CN112681442A - Power matching device and method for double-power underground scraper - Google Patents
Power matching device and method for double-power underground scraper Download PDFInfo
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Abstract
The invention provides power matching equipment and a power matching method for a double-power underground scraper, which comprise the following steps: the hydraulic control system comprises a hydraulic controller and a vehicle control unit, wherein the hydraulic controller is used for receiving a driver instruction, controlling the work of a hydraulic system and sending the state of the hydraulic system to the vehicle control unit; the vehicle control unit performs signal fusion and system state judgment on a driver instruction, a hydraulic system state, a super capacitor SOC and a power driving system state to obtain a current system state; according to the current system state, analyzing to obtain an engine rotating speed control instruction and a generator power control instruction so as to adjust the working condition of the generator and enable the generator power to be matched with the power emitted by the engine and the consumed power of the hydraulic system; and analyzing and obtaining control instructions of the first traction inverter and the second traction inverter according to the driver instruction and the current system state so as to enable the output power of the first traction inverter and the second traction inverter to be matched with the required power in the driver instruction.
Description
Technical Field
The invention relates to the technical field of mining machinery, in particular to power matching equipment and method of a double-power underground scraper.
Background
The underground scraper is key equipment for realizing efficient mining of underground mines, the problems of energy exhaustion and environmental pollution become more and more serious in the current society, and the adoption of the dual-power energy-saving technology has important significance in reducing the energy consumption of the equipment and reducing the environmental pollution.
Patent CN201410115798 discloses an energy control method for a dual-power mining electric wheel dump truck, which enables a diesel engine to frequently work in a high-efficiency area by controlling an electric transmission system. Patent CN201310321998 discloses a power matching control device, method, system and engineering machinery, which adjust the rotation speed of an engine or the displacement of a hydraulic pump according to the load rate of the engine, so as to improve the efficiency and stability of the engine. Both of the above patents are directed to control and power matching of conventional underground scrapers.
The double-power underground scraper is a new type of high-efficiency, energy-saving and low-pollution mining equipment, and is used for underground ore removal, slag discharge, low-level ore pass ore discharge and other works, and its working condition is complex and its load change is severe. The system composition is more complex than that of the traditional underground scraper and the systems in the two patents, and comprises a power system, a driving system for walking and a hydraulic system for work steering, wherein an engine needs to drive an electric transmission system and the hydraulic system simultaneously. The reasonable distribution of power in the control system to meet the requirement of complex working conditions of the underground scraper is a key problem for realizing the normal and efficient operation of the double-power underground scraper. The prior art has not had a power matching scheme for a dual-power underground scraper.
Disclosure of Invention
The object of the present invention is to solve at least one of the technical drawbacks mentioned.
Therefore, the invention aims to provide a power matching device and a power matching method of a double-power underground scraper.
To achieve the above objects, an embodiment of an aspect of the present invention provides a power matching apparatus of a dual-power underground scraper, including: a hydraulic controller and a vehicle control unit, wherein,
the hydraulic controller is used for receiving a driver instruction, controlling the work of a hydraulic system and sending the state of the hydraulic system to the vehicle control unit;
the vehicle control unit is used for receiving a driver instruction, a hydraulic system state, a super capacitor SOC and a power driving system state, and performing signal fusion and system state judgment on the driver instruction, the hydraulic system state, the super capacitor SOC and the power driving system state by the vehicle control unit to obtain a current system state;
the vehicle control unit analyzes and obtains an engine rotating speed control instruction and a generator power control instruction according to the current system state so as to adjust the working condition of the generator and enable the generator power to be matched with the power generated by the engine and the power consumed by the hydraulic system;
meanwhile, the vehicle control unit analyzes control commands of the first traction inverter and the second traction inverter according to the driver command and the current system state, so that the output power of the first traction inverter and the output power of the second traction inverter are matched with the required power in the driver command;
the vehicle control unit further receives the state of the power drive system returned by the engine, the generator, the first traction inverter and the second traction inverter.
Furthermore, the switching value input end of the hydraulic controller is connected with a hydraulic switch acquisition signal, the analog quantity input end of the hydraulic controller is connected with a pressure sensor acquisition signal, the hydraulic controller is used for carrying out fusion judgment on the hydraulic switch acquisition signal and the pressure sensor acquisition signal, a control signal is output, and the control signal is output to the electromagnetic valve through the switching value output end of the hydraulic controller so as to control the action of the electromagnetic valve.
