CN112677902A - Battery scraper electric control system and battery scraper - Google Patents
Battery scraper electric control system and battery scraper Download PDFInfo
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- CN112677902A CN112677902A CN202011607475.9A CN202011607475A CN112677902A CN 112677902 A CN112677902 A CN 112677902A CN 202011607475 A CN202011607475 A CN 202011607475A CN 112677902 A CN112677902 A CN 112677902A
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Abstract
The invention discloses a battery scraper electric control system and a battery scraper, and belongs to the technical field of scrapers. The electric control system comprises a power supply system, a traction system, an auxiliary working system, a vehicle controller, a vehicle display and an illumination system; the power supply system comprises a battery pack and a DC/DC converter; the traction system comprises a walking inverter, a walking motor and a gearbox, wherein the walking inverter is connected with the battery pack, and the walking motor is electrically connected with the walking inverter; the auxiliary working system comprises an auxiliary inverter, an auxiliary motor, a lifting and dumping hydraulic system and a hydraulic cooling system, wherein the auxiliary inverter is connected with the battery pack, and the auxiliary motor is connected with the auxiliary inverter; the whole vehicle controller is respectively connected with the DC/DC converter, the driving inverter, the auxiliary inverter, the hydraulic cooling system, the whole vehicle display and the lighting system; the whole vehicle display is connected with the DC/DC converter; the lighting system is connected to a DC/DC converter. The electric control system can enable the battery scraper to have better control performance of the whole vehicle.
Description
Technical Field
The invention belongs to the technical field of scrapers, and particularly relates to an electric control system of a battery scraper and the battery scraper.
Background
Underground scrapers are widely used in mining operations, working in an underground mine environment, to load and carry ores. The system is a driving mode of a traditional diesel engine and a driving mode of connecting the traditional diesel engine to a roadway power frequency power grid through a dragging cable. Traditional fuel engine produces a large amount of waste gas and noise at the during operation, needs a large amount of ventilation equipment to improve the tunnel environment, increases the running cost, and by the scraper vehicle of dragging cable power supply drive, the electric wire netting that needs stable is undulant, and the dragging cable can be cut by the rubble and fall the stone and pound the well, and the cable replacement cost of unscheduled is relatively high. In order to solve the problems, more and more mining enterprises at home and abroad propose to utilize a new-energy lithium battery as a driving source, so that the tail gas emission can be greatly reduced, the noise can be reduced, the roadway environment can be improved, and the problem of overhigh cost caused by irregular cable replacement can be solved. However, for the battery scraper, the quality of the electric control system determines the overall performance of the battery scraper, and therefore, a reasonable electric control system must be designed to enable the scraper to have better control performance.
At present, an existing electric control system of a scraper is mainly suitable for a scraper driven by fuel oil, and the research on the related technology of a battery scraper mainly aims at the whole vehicle design of the battery scraper, and the research on the electric control system of the battery scraper is relatively less. For example, chinese patent application No. 201621289241.3 discloses a battery scraper, and chinese patent application No. 201811496933.9 discloses an electric scraper, but these disclosed technologies mainly focus on the overall architecture of the battery scraper, and have many disadvantages for the electric control system of the battery scraper, so a reasonable electric control system is urgently needed to realize the entire vehicle control of the battery scraper, so that the battery scraper has better control performance.
Disclosure of Invention
The technical problem is as follows: the invention provides a battery scraper electric control system, aiming at the problem that the existing scraper electric control system is difficult to be used for the whole vehicle control of the battery scraper, and the battery scraper electric control system can be used for better controlling the whole vehicle; furthermore, a battery scraper is provided, which has a better overall vehicle control performance with the proposed electrical control system.
