mode1Stably running, and slowly reducing the speed of the motor to a fourth target speed V at a second braking torque Te2 in the power generation mode2Finally, controlling the motor to stop;
if the high pressure water pump is not in operation, the control is performed firstThe motor is rapidly decelerated to the third target rotation speed V with the first braking torque Te1 in the power generation mode1And then controls the motor to slowly decelerate to the fourth target rotation speed V at the second braking torque Te2 in the power generation mode2And finally, controlling the motor to stop.
Specifically, in the deceleration shutdown stage, if the high-pressure water pump works, because the fan and the high-pressure water pump are both large inertia loads, in order to ensure the deceleration efficiency and simultaneously avoid tooth punching abrasion of the electromagnetic clutch caused by the reverse rotation of the motor, the vehicle control unit firstly controls the motor to rapidly decelerate to the third target rotating speed V at the first braking torque Te1 in the power generation mode1The motor can generate electricity to recover the energy generated by load deceleration and then control the motor to rotate at a third target rotating speed V in the electric mode1After stable operation for a period of time, for example, controlling the rotation speed of the motor to be stable within the range of +/-5 rpm for 2 seconds, then controlling the motor to slowly decelerate to a fourth target rotation speed V at a second braking torque Te2 in the power generation mode2Fourth target rotational speed V2The speed can be 5rpm, at the moment, the motor generates power again to recover energy generated by load deceleration, and finally the motor is controlled to stop, and the rotating speed of the motor returns to zero in a natural deceleration state. The first brake torque Te1 is larger than the second brake torque Te2, so that the first stage of deceleration stop is ensured to decelerate rapidly, and the third stage of deceleration stop is ensured to decelerate slowly, so that the rotational inertia impact generated by the fan and the high-pressure water pump at the end of the deceleration stop is reduced, and the motor is prevented from rotating reversely. The first brake torque Te1 and the second brake torque Te2 are determined by calculation and experiments and are constants. Aiming at the operating state of the high-pressure water pump, the influence of the fan and the high-pressure water pump which are simultaneously used as large inertia loads is fully considered, the deceleration stop stage is divided into a rapid deceleration stage, a transient stable operation stage and a slow deceleration stage, the rapid deceleration stage aims to ensure the deceleration efficiency, the transient stable operation stage aims to prevent the motor from reversing due to the fact that the inertia is too large and the motor decelerates too fast when the fan and the high-pressure water pump simultaneously operate and load is generated, the electromagnetic clutch is further protected, the slow deceleration stage aims to reduce the rotational inertia impact generated by the fan and the high-pressure water pump at the end of the deceleration stop, and the situation that the rotational inertia impact generated by the fan and the high-pressure water pump atMotor reversal occurs. If the high-pressure water pump does not work, only the fan is used as an inertia load, and at the moment, the rotational inertia impact brought by the fan is in a bearable range, the vehicle control unit firstly controls the motor to rapidly decelerate to a third target rotating speed V by using a first braking torque Te1 in a power generation mode1And then controls the motor to slowly decelerate to the fourth target rotation speed V at the second braking torque Te2 in the power generation mode2And finally, the motor is controlled to stop, so that the speed reduction efficiency is improved and the motor is prevented from reversing.
In addition, because the narrow V-belt mechanism belongs to a quick-wear part and the tension degree of the belt pulley has yield difference, the tension of the narrow V-belt mechanism is reduced after long-term operation to cause a slip phenomenon, the first braking torque Te1 and the second braking torque Te2 are constant and are kept unchanged for a long time, the brake force of the system is reduced due to the slip of the narrow V-belt mechanism, and the problem that the motor is reversed in the deceleration and shutdown process easily occurs.
Therefore, preferably, the step S4 further includes the following steps:
detecting whether the motor rotates reversely, and if the motor rotates reversely, controlling the third target rotating speed V1Corrected third target rotation speed V1’＝V1+V2Wherein V is2Is the maximum rotating speed when the motor rotates reversely, and controls the motor to rapidly decelerate to the corrected third target rotating speed V at the first braking torque Te1 in the power generation mode in the initial stage of deceleration stop1' so as to further shorten the time of the first-stage rapid deceleration, prolong the time of the third-stage slow deceleration, reduce the rotational inertia impact caused by the fan and the high-pressure water pump during the third-stage deceleration, and avoid the motor from reversing in the next deceleration shutdown process.