Further, the hydraulic controller is communicated with the vehicle control unit through a CAN communication interface.
Further, the binding posts of the first traction inverter and the second traction inverter are communicated with a direct current bus so as to access power direct current voltage; the three-phase power lines of the first traction inverter and the second traction inverter are communicated with the three-phase winding of the motor so as to supply power to the motor; the first traction inverter and the second traction inverter further collect motor sensor signals and monitor the motor state in real time.
Further, the first traction inverter and the second traction inverter are communicated with the whole vehicle controller through CAN communication interfaces respectively.
The embodiment of the other aspect of the invention provides a power matching method of a double-power underground scraper, which comprises the following steps:
step S1: acquiring a driver instruction, a hydraulic system state, super capacitor SOC information and a power driving system state, and analyzing according to the driver instruction to obtain required power;
step S2: the vehicle control unit performs signal fusion and system state judgment on the driver instruction, the hydraulic system state, the super capacitor SOC information and the power driving system to obtain the current system state;
step S3, the vehicle controller analyzes and obtains an engine speed control instruction and a generator power control instruction according to the current system state so as to adjust the working condition of the generator, and the power of the generator is matched with the power sent by the engine and the power consumed by the hydraulic system;
step S4, the vehicle controller analyzes and obtains control instructions of the first traction inverter and the second traction inverter according to the driver instruction and the current system state, so that the output power of the first traction inverter and the second traction inverter is matched with the required power in the driver instruction;
step S5, the vehicle controller further feeds back the power driving system states obtained in the step S3 and the step S4 and returned by the engine, the generator, the first traction inverter and the second traction inverter to the step S1;
wherein the step S3 and the step S4 are executed in parallel.
Further, in step S1, a hydraulic controller collects a driver instruction, controls the operation of the hydraulic system according to the driver instruction, and sends the state of the hydraulic system to the vehicle controller.
And further, the hydraulic controller performs fusion judgment on the signals collected by the hydraulic switch and the signals collected by the pressure sensor, outputs control signals, and outputs the control signals to the electromagnetic valve through a switching value output end of the hydraulic controller so as to control the action of the electromagnetic valve.
Further, the first traction inverter and the second traction inverter are connected with power direct-current voltage and supply power to the motor through a three-phase power line; the first traction inverter and the second traction inverter further collect motor sensor signals and monitor the motor state in real time.
According to the power matching device and method of the dual-power underground scraper, the collected driver instruction, the state of the hydraulic system, the SOC (state of charge) of the super capacitor and the state of the power driving system are subjected to signal fusion and system state judgment, and the energy management strategy and the power distribution strategy of the driving system are respectively set, so that the matching of the working condition of the generator and the power generated by the engine and the consumed power of the hydraulic system can be realized, the output power is matched with the required power, and the following aims are met:
1) the requirements of hydraulic pressure and running of the scraper are met, wherein the hydraulic pressure load directly obtains energy from an engine, and the running load can obtain energy through an engine generator set and a super capacitor; 2) ensuring the SOC of the super capacitor to be in a reasonable range; 3) the engine is not overloaded and the oil consumption is lower.
The power matching device and method of the double-power underground scraper provided by the embodiment of the invention have the following beneficial effects:
1) the driver is easy to operate, and the power matching control of the system is automatically completed only by giving an operation instruction required by the work of the scraper. 2) Energy saving control can be realized. 3) The control function is in modular design, and upgrading and expansion are facilitated. 4) Each function is realized by a special controller, and each controller is simple and efficient. 5) And the system is subjected to distributed control and unified coordination, so that the reliability and the safety of the system are improved, and fault detection and maintenance are facilitated. 5) Normal and efficient operation of the double-power underground carry scraper is realized, and the purposes of energy conservation and emission reduction are achieved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a block diagram of a dual powered underground scraper power matching apparatus according to an embodiment of the present invention;
FIG. 2 is a powertrain control flow diagram according to an embodiment of the present disclosure;
FIG. 3 is a flow chart of drive system control according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the hydraulic controller wiring according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of the wiring of the traction inverter control module according to an embodiment of the present invention;
FIG. 6 is a flow chart of a power matching method for a dual power underground scraper according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
As shown in fig. 1, the power matching device of the dual-power underground scraper of the embodiment of the invention comprises: a hydraulic controller 1 and a vehicle control unit 2.