The technical scheme is as follows: the invention relates to an electric control system of a battery scraper, which comprises a power supply system, a traction system, an auxiliary working system, a vehicle controller, a vehicle display and an illumination system;
the power supply system comprises a battery pack and a DC/DC converter, wherein the input end of the DC/DC converter is connected with the battery pack and is used for converting high voltage output by the battery pack into low voltage;
the traction system comprises a walking inverter, a walking motor and a gearbox, wherein the walking inverter is connected with the battery pack, the walking motor is electrically connected with the walking inverter, the output end of the walking motor is connected with the input end of the gearbox, and the walking inverter can convert direct current into alternating current and control the rotating speed of the walking motor;
the auxiliary working system comprises an auxiliary inverter, an auxiliary motor, a lifting and dumping hydraulic system and a hydraulic cooling system, wherein the auxiliary inverter is connected with the battery pack, the auxiliary motor is connected with the auxiliary inverter, the auxiliary inverter can convert direct current into alternating current and control the rotating speed of the auxiliary motor, and the auxiliary motor is used for driving hydraulic pumps of the dumping hydraulic system and the hydraulic cooling system to work;
the vehicle control unit is respectively connected with the DC/DC converter, the travelling inverter, the auxiliary inverter and the hydraulic cooling system;
the whole vehicle display is respectively connected with the DC/DC converter and the whole vehicle controller;
and the lighting system is respectively connected with the DC/DC converter and the whole vehicle controller.
Further, a transmission controller is arranged in the transmission case, the transmission controller is respectively connected with the DC/DC converter, the vehicle control unit and the vehicle display, and the transmission controller and the vehicle control unit are communicated through SAE J1929 protocol.
Further, the walking inverter comprises a walking inverter control module, and the walking inverter control module is respectively connected with the DC/DC converter and the whole vehicle controller;
the auxiliary inverter comprises an auxiliary inverter control module, and the auxiliary inverter control module is respectively connected with the DC/DC converter and the whole vehicle controller.
Furthermore, the walking inverter control module, the auxiliary inverter control module and the vehicle control unit are in communication connection through a CAN-Open protocol.
Furthermore, a walking motor temperature sensor is arranged in the walking motor, the walking motor temperature sensor is connected with the vehicle control unit and used for monitoring the working temperature of the walking motor, and the walking motor temperature sensor is communicated with the vehicle control unit through an SAEJ1939 protocol;
and when the temperature of the coil of the walking motor detected by the walking motor temperature sensor exceeds a first set temperature, alarming, and when the temperature of the coil of the walking motor exceeds a second set temperature, sending a stop instruction to the walking inverter control module by the vehicle control unit to control the walking motor to stop.
Furthermore, an auxiliary motor temperature sensor is arranged in the auxiliary motor, the auxiliary motor temperature sensor is connected with the vehicle control unit and used for monitoring the working temperature of the auxiliary motor, and the auxiliary motor temperature sensor is communicated with the vehicle control unit through an SAEJ1939 protocol;
and when the temperature of the coil of the auxiliary motor is detected to reach the first set temperature by the auxiliary motor temperature sensor, alarming is carried out, and when the second set temperature is exceeded, the whole vehicle controller sends a stop instruction to the auxiliary inverter control module to control the auxiliary motor to stop.
Furthermore, a first rotary encoder is arranged on the walking motor, and the first rotary encoder is connected with the walking inverter control module and used for realizing the closed-loop control of the walking inverter on the walking motor;
and a second rotary encoder is arranged on the auxiliary motor and is connected with the auxiliary inverter control module for realizing the closed-loop control of the auxiliary inverter on the auxiliary motor.
Furthermore, before the walking inverter performs closed-loop control on the walking motor, the walking motor load is disconnected, the parameters of the walking motor are input into the walking inverter control module to perform self-tuning operation, matching of the walking motor and the walking inverter is realized, the walking inverter can select the optimal optimized parameters to store according to the operation state of the walking motor, and the optimal parameters can be used for performing stable control on the walking motor;
before the auxiliary motor is closed-loop controlled by the auxiliary inverter, the load of the auxiliary motor is disconnected, the parameters of the auxiliary motor are input into the walking inverter control module to be self-tuned, matching of the auxiliary motor and the auxiliary inverter is achieved, the auxiliary inverter can select the optimal optimized parameters to store according to the running state of the auxiliary motor, and stable control can be conducted on the auxiliary motor by means of the optimal parameters.