In addition, the step S2 further includes the following steps:
and detecting whether the output torque and the current of the motor generate step changes or not to judge whether the electromagnetic clutch is successfully combined or not.
In the starting stage in the washing and sweeping mode, after the electromagnetic clutch is connected electrically, the high-pressure water pump operates along with the electromagnetic clutch, at the moment, the output torque and the current of the motor generate a step change, the vehicle control unit judges whether the electromagnetic clutch is successfully combined or not by detecting whether the output torque and the current of the motor generate the step change or not, and controls the motor to enter an acceleration stage only after the vehicle control unit judges that the electromagnetic clutch is successfully combined, so that the gear punching abrasion of the electromagnetic clutch caused by the incomplete connection of the electromagnetic clutch and the acceleration of the motor is prevented, and the electromagnetic clutch is further protected.
In addition, the control method of the transmission system further includes the steps of:
step S5: and acquiring the actual stop time of the motor in the deceleration stop stage, comparing the actual stop time with a preset stop time threshold, and readjusting the tension of the narrow V-belt mechanism or replacing the narrow V-belt mechanism if the actual stop time is greater than the preset stop time threshold.
It can be understood that if the actual stop time is too long, which means that the braking force is reduced due to the slippage of the narrow V-belt mechanism, the tension of the narrow V-belt mechanism needs to be readjusted or the narrow V-belt mechanism needs to be replaced. Preferably, in the step S5, after the narrow V-belt mechanism is adjusted or replaced, the third target rotation speed is set to a preset value, i.e. from V1' adjustment to V1The time of the first stage of rapid speed reduction is slightly prolonged, and the time of the third stage of slow speed reduction is shortened, so that the operation speed reduction and shutdown efficiency is improved.
In addition, the invention also provides an electric washing and sweeping vehicle which adopts the control system.
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 control system of a transmission system is suitable for an electric washing and sweeping vehicle and is characterized in that,
the vehicle control system comprises a vehicle control unit, a motor controller, a motor, a fan and a high-pressure water pump, wherein the fan is in driving connection with the motor through a narrow V-belt mechanism, the high-pressure water pump is in driving connection with the motor through an electromagnetic clutch and the narrow V-belt mechanism, the motor controller is connected with the motor, the motor controller and the electromagnetic clutch are both connected with the vehicle control unit, the vehicle control unit controls the electromagnetic clutch to be attracted or separated to control the working state of the high-pressure water pump according to the operation mode of the washing and sweeping vehicle, the vehicle control unit is used for sending a control command, the motor controller controls the working state of the motor according to the control command and feeds working state parameters of the motor back to the vehicle control unit, and closed-loop;
the working process of the motor is sequentially divided into a starting stage, an accelerating stage, an operating stage and a decelerating and stopping stage, and in the starting stage, the vehicle control unit controls the motor to rotate at a first target rotating speed VaRunning at low speed in an electric mode, and controlling the motor to accelerate to a second target rotating speed V according to a set step length by the vehicle control unit in an acceleration stage0In the operation stage, the vehicle control unit controls the motor to maintain a second target rotating speed V0And in the deceleration stop stage, the vehicle control unit sets different control strategies according to whether the high-pressure water pump works to control the motor to decelerate and stop.
2. The control system of a transmission system according to claim 1,
in a starting stage in a washing and sweeping mode, the vehicle control unit judges whether the electromagnetic clutch is successfully combined or not by detecting whether the output torque and the current of the motor generate step changes or not, and controls the motor to enter an acceleration stage after judging that the electromagnetic clutch is successfully combined.
3. The control system of a transmission system according to claim 2,