Specifically, the hydraulic controller 1 is configured to receive a driver instruction, control the operation of the hydraulic system, and send the state of the hydraulic system to the vehicle control unit 2.
Specifically, as shown in fig. 4, the hydraulic controller 1 receives the activation signal and then turns on the power supply to start operation. The switching value input end of the hydraulic controller 1 is connected with a hydraulic switch collecting signal, the analog quantity input end of the hydraulic controller 1 is connected with a pressure sensor collecting signal, the hydraulic switch collecting signal and the pressure sensor collecting signal are fused and judged by the hydraulic controller 1, a control signal is output, and the control signal is output to the electromagnetic valve through the switching value output end of the hydraulic controller 1 to control the action of the electromagnetic valve.
In the embodiment of the invention, the hydraulic controller 1 and the vehicle control unit 2 communicate with each other through a CAN communication interface to realize information exchange.
The vehicle control unit 2 is used for receiving a driver instruction, a hydraulic system state, a super capacitor SOC and a power driving system state, and the vehicle control unit 2 performs signal fusion and system state judgment on the driver instruction, the hydraulic system state, the super capacitor SOC and the power driving system state to obtain a current system state.
As shown in fig. 2, the vehicle control unit 2 analyzes the rotation speed control instruction of the engine 3 and the power control instruction of the generator 4 according to the current system state to adjust the working condition of the generator 4, so that the power of the generator 4 matches the power emitted by the engine 3 and the power consumed by the hydraulic system.
Meanwhile, as shown in fig. 3, the vehicle control unit 2 analyzes the control commands of the first traction inverter 5 and the second traction inverter 6 according to the driver command and the current system state, so that the output powers of the first traction inverter 5 and the second traction inverter 6 are matched with the required power in the driver command.
Specifically, as shown in fig. 5, the first traction inverter 5 and the second traction inverter 6 receive the start signal and turn on the power supply to start operating. The first traction inverter 5 and the second traction inverter 6 are communicated with the direct current bus through B & lt + & gt and B & lt- & gt binding posts so as to be connected with power direct current voltage; the three-phase power lines of the first traction inverter 5 and the second traction inverter 6 are communicated with the three-phase windings of the motor through U, V, W binding posts so as to supply power to the motor; the first traction inverter 5 and the second traction inverter 6 further collect motor sensor signals and monitor the motor state in real time.
In the embodiment of the invention, the first traction inverter 5 and the second traction inverter 6 are both communicated with the vehicle control unit 2 through the CAN communication interfaces respectively. And the direct current is inverted into alternating current in real time, so that the action of the motor is controlled.
The hybrid vehicle controller 2 further receives the state of the powertrain returned by the engine 3, the generator 4, the first traction inverter 5, and the second traction inverter 6.
The embodiment of the invention also provides a power matching method of the double-power underground scraper, which is used for reasonably distributing power in a control system to meet the requirement of the complicated working condition of the underground scraper and comprises the following steps: after collecting the operation information of each system, performing signal fusion and judging the system state; executing a power system energy management strategy according to the current system state, and matching the power emitted by the engine 3 with the power consumed by the hydraulic system by adjusting the working condition of the generator 4; and executing a driving system power distribution strategy according to the driver instruction and the current system state.
As shown in fig. 6, an embodiment of the present invention further provides a power matching method for a dual-power underground scraper, including the following steps:
step S1: and acquiring a driver instruction, a hydraulic system state, super capacitor SOC information and a power driving system state, and analyzing according to the driver instruction to obtain the required power.
Specifically, a running power demand generated by an operation performed by the driver; the working state and the consumed power of the hydraulic system after the hydraulic system is operated; the current state of the super capacitor SOC in the working process; and the power fed back by each part controller, the working state of the driving system and the current consumed power obtain the current system state.
Specifically, a driver instruction is acquired by the hydraulic controller 1, the work of the hydraulic system is controlled according to the driver instruction, and the state of the hydraulic system is sent to the vehicle control unit 2 by the hydraulic controller 1.