And further, the rotating speed of the auxiliary motor is optimally controlled according to the lifting and dumping hydraulic system, and when the duration of the lifting and dumping hydraulic system which does not execute the shoveling and lifting action in the working process of the shoveling and conveying machine exceeds the set duration, the auxiliary motor is reduced to the set speed and kept.
Further, the hydraulic cooling system comprises a plurality of fans, and the fans are connected with the DC/DC converter and the vehicle control unit respectively.
Furthermore, the battery pack carries out current shunting through a high-voltage junction box, and a first fuse is arranged in the high-voltage junction box and used for short-circuit protection.
Further, the DC/DC converter shunts current through a low-voltage junction box, and a second fuse is arranged in the low-voltage junction box and used for short-circuit protection.
Further, be provided with the BMS system in the battery package, the BMS system is connected with whole car display, whole car controller respectively for the operating condition of monitoring battery package, the BMS system all communicates through SAEJ1939 agreement with whole car display, whole car controller.
Further, a protection device is arranged in the battery pack and used for protecting the battery pack.
Further, the power supply system further comprises a storage battery, and the storage battery is connected with the DC/DC converter.
The battery scraper comprises the battery scraper electric control system.
Has the advantages that: compared with the prior art, the invention has the following advantages:
the electric control system of the battery scraper comprises a power supply system, a traction system, an auxiliary working system, a vehicle controller, a vehicle display and a lighting system, wherein the power supply system shunts high-voltage electricity output by a battery pack by using a high-voltage junction box to provide high-voltage current for the traction system and the auxiliary working system, and converts the high-voltage electricity into low-voltage electricity by using a DC/DC converter, so that the electric control system can reliably provide electric power for a plurality of components in the electric control system, the effective configuration of the electric power is realized, and the safety and the stability of the power supply system are ensured.
The inverter is used for converting high-voltage direct current into alternating current, the requirement of the motor on electric power is met, the inverter is matched with the motor, the running state of the motor is optimized, the running stability of the motor is improved, and the battery scraper is stable in the running process. And the inverter adopts closed-loop control to the motor, and can accurately monitor the working state of the motor. In addition, the temperature sensor is used for monitoring the temperature of the motor, so that the overheating damage of a motor winding caused by overload, locked rotor and open-phase faults when the motor runs is avoided.
In the auxiliary working system, the auxiliary motors are used for driving a plurality of hydraulic systems, so that the volume and the weight of the whole vehicle can be reduced, and the performance of the whole vehicle is improved. The cooling hydraulic system is connected with the vehicle control unit, can carry out real time monitoring to pressure, temperature, flow to utilize these data to control auxiliary motor rotational speed, thereby realize effectively utilizing of energy effectively, when can effectively cool off, reduce energy loss, thereby improve energy utilization, make the work that the battery scraper can be more long-time.
In the embodiment of the invention, the real vehicle controller, the driving inverter and the auxiliary inverter are communicated by adopting a CAN-Open protocol and are communicated with other components by adopting an SAE J1939 protocol, so that the data transmission and communication quality is ensured, and all the components CAN be controlled more effectively.
The whole vehicle display is utilized to display various data of the scraper in real time, so that an operator can know the running state of each system or component of the scraper in time, and the battery scraper is controlled better. The electric control system is more suitable for the battery scraper by integrating various designs, so that the battery scraper has better whole vehicle control performance.
Drawings
Fig. 1 is an architecture diagram of an electric control system of the battery scraper according to the present invention.
Detailed Description
The invention is further described with reference to the following examples and the accompanying drawings. Wherein "first," "second," etc. are used in a descriptive sense only and not for purposes of limitation, and the term "coupled" is to be interpreted broadly, including mechanically, electrically, communicatively, etc.
Fig. 1 is an architecture diagram of an electronic control system according to the present invention, in which a solid line indicates a power supply direction, a dotted line indicates communication using SAEJ1939 protocol, and a two-dot chain line indicates CAN-Open protocol communication. The battery scraper electric control system comprises a power supply system, a traction system, an auxiliary working system, a vehicle controller, a vehicle display and an illumination system; the functions of the respective systems and the relationship therebetween will be described below.