in the deceleration stop stage, if the high-pressure water pump works, the vehicle control unit firstly controls the motor to rapidly decelerate to a third target rotating speed V at a first braking torque Te1 in a power generation mode1And then controlling the motor to rotate at a third target rotating speed V in the electric mode1Stably running, and slowly reducing the speed of the motor to a fourth target speed V at a second braking torque Te2 in the power generation mode2Finally, controlling the motor to stop;
if the high-pressure water pump does not work, the vehicle control unit firstly controls the motor to rapidly decelerate to a third target rotating speed V in a power generation mode by using the first braking torque Te11And then controls the motor to slowly decelerate to the fourth target rotation speed V at the second braking torque Te2 in the power generation mode2And finally, controlling the motor to stop.
4. A control system for a transmission system according to claim 3,
in the deceleration shutdown stage, the vehicle control unit further detects whether the motor rotates reversely, and if the motor rotates reversely, the vehicle control unit controls the third target rotating speed V1Corrected third target rotation speed V1’＝V1+V2Wherein V is2Is the maximum rotating speed when the motor rotates reversely, and controls the motor to rapidly decelerate to the corrected third target rotating speed V at the first braking torque Te1 in the power generation mode in the initial stage of deceleration stop1’。
5. A control system for a transmission system according to claim 3,
and the vehicle control unit also compares the actual stop time of the deceleration stop stage with a preset stop time threshold, and if the actual stop time is greater than the preset stop time threshold, the tension of the narrow V-belt mechanism needs to be readjusted or the narrow V-belt mechanism needs to be replaced.
6. A control method of a transmission system using the control system according to any one of claims 1 to 5, characterized by comprising the steps of:
step S1: starting operation, controlling the motor to rotate at a first target rotating speed VaLow speed operation in electric mode;
step S2: selecting an operation mode of the electric washing and sweeping vehicle, controlling the electromagnetic clutch to be attracted or separated according to the operation mode of the washing and sweeping vehicle, controlling the electromagnetic clutch to be disconnected in a power-off mode in a sweeping mode, and controlling the electromagnetic clutch to be electrified and attracted in a washing and sweeping mode;
step S3: controlling the motor to accelerate to a second target rotating speed V according to a set step length0And maintaining the rotation speed to run;
step S4: after the operation is finished, different control strategies are formulated according to whether the high-pressure water pump operates to control the motor to be decelerated and stopped.
7. The control method of a transmission system according to claim 6,
the step S4 specifically includes the following steps:
if the high-pressure water pump works, the motor is controlled to rapidly decelerate to the third target rotating speed V under the first braking torque Te1 in the power generation mode1And then controlling the motor to rotate at a third target rotating speed V in the electric mode1Stably running, and slowly reducing the speed of the motor to a fourth target speed V at a second braking torque Te2 in the power generation mode2Finally, controlling the motor to stop;
if the high-pressure water pump does not work, the motor is controlled to rapidly decelerate to a third target rotating speed V in the power generation mode by using the first braking torque Te11And then controls the motor to slowly decelerate to the fourth target rotation speed V at the second braking torque Te2 in the power generation mode2And finally, controlling the motor to stop.
8. The control method of a transmission system according to claim 6,
the step S2 further includes the following steps:
and detecting whether the output torque and the current of the motor generate step changes or not to judge whether the electromagnetic clutch is successfully combined or not.
9. The control method of a transmission system according to claim 6,
further comprising the steps of:
step S5: and acquiring the actual stop time of the motor in the deceleration stop stage, comparing the actual stop time with a preset stop time threshold, and readjusting the tension of the narrow V-belt mechanism or replacing the narrow V-belt mechanism if the actual stop time is less than the preset stop time threshold.
10. An electric washing and sweeping vehicle characterized by using the control system as claimed in any one of claims 1 to 5.
CN202011460866.2A 2020-12-11 2020-12-11 Control system and method of transmission system and electric washing and sweeping vehicle Active CN112519594B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011460866.2A CN112519594B (en) 2020-12-11 2020-12-11 Control system and method of transmission system and electric washing and sweeping vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011460866.2A CN112519594B (en) 2020-12-11 2020-12-11 Control system and method of transmission system and electric washing and sweeping vehicle