The hydraulic controller 1 is used for carrying out fusion judgment on the hydraulic switch acquisition signals and the pressure sensor acquisition signals, namely, the acquired signals are processed, the current working condition of the scraper is judged according to a plurality of signal values, control signals are output, and the control signals are output to the electromagnetic valve through the switching value output end of the hydraulic controller 1 so as to control the action of the electromagnetic valve.
Step S2: and the vehicle control unit 2 performs signal fusion and system state judgment on a driver instruction, a hydraulic system state, super capacitor SOC information and a power driving system to obtain a current system state.
It should be noted that, because the scraper system is complex in working condition and different in control rule corresponding to different states, the scraper system is controlled by adopting different control strategies through judging the states.
And step S3, the vehicle controller 2 analyzes and obtains a rotating speed control instruction of the engine 3 and a power control instruction of the generator 4 according to the current system state so as to adjust the working condition of the generator 4, and the power of the generator 4 is matched with the power sent by the engine 3 and the consumed power of the hydraulic system.
Specifically, a powertrain energy management strategy is executed based on the current system state. Executing different algorithms according to different states determined in the last step, and outputting a control instruction of the engine 3 and a control instruction of the generator 4, so that the engine 3 works in a better oil consumption area under the current system state; and meanwhile, the working condition of the generator 4 is adjusted to match the power emitted by the engine 3 with the power consumed by the hydraulic system, and the SOC information of the super motor capacitor is ensured to be in the available range.
Step S4, the vehicle controller 2 analyzes the control commands of the first traction inverter 5 and the second traction inverter 6 according to the driver command and the current system state, so that the output powers of the first traction inverter 5 and the second traction inverter 6 match the required power in the driver command.
The first traction inverter 5 and the second traction inverter 6 are connected with power direct-current voltage and supply power to the motor through three-phase power lines; the first traction inverter 5 and the second traction inverter 6 further collect motor sensor signals and monitor the motor state in real time.
Specifically, a drive system power distribution strategy is executed according to the driver instruction and the current system state. And giving control instructions of the two traction motors according to the running power requirement given by the current driver and the working state of the motors, so that the output power is matched with the required power, and the two motors work in a coordinated manner.
Step S5, the vehicle controller 2 further feeds back the power drive system states returned by the engine 3, the generator 4, the first traction inverter 5 and the second traction inverter 6 in steps S3 and S4 to step S1;
wherein, step S3 and step S4 are executed in parallel.
The following describes different states of the present invention with respect to specific embodiments with reference to fig. 2 and 3:
1) the conditions and results of determination of the system state are given below, and the system is divided into 13 states, which are represented by A, B, C and 1, 2, 3, 4, and 5 permutation combinations, respectively.
State a 1: preq＜Pmax，U≥SOChighThe hydraulic system is working;
state a 2: preq＜Pmax，SOClow＜SOC＜SOChighThe hydraulic system is working;
state a 3: preq＜Pmax，SOC≤SOClowThe hydraulic system is working;
state a 4: preq＞Pmax，SOC＞SOClowThe hydraulic system is working;
state a 5: preq＞Pmax，SOC≤SOClowThe hydraulic system is working;
state B1: prd＜Pmax，U≥SOChighThe hydraulic system does not work;
state B2: prd＜Pmax，SOClow＜SOC＜SOChighThe hydraulic system does not work;
state B3: prd＜Pmax，SOC≤SOClowThe hydraulic system does not work;
state B4: prd＞Pmax，SOC＞SOClowThe hydraulic system does not work;
state B5: prd＞Pmax，SOC≤SOClowThe hydraulic system does not work;
state C1: | n1-n2|≤dn
State C2: dn is more than or equal to 0 and less than or equal to n1-n2
State C3: dn is more than or equal to 0 and less than or equal to n2-n1
In the formula: preq、Prd、Pmax、SOC、SOChigh、SOClow、n1、n2And dn are respectively the total power consumed by the hydraulic system and the generator 4, the driving power demand generated by the operation executed by the driver, the maximum power of the engine 3, the state of charge (SOC) of the super capacitor, the SOC high limit value, the SOC low limit value, the rotating speed of the motor 1, the rotating speed of the motor 2 and the rotating speed difference limit of the motor.