In the embodiment of the invention, the battery pack with the rated voltage of 438VDC and the rated capacity of 100Kwh is selected for one 4-ton battery scraper, so that the power requirement of the scraper for normally working for 3-4 hours in one shift can be met. And in the embodiment of the invention, in order to ensure that the battery pack can work in a severe environment and reduce the risk of fire, a protection device is arranged in the battery pack, the protection device comprises an insulation detection system, a short-circuit protection system, a fire extinguishing system and the like, and the existing corresponding protection device can be adopted by various protection devices. Meanwhile, in order to meet the protection grade of the battery pack, in the implementation of the invention, the selected battery pack has the IP65 grade, and the vibration requirement meets 3 g.
The DC/DC converter is connected to the battery pack through a high voltage distribution box and functions to convert the voltage output from the battery pack into a voltage required by each system of the battery scraper. In the embodiment of the invention, for a 4-ton battery scraper, a 3KW DC/DC converter is adopted as the DC/DC converter, and the high voltage output from the battery pack can be converted into a low voltage direct current output of 24V.
The high-voltage junction box can realize current shunting, and considering that the structural space of the whole vehicle is limited, impact and vibration during vehicle running and dust particles and condensed water exist in a working environment, in the embodiment of the invention, the high-voltage junction box which is compact in appearance size and is 280x230x110mm cast aluminum is selected to achieve the protection grade of IP67, the first fuse is installed inside, and the two first fuses are installed due to the fact that the positive electrode and the negative electrode exist in a battery pack and are respectively connected with the positive electrode and the negative electrode of the battery pack.
The traction system is used for driving the battery scraper to walk, in an embodiment of the invention, the traction system comprises a walking inverter, a walking motor and a gearbox, the walking motor pulls the scraper to walk, and in an embodiment of the invention, a 70KW motor is selected as the walking motor for a 4-ton battery scraper. The walking inverter is connected with the battery pack through the high-voltage junction box, and the walking motor needs high-voltage alternating current to provide power when in operation, so that the walking inverter is used for converting high-voltage direct current output by the battery pack into high-voltage alternating current to provide power for the operation of the walking motor, and meanwhile, the auxiliary inverter is used for controlling the rotating speed of the auxiliary motor.
The walking inverter comprises a walking inverter control module which is used for controlling the walking inverter to work, and when the walking inverter control module works, 24V low-voltage direct current is needed to provide power, so that the walking inverter control module is connected with the DC/DC converter through a low-voltage junction box, and the voltage junction box is used for shunting the low-voltage direct current output by the DC/DC converter, thereby supplying power for a plurality of components. The low-voltage junction box is a low-voltage junction box which is compact in appearance size, 280x230x110mm, made of cast aluminum and reaches the protection grade of IP67, two second fuses are mounted inside the low-voltage junction box and are respectively connected to the positive pole and the negative pole of the battery pack to be used for short-circuit protection of a low-voltage direct-current circuit.
The input end of the gearbox is connected with the output end of the walking motor, so that the output of the walking motor can be regulated, and different walking action requirements of the battery scraper in the walking process are met. In order to enable better speed regulation, an automatic gearbox with a gearbox controller is adopted in the embodiment of the invention, the gearbox controller adopts 24V direct current when in work, and therefore the gearbox controller is connected with the DC/DC converter through a low-voltage distribution box. The auxiliary working system is mainly used for completing various actions through various hydraulic systems, and the auxiliary motor can drive hydraulic pumps of the hydraulic systems to work so as to drive the hydraulic systems to work. The auxiliary motor needs high-voltage alternating current to provide power, so that the auxiliary motor is connected with an auxiliary inverter, the auxiliary inverter is connected with the battery pack through a high-voltage junction box, the auxiliary inverter converts high-voltage direct current output by the battery pack into high-voltage alternating current to provide power for the operation of the auxiliary motor, and the auxiliary inverter is used for controlling the rotating speed of the auxiliary motor. The auxiliary inverter includes an auxiliary inverter control module to control the operation of the auxiliary inverter, the auxiliary inverter control module requires 24V low voltage DC power, and thus the auxiliary inverter control module is connected to the DC/DC converter through a low voltage distribution box.