Publications (2)

Publication Number Publication Date
CN112519594A true CN112519594A (en) 2021-03-19
CN112519594B CN112519594B (en) 2022-06-14

Family

ID=74999153

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011460866.2A Active CN112519594B (en) 2020-12-11 2020-12-11 Control system and method of transmission system and electric washing and sweeping vehicle

Country Status (1)

Country Link
CN (1) CN112519594B (en)

Citations (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0347142A1 (en) * 1988-06-13 1989-12-20 Scarab Sales Limited Road-sweeping vehicle
EP0974701A1 (en) * 1998-07-20 2000-01-26 KomEnt Entsorgungsfahrzeuge GmbH Sweeper
US20020060114A1 (en) * 2000-11-22 2002-05-23 Honda Giken Kogyo Kabushiki Kaisha Vehicle clutch engagement condition determining apparatus and gear shift control apparatus utilizing the same determining apparatus
DE10238464A1 (en) * 2002-03-26 2003-10-16 Bosch Gmbh Robert Automobile clutch position determination method used during drive torque regulation comparing quotient of engine revs and wheel velocity with corresponding threshold value for selected gear ratio
CN201560960U (en) * 2009-11-23 2010-08-25 哈尔滨九洲电气股份有限公司 Controller of water pump soft start device
CN102372003A (en) * 2010-08-11 2012-03-14 罗伯特·博世有限公司 Method for detecting the clutch condition
CN102713300A (en) * 2009-11-25 2012-10-03 威乐水泵有限公司 Automatic pump and an operation control method for the same
CN102767152A (en) * 2012-08-07 2012-11-07 中联重科股份有限公司 Method for controlling operation of cleaning and sweeping trolley, controller and cleaning and sweeping trolley
CN105150838A (en) * 2015-09-09 2015-12-16 江苏万马传动科技有限公司 Power driving system for parallel hybrid sweeping vehicle
CN105452670A (en) * 2013-08-28 2016-03-30 株式会社日立产机系统 Pump system
CN106553512A (en) * 2015-09-29 2017-04-05 比亚迪股份有限公司 Sweeping machine
CN107380158A (en) * 2017-07-25 2017-11-24 中国第汽车股份有限公司 Dry clutch Half engagement point position self-learning method
CN107554281A (en) * 2017-08-31 2018-01-09 福建龙马环卫装备股份有限公司 Clean car hybrid power system and cleaning car
CN107709755A (en) * 2015-06-18 2018-02-16 罗伯特·博世有限公司 For the method for the starter-generator for running belt transmission
CN108944435A (en) * 2018-06-25 2018-12-07 长沙中联重科环境产业有限公司 The composite transmission and its transmission control method of single-shot sweeper
WO2019160957A1 (en) * 2018-02-14 2019-08-22 Oshkosh Corporation Drive system for a vehicle and method for operating a drive system
CN111391656A (en) * 2020-03-27 2020-07-10 上海汽车集团股份有限公司 Power takeoff control system and control strategy for new-energy pure electric special vehicle