2) Giving power system energy management strategies according to the state classification
2.1) the engine 3 speed is given as follows
When the system is in one of the states A1-A5, B3 and B5: n isreq＝nmax；
When the system is in one of the states B1, B2 and B4: the method comprises the following steps: n isreq＝nopt；
In the formula: n isreq、nmax、noptRespectively for the engine 3 instruction rotational speed, the engine 3 calibration rotational speed, start the optimum fuel rotational speed.
2.2) the generator 4 power is given as follows
When the system is in one of states A1-A4: pg＝0；
When the system is in one of the states B2 and B4: pg＝Popt；
When the system is in one of the states A5, B3 and B5: pg＝Pmax-Ph；
When the system is in state B1: pg＝Pm；
In the formula: pg、Pm、Popt、Pmax、PhThe power generation instruction power, the power consumed by the driving load, the optimal power of the engine 3, the maximum power of the engine 3 and the power consumed by the hydraulic system are respectively.
3) Giving out a power distribution strategy of a driving system according to the state classification
3.1) Motor System Total Power matching is given as follows
When the system is in one of the states A5 and B5: pm＝Pg；
When the system is in one of the states A1-A4 and B1-B4: pm＝Prd；
3.2) Motor Power distribution is given as follows
When the system is in state C1: pm1＝Pm2＝0.5×α×Pm
When the system is in state C2: pm2＝0.5×α×Pm，Pm1＝α×β(dn)×Pm
When the system is in state C3: pm1＝0.5×α×Pm，Pm2＝α×β(dn)×Pm
In the formula: pm1、Pm2And alpha and beta (dn) are respectively a motor 1 control power, a motor 2 control power, a system control coefficient and a rotating speed difference correction function.
The power matching device and the method of the double-power underground scraper of the embodiment of the invention meet the driving power requirement generated by the operation executed by a driver; the working state and the consumed power of the hydraulic system after the hydraulic system is operated; the current state of the capacitor SOC in the working process; and the power fed back by each part controller, the working state of the driving system and the current consumed power obtain the current system state. The power system energy management strategy executes different algorithms for different states, gives a control instruction of the engine 3 and a control instruction of the generator 4, adjusts the working condition of the generator 4 to enable the working condition to be matched with the power sent by the engine 3 and the consumed power of the hydraulic system, and simultaneously ensures that the SOC of the capacitor is in a usable range, so that the engine 3 works in a better oil consumption area. The power distribution strategy of the driving system gives control instructions of the two motors according to the driving power requirement given by the current driver and the working state of the motors, so that the output power is matched with the required power, and the two traction motors work in a coordinated manner.
According to the power matching device and method of the dual-power underground scraper, the collected driver instruction, the state of the hydraulic system, the SOC (state of charge) of the super capacitor and the state of the power driving system are subjected to signal fusion and system state judgment, and the energy management strategy and the power distribution strategy of the driving system are respectively set, so that the matching of the working condition of the generator and the power generated by the engine and the consumed power of the hydraulic system can be realized, the output power is matched with the required power, and the following aims are met:
1) the requirements of hydraulic pressure and running of the scraper are met, wherein the hydraulic pressure load directly obtains energy from an engine, and the running load can obtain energy through an engine generator set and a super capacitor; 2) ensuring the SOC of the super capacitor to be in a reasonable range; 3) the engine is not overloaded and the oil consumption is lower.
The power matching device and method of the double-power underground scraper provided by the embodiment of the invention have the following beneficial effects:
1) the driver is easy to operate, and the power matching control of the system is automatically completed only by giving an operation instruction required by the work of the scraper. 2) Energy saving control can be realized. 3) The control function is in modular design, and upgrading and expansion are facilitated. 4) Each function is realized by a special controller, and each controller is simple and efficient. 5) And the system is subjected to distributed control and unified coordination, so that the reliability and the safety of the system are improved, and fault detection and maintenance are facilitated. 5) Normal and efficient operation of the double-power underground carry scraper is realized, and the purposes of energy conservation and emission reduction are achieved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. A dual-power underground scraper power matching device is characterized by comprising: a hydraulic controller and a vehicle control unit, wherein,
the hydraulic controller is used for receiving a driver instruction, controlling the work of a hydraulic system and sending the state of the hydraulic system to the vehicle control unit;
the vehicle control unit is used for receiving a driver instruction, a hydraulic system state, a super capacitor SOC and a power driving system state, and performing signal fusion and system state judgment on the driver instruction, the hydraulic system state, the super capacitor SOC and the power driving system state by the vehicle control unit to obtain a current system state;
the vehicle control unit analyzes and obtains an engine rotating speed control instruction and a generator power control instruction according to the current system state so as to adjust the working condition of the generator and enable the generator power to be matched with the power generated by the engine and the power consumed by the hydraulic system;
meanwhile, the vehicle control unit analyzes control commands of the first traction inverter and the second traction inverter according to the driver command and the current system state, so that the output power of the first traction inverter and the output power of the second traction inverter are matched with the required power in the driver command;
the vehicle control unit further receives the state of the power drive system returned by the engine, the generator, the first traction inverter and the second traction inverter.
2. The dual-power underground scraper power matching device as claimed in claim 1, wherein a switching value input terminal of the hydraulic controller is connected to a hydraulic switch for signal acquisition, an analog value input terminal of the hydraulic controller is connected to a pressure sensor for signal acquisition, the hydraulic controller performs fusion judgment on the signals acquired by the hydraulic switch and the pressure sensor, and outputs a control signal, and the control signal is output to the solenoid valve through a switching value output terminal of the hydraulic controller to control the operation of the solenoid valve.
3. The dual-power underground scraper power matching device as claimed in claim 1 or 2, characterized in that the communication between the hydraulic controller and the vehicle control unit is carried out via a CAN communication interface.
4. The dual-power underground scraper power matching device of claim 1, wherein the terminals of the first traction inverter and the second traction inverter are connected to a dc bus to receive a power dc voltage; the three-phase power lines of the first traction inverter and the second traction inverter are communicated with the three-phase winding of the motor so as to supply power to the motor; the first traction inverter and the second traction inverter further collect motor sensor signals and monitor the motor state in real time.
5. The dual-power underground scraper power matching device as claimed in claim 1 or 4, wherein the first traction inverter and the second traction inverter are each in communication with the vehicle control unit via a CAN communication interface.
6. A power matching method of a double-power underground scraper is characterized by comprising the following steps:
step S1: acquiring a driver instruction, a hydraulic system state, super capacitor SOC information and a power driving system state, and analyzing according to the driver instruction to obtain required power;
step S2: the vehicle control unit performs signal fusion and system state judgment on the driver instruction, the hydraulic system state, the super capacitor SOC information and the power driving system to obtain the current system state;
step S3, the vehicle controller analyzes and obtains an engine speed control instruction and a generator power control instruction according to the current system state so as to adjust the working condition of the generator, and the power of the generator is matched with the power sent by the engine and the power consumed by the hydraulic system;
step S4, the vehicle controller analyzes and obtains control instructions of the first traction inverter and the second traction inverter according to the driver instruction and the current system state, so that the output power of the first traction inverter and the second traction inverter is matched with the required power in the driver instruction;
step S5, the vehicle controller further feeds back the power driving system states obtained in the step S3 and the step S4 and returned by the engine, the generator, the first traction inverter and the second traction inverter to the step S1;
wherein the step S3 and the step S4 are executed in parallel.
7. The dual-power underground scraper power matching method of claim 6, wherein in the step S1, a driver command is collected by a hydraulic controller, the operation of a hydraulic system is controlled according to the driver command, and the hydraulic controller sends the state of the hydraulic system to the vehicle control unit.
8. The power matching method of the dual-power underground scraper of claim 6, wherein the hydraulic controller performs fusion judgment on the signals collected by the hydraulic switch and the signals collected by the pressure sensor, outputs a control signal, and outputs the control signal to the solenoid valve through a switching value output end of the hydraulic controller so as to control the action of the solenoid valve.
9. The dual-power underground scraper power matching method of claim 6, wherein the first traction inverter and the second traction inverter are connected to a power direct current voltage and supply power to the motor through a three-phase power line; the first traction inverter and the second traction inverter further collect motor sensor signals and monitor the motor state in real time.
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| CN113147720B (en) * | 2021-05-08 | 2022-08-26 | 湖南三一路面机械有限公司 | Hybrid power apparatus, hybrid power system, and control method of hybrid power system |
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| CN112681442B (en) | 2022-10-14 |
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