The lifting and dumping hydraulic system mainly drives the shoveling machine to carry out lifting, dumping and other actions, and drives a hydraulic pump of the lifting and dumping hydraulic system to work by using an auxiliary motor. The hydraulic cooling system has the function of cooling main parts on the scraper, and takes away heat through the flow of hydraulic oil, and a hydraulic pump of the hydraulic cooling system is also driven by an auxiliary motor. The hydraulic cooling system also comprises a plurality of fans, and the fans are supplied with 24V low-voltage direct current, so that the fans are connected with the DC/DC converter through a low-voltage distribution box.
In the embodiment of the invention, the rotation speed of the auxiliary motor is optimally controlled according to the lifting and dumping hydraulic system, and when the lifting and dumping hydraulic system does not carry out the shoveling movement in the working process of the scraper for a time period exceeding a set time period, the auxiliary motor is reduced to the set speed and maintained. For example, in the embodiment of the present invention, when the generating action is not performed for more than 1.5min, the rotation speed of the auxiliary motor is reduced to 800rpm and maintained, thereby achieving the purpose of energy saving.
The vehicle controller is the core of a vehicle communication network and can integrate all parts with communication functions together for data exchange, thereby realizing the reliable control of the vehicle. In one embodiment of the invention, a vehicle control unit with 48 paths of I/O pin IP67 protection levels and working temperature ranging from-40 ℃ to +105 ℃ is selected for a 4-ton battery scraper, so that the working requirement of the scraper in severe environment is met.
The vehicle control unit is connected with the DC/DC converter through the low-voltage junction box, the 24V low-voltage direct current converted and output by the DC/DC converter provides power, and meanwhile, the vehicle control unit is communicated with the DC/DC converter to obtain the working state of the DC/DC converter in real time. The vehicle controller is connected with the driving inverter and the auxiliary inverter, so that control instructions can be sent to the driving inverter and the auxiliary inverter, and the running of the walking motor and the auxiliary motor can be controlled. Specifically, the vehicle control unit is connected to a driving inverter control module of the driving inverter and an auxiliary inverter control module of the auxiliary inverter, and in the real-time example of the invention, the vehicle control unit communicates with the driving inverter control module and the auxiliary inverter control module of the auxiliary inverter by using a CAN-Open protocol, so that the communication quality is ensured.
In order to control the gearbox, the vehicle control unit is connected with the gearbox controller, so that communication is established between the gearbox and the vehicle control unit, a control instruction can be sent to the gearbox, the state of the gearbox is monitored in real time, and in order to carry out better communication, in the embodiment of the invention, the gearbox controller and the vehicle control unit are communicated by adopting an SAE J1939 protocol. After the communication is established, the position of the accelerator, the rotating speed of the walking motor, the output speed of the gearbox, the rotating speed of the walking motor required by the gearbox and the fault of the gearbox can be sent to the whole vehicle controller, so that the information is utilized to carry out more reliable control.
In addition, the normal working time of the vehicle is increased by considering the utilization efficiency of energy, the hydraulic cooling system needs to be monitored, and the real-time pressure, temperature, flow and the like of the hydraulic cooling system are monitored, so that the hydraulic cooling system is connected with the vehicle control unit, specifically, a plurality of monitoring sensors can be arranged on the hydraulic cooling system, the monitoring sensors can send the state of the hydraulic cooling system to the vehicle control unit, and the rotation speed of the auxiliary motor is controlled by using the data, so that the effective utilization of the energy is effectively realized, the energy loss is reduced while the effective cooling is performed, and the energy utilization rate is improved. And a fan in the hydraulic cooling system is connected with the vehicle control unit, so that the control is convenient. Specifically, in the embodiment of the invention, the hydraulic cooling system and the vehicle control unit also adopt SAE J1939 protocol for communication.
In order to control the working state of the walking motor and the auxiliary motor more accurately, when the walking motor is controlled by the walking inverter to run, a closed-loop control mode is adopted, specifically, a first rotary encoder is arranged in the walking motor and is connected with a walking inverter control module, so that the rotating speed of the walking motor can be monitored in real time, encoders are arranged in the general existing motors, and corresponding connection can be directly carried out. Because the walking inverter control module is connected with the vehicle control unit and can be communicated, the rotating speed information of the walking motor can be directly sent to the vehicle control unit.
In order to better realize the stable control of the walking motor, before the walking motor is controlled to walk, the load of the walking motor is disconnected, parameters of the walking motor such as rated voltage, current, power and maximum rotating speed information are input into a walking inverter control module to carry out self-tuning operation, the matching of the walking motor and a walking inverter is realized, the walking inverter can select the optimal optimized parameters to store according to the running state of the walking motor, and the optimal parameters are utilized to stably control the walking motor.
For the same reason, when the auxiliary inverter controls the auxiliary motor to operate, a closed-loop control mode is adopted, specifically, a second rotary encoder is arranged in the auxiliary motor and connected with the auxiliary inverter control module, so that the rotating speed of the walking motor can be monitored in real time, and the rotating speed information of the auxiliary motor can be directly sent to the vehicle control unit because the auxiliary inverter control module is connected and communicated with the vehicle control unit. And the matching of the auxiliary inverter and the auxiliary motor is realized by adopting the method same as the self-setting of the walking inverter, and the stable control of the auxiliary motor is realized.
Further, when the motor runs, overload, locked rotor and open-phase faults can cause overheating damage of a motor winding, so in the embodiment of the invention, a walking motor temperature sensor is arranged in the walking motor and used for monitoring the working temperature of the walking motor. The walking motor temperature sensor is connected with the vehicle control unit, so that the walking motor temperature sensor can be communicated with the vehicle control unit, and in the embodiment of the invention, the walking motor temperature sensor can be communicated with the vehicle control unit by adopting an SAE J1939 protocol. And when the temperature of the coil of the walking motor detected by the walking motor temperature sensor exceeds a first set temperature and exceeds a second set temperature, the whole vehicle controller sends a stop instruction to the walking inverter control module to control the walking motor to stop.
For the same reason, an auxiliary motor temperature sensor is arranged in the auxiliary motor and used for monitoring the working temperature of the auxiliary motor, and the auxiliary motor temperature sensor is connected with the vehicle control unit, so that the auxiliary motor temperature sensor can be communicated with the vehicle control unit. And when the temperature of the coil of the auxiliary motor detected by the auxiliary motor temperature sensor exceeds a first set temperature and exceeds a second set temperature, the whole vehicle controller sends a stop instruction to the auxiliary inverter control module to control the auxiliary motor to stop when the temperature continues to rise and exceeds the second set temperature.
Specifically, in the embodiment of the present invention, the first set temperature is 150 ℃, the second set temperature is 170 ℃, and the travel motor temperature sensor and the assist motor temperature sensor employ a KTY84 resistance type temperature sensor.
In the embodiment of the invention, a mainstream 7-inch key display screen is adopted, parameters required to be known are displayed by switching different pages, and meanwhile, related authority distribution is set during configuration, so that users with different operation authorities can only access interfaces with corresponding authorities. Presetting foreseeable fault information, and performing real-time archiving storage when a fault occurs.
The whole vehicle display needs 24V low-voltage direct current to supply power, so the whole vehicle display is connected with the DC/DC converter through the low-voltage junction box and is connected with the whole vehicle controller, so that the display screen can communicate with the whole vehicle controller, and data exchanged by the whole vehicle controller can be displayed. According to the above description of the embodiments of the present invention, in the embodiments of the present invention, the display may be internal temperature data of the traveling motor, internal temperature data of the auxiliary motor, the rotational speed of the traveling motor, the rotational speed of the auxiliary motor, transmission state data, state data of the DC/DC converter, hydraulic cooling system state data, and the like.
The lighting system is used for providing lighting for the scraper in the working process, the scraper is in multiple working under a mine, so that the good lighting system is very important, and in the embodiment of the invention, the lighting system is supplied with 24V low-voltage direct current, so that the lighting system is connected with the DC/DC converter through the low-voltage junction box. Meanwhile, the lighting system is connected with the vehicle control unit for controlling the lighting system.
Further, for carrying out better detection to the state of battery package, be provided with BMS system (battery management system) in the battery package, the BMS system is connected with whole car display and whole car controller respectively, make BMS system can carry out the communication with whole car display and whole car display, thereby the operating condition of real time monitoring battery package, the BMS system can show through whole car display after data acquisition such as battery package electric quantity, output voltage, battery package temperature, fault information, and in time remind operating personnel to charge to the battery package and guarantee that the vehicle normally works. In the embodiment of the invention, the BMS system, the vehicle display and the vehicle controller communicate by adopting an SAE J1939 protocol, thereby ensuring the communication quality.
Further, in order to enable each main component in the scraper to continue to work when the battery pack is powered off, the power supply system further comprises a storage battery, and the storage battery is connected with the DC/DC converter.
By utilizing the electric control system, the battery scraper has better overall vehicle control performance. Further, the present invention provides a battery scraper that utilizes the proposed electrical control system for electrical control, thereby enabling the battery scraper to have better control performance and to operate reliably in harsh operating environments.
The above examples are only preferred embodiments of the present invention, it should be noted that: it will be apparent to those skilled in the art that various modifications and equivalents can be made without departing from the spirit of the invention, and it is intended that all such modifications and equivalents fall within the scope of the invention as defined in the claims.
Claims (16)
1. An electric control system of a battery scraper is characterized by comprising a power supply system, a traction system, an auxiliary working system, a vehicle controller, a vehicle display and an illumination system;
the power supply system comprises a battery pack and a DC/DC converter, wherein the input end of the DC/DC converter is connected with the battery pack and is used for converting high voltage output by the battery pack into low voltage;
the traction system comprises a walking inverter, a walking motor and a gearbox, wherein the walking inverter is connected with the battery pack, the walking motor is electrically connected with the walking inverter, the output end of the walking motor is connected with the input end of the gearbox, and the walking inverter can convert direct current into alternating current and control the rotating speed of the walking motor;
the auxiliary working system comprises an auxiliary inverter, an auxiliary motor, a lifting and dumping hydraulic system and a hydraulic cooling system, wherein the auxiliary inverter is connected with the battery pack, the auxiliary motor is connected with the auxiliary inverter, the auxiliary inverter can convert direct current into alternating current and control the rotating speed of the auxiliary motor, and the auxiliary motor is used for driving hydraulic pumps of the dumping hydraulic system and the hydraulic cooling system to work;
the vehicle control unit is respectively connected with the DC/DC converter, the travelling inverter, the auxiliary inverter and the hydraulic cooling system;
the whole vehicle display is respectively connected with the DC/DC converter and the whole vehicle controller;
and the lighting system is respectively connected with the DC/DC converter and the whole vehicle controller.
2. The battery scraper emergency stop control system of claim 1, wherein a transmission controller is disposed in the transmission, the transmission controller is connected to the DC/DC converter, the vehicle controller, and the vehicle display, respectively, and the transmission controller and the vehicle controller communicate via SAE J1929 protocol.
3. The battery scraper emergency stop control system of claim 1, wherein the travel inverter comprises a travel inverter control module, the travel inverter control module being connected to the DC/DC converter and the vehicle control unit, respectively;
the auxiliary inverter comprises an auxiliary inverter control module, and the auxiliary inverter control module is respectively connected with the DC/DC converter and the whole vehicle controller.
4. The battery scraper emergency stop control system of claim 3, wherein the travel inverter control module and the auxiliary inverter control module are communicatively connected to the vehicle controller via a CAN-Open protocol.
5. The battery scraper emergency stop control system of claim 4, wherein a walking motor temperature sensor is arranged in the walking motor, the walking motor temperature sensor is connected with the vehicle control unit and used for monitoring the working temperature of the walking motor, and the walking motor temperature sensor is communicated with the vehicle control unit through SAEJ1939 protocol;
and when the temperature of the coil of the walking motor detected by the walking motor temperature sensor exceeds a first set temperature, alarming, and when the temperature of the coil of the walking motor exceeds a second set temperature, sending a stop instruction to the walking inverter control module by the vehicle control unit to control the walking motor to stop.
6. The battery scraper emergency stop control system of claim 4, wherein an auxiliary motor temperature sensor is disposed in the auxiliary motor, the auxiliary motor temperature sensor is connected with the vehicle control unit and is used for monitoring the operating temperature of the auxiliary motor, and the auxiliary motor temperature sensor communicates with the vehicle control unit via a SAEJ1939 protocol;
and when the temperature of the coil of the auxiliary motor is detected to reach the first set temperature by the auxiliary motor temperature sensor, alarming is carried out, and when the second set temperature is exceeded, the whole vehicle controller sends a stop instruction to the auxiliary inverter control module to control the auxiliary motor to stop.
7. The battery scraper emergency stop control system of claim 4, wherein the walking motor is provided with a first rotary encoder, and the first rotary encoder is connected with the walking inverter control module and is used for realizing closed-loop control of the walking motor by the walking inverter;
and a second rotary encoder is arranged on the auxiliary motor and is connected with the auxiliary inverter control module for realizing the closed-loop control of the auxiliary inverter on the auxiliary motor.
8. The emergency stop control system of the battery scraper according to claim 4, wherein before the walking inverter performs closed-loop control on the walking motor, the walking motor load is disconnected, the parameters of the walking motor are input into the walking inverter control module to perform self-tuning operation, matching between the walking motor and the walking inverter is realized, and the walking inverter can select optimal optimized parameters to store according to the running state of the walking motor and can perform stable control on the walking motor by using the optimal parameters;
before the auxiliary motor is closed-loop controlled by the auxiliary inverter, the load of the auxiliary motor is disconnected, the parameters of the auxiliary motor are input into the walking inverter control module to be self-tuned, matching of the auxiliary motor and the auxiliary inverter is achieved, the auxiliary inverter can select the optimal optimized parameters to store according to the running state of the auxiliary motor, and stable control can be conducted on the auxiliary motor by means of the optimal parameters.
9. The battery scraper emergency stop control system of claim 1, wherein the rotation speed of the assist motor is optimally controlled according to the lift dump hydraulic system, and when the lift dump hydraulic system does not perform the scraping action during the scraper operation for a period of time longer than a set period of time, the assist motor is reduced to a set speed and maintained.
10. The battery scraper emergency stop control system of claim 1, wherein the hydraulic cooling system comprises a plurality of fans connected to the DC/DC converter and the vehicle control unit, respectively.
11. The battery scraper emergency stop control system of claim 1, wherein the battery pack is shunted current through a high voltage distribution box having a first fuse disposed therein for short circuit protection.
12. The battery scraper emergency stop control system of claim 1, wherein the DC/DC converter shunts current through a low voltage junction box in which a second fuse is disposed for short circuit protection.
13. The battery scraper emergency stop control system of claim 1, wherein a BMS system is disposed in the battery pack, the BMS system is connected to the vehicle display and the vehicle controller, respectively, for monitoring the operating state of the battery pack, and the BMS system communicates with the vehicle display and the vehicle controller via a SAEJ1939 protocol.
14. The battery scraper emergency stop control system of claim 1, wherein a protection device is provided in the battery pack for protecting the battery pack.
15. The battery scraper emergency stop control system of any one of claims 1-14, wherein the power supply system further comprises a battery, the battery being connected to the DC/DC converter.
16. A battery scraper comprising the battery scraper electrical control system of any one of claims 1-15.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011607475.9A CN112677902A (en) | 2020-12-30 | 2020-12-30 | Battery scraper electric control system and battery scraper |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011607475.9A CN112677902A (en) | 2020-12-30 | 2020-12-30 | Battery scraper electric control system and battery scraper |
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| Publication Number | Publication Date |
|---|---|
| CN112677902A true CN112677902A (en) | 2021-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011607475.9A Pending CN112677902A (en) | 2020-12-30 | 2020-12-30 | Battery scraper electric control system and battery scraper |
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| Country | Link |
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| CN (1) | CN112677902A (en) |
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