Patent Citations (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0347142A1 (en) * 1988-06-13 1989-12-20 Scarab Sales Limited Road-sweeping vehicle
EP0974701A1 (en) * 1998-07-20 2000-01-26 KomEnt Entsorgungsfahrzeuge GmbH Sweeper
US20020060114A1 (en) * 2000-11-22 2002-05-23 Honda Giken Kogyo Kabushiki Kaisha Vehicle clutch engagement condition determining apparatus and gear shift control apparatus utilizing the same determining apparatus
DE10238464A1 (en) * 2002-03-26 2003-10-16 Bosch Gmbh Robert Automobile clutch position determination method used during drive torque regulation comparing quotient of engine revs and wheel velocity with corresponding threshold value for selected gear ratio
CN201560960U (en) * 2009-11-23 2010-08-25 哈尔滨九洲电气股份有限公司 Controller of water pump soft start device
CN102713300A (en) * 2009-11-25 2012-10-03 威乐水泵有限公司 Automatic pump and an operation control method for the same
CN102372003A (en) * 2010-08-11 2012-03-14 罗伯特·博世有限公司 Method for detecting the clutch condition
CN102767152A (en) * 2012-08-07 2012-11-07 中联重科股份有限公司 Method for controlling operation of cleaning and sweeping trolley, controller and cleaning and sweeping trolley
CN105452670A (en) * 2013-08-28 2016-03-30 株式会社日立产机系统 Pump system
CN107709755A (en) * 2015-06-18 2018-02-16 罗伯特·博世有限公司 For the method for the starter-generator for running belt transmission
CN105150838A (en) * 2015-09-09 2015-12-16 江苏万马传动科技有限公司 Power driving system for parallel hybrid sweeping vehicle
CN106553512A (en) * 2015-09-29 2017-04-05 比亚迪股份有限公司 Sweeping machine
CN107380158A (en) * 2017-07-25 2017-11-24 中国第汽车股份有限公司 Dry clutch Half engagement point position self-learning method
CN107554281A (en) * 2017-08-31 2018-01-09 福建龙马环卫装备股份有限公司 Clean car hybrid power system and cleaning car
WO2019160957A1 (en) * 2018-02-14 2019-08-22 Oshkosh Corporation Drive system for a vehicle and method for operating a drive system
CN108944435A (en) * 2018-06-25 2018-12-07 长沙中联重科环境产业有限公司 The composite transmission and its transmission control method of single-shot sweeper
CN111391656A (en) * 2020-03-27 2020-07-10 上海汽车集团股份有限公司 Power takeoff control system and control strategy for new-energy pure electric special vehicle

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
李冰等: "电动清扫车辆动力系统的研究", 《职大学报》 *
邓金福等: "《机电设备维修电工》", 31 January 2017, 中国电力出版社 *

Also Published As

Publication number Publication date
CN112519594B (en) 2022-06-14

Similar Documents

Publication Publication Date Title
KR101241210B1 (en) Oil pump controlling systen of hybrid vehicle and method thereof
CN107901904B (en) The control method and hybrid vehicle of hybrid vehicle limp-home
JP2002058109A (en) Variable current limiting controller for electric drive system for vehicle
CN102991333B (en) Hybrid power drive assembly and apply its hybrid power drive automobile
CN111559237B (en) Multi-power coupling driving system of pure electric vehicle and vehicle
CN112519594B (en) Control system and method of transmission system and electric washing and sweeping vehicle
US20220297664A1 (en) Hybrid vehicle front end accessory drive control system and method
CN109017982B (en) Method for controlling air compressor of electric auxiliary system for hybrid electric vehicle
CN102403836A (en) Flexible control on-off shift motor for electric automobile
CN111559254B (en) Multi-power coupling drive control device and method
CN113848901B (en) Control method and control system of electric milling machine and electric milling machine
CN213711230U (en) Back-up power supply feathering control device of direct-current variable pitch control system
KR102161711B1 (en) Method of controlling members of hybrid transmission of an automatic vehicle
KR20170069377A (en) Dual electromotive compressor for vehicle
CN109253185B (en) Control method for fast combination of PHEV electromagnetic clutch
CN210047345U (en) Range-extending power system and motor vehicle
CN113846999A (en) Double-motor-driven vertical oil pumping unit and working method thereof
CN113915008A (en) Control method and control system of concrete pump truck and concrete pump truck
CN109179164B (en) Vibration reduction system and vibration reduction method for high-speed elevator
US8374760B2 (en) Control of multi-speed transmission
TW201618981A (en) Electric vehicle electrical energy recovery system with AC machine
CN114109931B (en) Yaw brake control method and system for wind generating set
CN220248261U (en) Yaw servo device capable of preventing mechanical impact
CN218431208U (en) Eddy current retarder cooling system and engineering machinery
CN108407799A (en) A kind of hybrid electric vehicle engine startup strategy

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant