CN113103876A - Regenerative braking system - Google Patents

Regenerative braking system Download PDF

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Publication number
CN113103876A
CN113103876A CN202110011736.9A CN202110011736A CN113103876A CN 113103876 A CN113103876 A CN 113103876A CN 202110011736 A CN202110011736 A CN 202110011736A CN 113103876 A CN113103876 A CN 113103876A
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China
Prior art keywords
power
vehicle
regenerative braking
electric
storage device
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Granted
Application number
CN202110011736.9A
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Chinese (zh)
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CN113103876B (en
Inventor
松木孝宪
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Toyota Industries Corp
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Toyota Industries Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • 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
    • B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
    • B60L5/005—Current collectors for power supply lines of electrically-propelled vehicles without mechanical contact between the collector and the power supply line
    • 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
    • B60L55/00—Arrangements for supplying energy stored within a vehicle to a power network, i.e. vehicle-to-grid [V2G] arrangements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/007—Regulation of charging or discharging current or voltage
    • H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
    • H02J7/007182—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters in response to battery voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/14—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
    • 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
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Current-Collector Devices For Electrically Propelled Vehicles (AREA)
  • Stopping Of Electric Motors (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

The invention provides a regenerative braking system which can improve the recovery efficiency of energy recovery generated by regenerative braking when a vehicle runs along a downhill. A regenerative braking system (1) uses regenerative braking in which an electric motor (8) that causes an industrial vehicle (3) to travel along a travel path (A) operates as a generator to recover kinetic energy of the industrial vehicle (3) as electric energy, thereby braking the industrial vehicle (3). A regenerative braking system (1) is provided with: a battery (7) mounted on the industrial vehicle (3); a power transmitter (10) mounted on the industrial vehicle (3) and transmitting electric power generated from the electric motor (8) by regenerative braking when the industrial vehicle (3) descends a slope (2a) along the travel path A; a power receiver (20) that is provided on the slope (2a) and that receives the electric power transmitted from the power transmitter (10); and an electric storage device (6) connected to the power receiver (20) and storing the electric power received by the power receiver (20).

Description

Regenerative braking system
Technical Field
The invention relates to a regenerative braking system.
Background
For example, patent document 1 describes a vehicle brake device including a hydraulic brake mechanism and a regenerative brake mechanism. The regenerative braking mechanism described in patent document 1 includes: a motor that rotationally drives the drive wheels and generates regenerative electric power based on kinetic energy of the rotating drive wheels; an inverter that supplies power stored in the battery to the motor and converts regenerative power generated at the motor into power storable by the battery; and a controller for limiting the braking of the hydraulic brake mechanism and controlling the motor so as to restrain the loss of energy which can be recovered by the regenerative braking.
[ background Art document ]
[ patent document ]
[ patent document 1] Japanese patent laid-open No. 2014-69786
Disclosure of Invention
[ problems to be solved by the invention ]
Further, there are cases where: when the vehicle is braked and travels a long downhill, the battery cannot receive all the electric power (regenerative electric power) generated from the motor by the regenerative braking, and the regenerative braking cannot be made to exert its effect sufficiently. In this case, the energy generated by regenerative braking is not recovered in the form of electric energy, but is wasted by converting it into heat through mechanical braking.
The invention aims to provide a regenerative braking system which can improve the recovery efficiency of energy generated by regenerative braking when a vehicle runs along a downhill.
[ means for solving problems ]
One aspect of the present invention is a regenerative braking system for braking a vehicle by operating an electric motor for driving the vehicle along a running path as a generator to recover kinetic energy of the vehicle as electric energy, the regenerative braking system including: a battery mounted on a vehicle; a vehicle-side power transmission unit that is mounted on a vehicle and transmits electric power generated from an electric motor by regenerative braking when the vehicle is descending a slope along a traveling path; a travel-side power receiving unit that is provided on a slope and receives electric power transmitted from a vehicle-side power transmitting unit; and a power storage device connected to the traveling-road-side power receiving unit and storing the electric power received by the traveling-road-side power receiving unit.
In such a regenerative braking system, when the vehicle is descending a slope, the electric motor operates as a generator to apply regenerative braking to the vehicle, and electric power generated from the electric motor by the regenerative braking is transmitted by the vehicle-side power transmission unit. Then, the electric power from the vehicle-side power transmission unit is received by the traveling-path-side power reception unit and stored in the power storage device. The electric power stored in the electrical storage device is supplied to other vehicles. Therefore, the part of the energy generated by regenerative braking, which is wasted in the form of heat, is recovered in the form of electricity to be used for other vehicles. This improves the efficiency of recovering the energy generated by regenerative braking, which is recovered when the vehicle travels downhill.
The regenerative braking system may further include: a traveling path-side power transmission unit that is provided on a traveling path, is connected to the power storage device, and transmits electric power stored in the power storage device; a vehicle-side power receiving unit that is mounted on a vehicle and receives electric power transmitted from a travel-side power transmitting unit; and a power supply control unit that controls the supply of the electric power stored in the storage device to the storage battery via the travel path side power transmission unit and the vehicle side power receiving unit. In this configuration, the electric power stored in the electric storage device is supplied to the battery of the vehicle via the travel path side power transmission unit and the vehicle side power receiving unit. Therefore, the recovery efficiency of the energy generated by regenerative braking is surely improved.
The regenerative braking system may further include an uphill detection unit that detects whether the vehicle is ascending along a slope, the travel path side power transmission unit may be provided on the slope, and the electric power supply control unit may perform control to supply the electric power stored in the storage device to the battery via the travel path side power transmission unit and the vehicle side power receiving unit when the uphill detection unit detects that the vehicle is ascending along the slope. In this configuration, when the vehicle ascends an uphill slope along a slope, the electric power stored in the storage device is supplied to the battery of the vehicle via the travel path side power transmission unit and the vehicle side power receiving unit. When the vehicle travels on an uphill slope, the electric motor requires a larger electric power than when the vehicle travels on a flat travel path. Therefore, by supplying the electric power stored in the storage device to the battery of the vehicle when the vehicle is traveling uphill, the electric power generated by regenerative braking can be effectively utilized.
The regenerative braking system may further include a charge detection unit that detects a charge amount of the battery, and the electric power supply control unit may control the electric power stored in the storage device to be supplied to the battery via the travel path side power transmission unit and the vehicle side power receiving unit when the charge amount of the battery detected by the charge detection unit is equal to or less than a predetermined value. In this configuration, when the amount of charge in the battery of the vehicle is equal to or less than a predetermined value, the electric power stored in the storage device is supplied to the battery of the vehicle via the travel path side power transmission unit and the vehicle side power receiving unit. Therefore, the electric power stored in the electric storage device is supplied to the battery with a small amount of charge. Therefore, the electric power generated by regenerative braking can be effectively utilized.
The regenerative braking system may further include a charging field that is provided on the road, is connected to the power storage device, and charges the battery using the electric power stored in the power storage device. In this configuration, the battery is charged by supplying the electric power stored in the storage device to the battery of the vehicle through the charging field. By providing such a charging field on the traveling road, the vehicle-side power receiving unit and the traveling road-side power transmitting unit are not required, and therefore, the regenerative braking system can be simplified.
[ Effect of the invention ]
According to the present invention, the recovery efficiency of energy generated by regenerative braking, which is recovered when a vehicle travels downhill, can be improved.
Drawings
Fig. 1 is a schematic configuration diagram showing a regenerative braking system according to embodiment 1 of the present invention.
Fig. 2 is a block diagram of the regenerative braking system shown in fig. 1.
Fig. 3 is a flowchart showing the details of the steps of the regeneration control process executed by the regeneration control unit shown in fig. 2.
Fig. 4 is a flowchart showing details of steps of the control process performed by the controller shown in fig. 2.
Fig. 5 is a schematic configuration diagram showing a regenerative braking system according to embodiment 2 of the present invention.
Fig. 6 is a block diagram of the regenerative braking system shown in fig. 5.
Detailed Description
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, the same or equivalent elements are denoted by the same reference numerals, and redundant description thereof will be omitted.
Fig. 1 is a schematic configuration diagram showing a regenerative braking system according to embodiment 1 of the present invention. Fig. 2 is a block diagram of the regenerative braking system shown in fig. 1. In fig. 1 and 2, a regenerative braking system 1 according to the present embodiment is applied to a travel path a having a tunnel 2 in a land such as an airport and a factory. Here, the industrial vehicle 3 such as a plurality of tractors travels along the travel path a. The industrial vehicle 3 is, for example, a battery car or a hybrid electric vehicle.
The regenerative braking system 1 is a system that uses regenerative braking in which the industrial vehicle 3 is braked by recovering kinetic energy of the industrial vehicle 3 in the form of electric energy when the industrial vehicle 3 travels along a long downhill slope in the underground tunnel 2.
The regenerative braking system 1 includes: a traveling unit 4 mounted on the industrial vehicle 3; a plurality of power transmitting and receiving devices 5 provided on a slope 2a of the underground tunnel 2; and a power storage device 6 provided in the ground.
The travel Unit 4 includes a battery 7, an electric motor 8, a motor driver 9, a power transmitter 10, a power receiver 11, an accelerator sensor 12, a slope detection sensor 14, and an ECU (Electronic Control Unit) 15.
The battery 7 is a battery that stores electric power (electricity) used when the industrial vehicle 3 travels. That is, the battery 7 stores electric power supplied to the electric motor 8.
The electric motor 8 is an ac motor that runs the industrial vehicle 3 by the electric power stored in the battery 7. The electric motor 8 rotationally drives the drive wheel 3a of the industrial vehicle 3. The electric motor 8 also functions as a generator. Specifically, when the industrial vehicle 3 decelerates or the industrial vehicle 3 travels down a downhill, the electric motor 8 is operated as a generator by the rotation of the driving wheels 3 a. When the electric motor 8 operates as a generator, regenerative braking is applied to the driving wheels 3a to generate electric power from the electric motor 8.
The motor driver 9 drives the electric motor 8, and switches the supply destination of the electric power generated from the electric motor 8 by regenerative braking. When the drive wheels 3a are rotated by the electric motor 8, the motor driver 9 converts the dc power stored in the battery 7 into ac power and supplies the ac power to the electric motor 8. When the electric motor 8 operates as a generator, the motor driver 9 converts ac power generated from the electric motor 8 into dc power and supplies the dc power to the battery 7, or supplies ac power generated from the electric motor 8 to the power transmitter 10. The motor driver 9 switches between a power transmitting operation by the power transmitter 10 and a power receiving operation by the power receiver 11.
The power transmitter 10 is a vehicle-side power transmitting unit that transmits electric power generated from the electric motor 8 by regenerative braking when the industrial vehicle 3 descends a slope 2a along the underground road 2. The power transmitter 10 is, for example, an electromagnetic induction type power transmitter having a power transmission coil. The power transmitter 10 transmits electric power generated from the electric motor 8 by regenerative braking in a non-contact manner.
The power receiver 11 is a vehicle-side power receiving unit and receives electric power transmitted from a power transmitter 21 (described later) of the power transmitting and receiving device 5. The power receiver 11 is, for example, an electromagnetic induction type power receiver having a power receiving coil. The power receiver 11 receives power from the power transmitter 21 in a non-contact manner.
The accelerator sensor 12 is a sensor that detects the operation amount of an accelerator. The slope detection sensor 14 is a sensor that detects whether the industrial vehicle 3 is traveling along the slope 2a of the underground tunnel 2. As the slope detection sensor 14, for example, a camera, an inclination sensor, a vehicle speed sensor, an acceleration sensor, and the like are used. The slope detection sensor 14 constitutes an uphill detection section that detects whether the industrial vehicle 3 is ascending along the slope 2 a. In addition, as a method of detecting whether the industrial vehicle 3 is in a state of traveling along the slope 2a, the current position of the industrial vehicle 3 may be estimated using a self-position estimation technique such as SLAM (simultaneous localization and mapping).
The ECU15 is composed of a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), an input/output interface, and the like. The ECU15 acquires detection values of the accelerator sensor 12, the slope detection sensor 14, and the like, performs a specific process on the detection values, and controls the electric motor 8 and the motor driver 9. The ECU15 includes a voltage detection unit 13, a drive control unit 16, a regeneration control unit 17, a charge control unit 18, and a vehicle information transmission unit 19.
The voltage detecting unit 13 detects the voltage value of the battery 7. The voltage detection portion 13 constitutes a charge detection portion that detects the amount of charge of the battery 7.
When the accelerator sensor 12 detects an operation of the accelerator (accelerator on), the drive control unit 16 controls the electric motor 8 via the motor driver 9 so as to rotate the drive wheel 3a in accordance with the accelerator operation amount.
When the accelerator sensor 12 detects that the accelerator is released (accelerator off), the regeneration control unit 17 controls the motor driver 9 to supply electric power (regenerative electric power) generated from the electric motor 8 by regenerative braking.
Fig. 3 is a flowchart showing the details of the steps of the regeneration control process executed by the regeneration control unit 17. In fig. 3, first, the regeneration control unit 17 acquires the detection value of the accelerator sensor 12 (step S101). Then, the regeneration control unit 17 determines whether or not the operation of the accelerator is released, that is, whether or not the accelerator is off, based on the detection value of the accelerator sensor 12 (step S102). When determining that the accelerator operation has not been released, the regeneration control unit 17 executes step S101 again.
When determining that the accelerator operation has been released, the regeneration control unit 17 acquires the detection value of the slope detection sensor 14 (step S103). Then, the regeneration control unit 17 determines whether the industrial vehicle 3 is in a state of descending the slope 2a of the underground road 2, that is, whether the industrial vehicle 3 is in a state of traveling down a downhill, based on the detection value of the slope detection sensor 14 (step S104).
When determining that the industrial vehicle 3 is in a state of descending the slope 2a, the regeneration control unit 17 acquires the voltage value of the battery 7 detected by the voltage detection unit 13 (step S105). Then, the regeneration control unit 17 determines whether or not the battery 7 is in a fully charged state based on the acquired voltage value of the battery 7 (step S106).
When determining that the battery 7 is not fully charged, the regenerative control unit 17 controls the motor driver 9 to charge the battery 7 with regenerative electric power generated from the electric motor 8 by regenerative braking (step S107). Then, the regeneration control unit 17 executes the above step S101 again.
When determining that the battery 7 is fully charged, the regenerative control unit 17 controls the motor driver 9 so as to transmit regenerative electric power generated from the electric motor 8 by regenerative braking to the power transmitter 10 (step S108). Then, the regeneration control unit 17 executes the above step S101 again.
When it is determined in step S104 that the industrial vehicle 3 is not in the downhill state on the slope 2a, the regeneration control unit 17 controls the motor driver 9 to charge the battery 7 with the regenerative electric power generated from the electric motor 8 by the regenerative braking (step S107). Then, the regeneration control unit 17 executes the above step S101 again.
Returning to fig. 2, when the slope detection sensor 14 detects that the industrial vehicle 3 is in an uphill state along the slope 2a of the underground passage 2, the charge control unit 18 controls the motor driver 9 so that the battery 7 can be charged with the electric power received by the power receiver 11.
The vehicle information transmitting unit 19 acquires the voltage value of the battery 7 detected by the voltage detecting unit 13 and the detection value of the slope detection sensor 14, and wirelessly transmits these values as vehicle information to a controller 23 (described later) of the power transmitting and receiving device 5.
The power transmitting and receiving device 5 includes a power receiver 20, a power transmitter 21, a switching unit 22, and a controller 23.
The power receiver 20 is a traveling-path-side power receiving unit, and receives electric power transmitted from the power transmitter 10 of the traveling unit 4 of the industrial vehicle 3. The power receiver 20 is, for example, an electromagnetic induction type power receiver having a power receiving coil. The power receiver 20 receives power from the power transmitter 10 in a non-contact manner.
The power transmitter 21 is a traveling path-side power transmitting unit and transmits electric power stored in the power storage device 6. The power transmitter 21 is, for example, an electromagnetic induction type power transmitter having a power transmitting coil. The power transmitter 21 transmits the electric power stored in the power storage device 6 in a non-contact manner.
The switching unit 22 switches between a power receiving operation by the power receiver 20 and a power transmitting operation by the power transmitter 21.
The controller 23 is constituted by a CPU, a RAM, a ROM, an input/output interface, and the like. The controller 23 receives and acquires the vehicle information transmitted from the vehicle information transmitting unit 19 of the traveling unit 4 by wireless or the like, and performs a specific process on the vehicle information to control the switching unit 22.
Fig. 4 is a flowchart showing details of steps of the control process executed by the controller 23. In fig. 4, first, the controller 23 acquires the vehicle information from the vehicle information transmitting unit 19 (step S111). Then, the controller 23 determines whether the industrial vehicle 3 is in an uphill state along the slope 2a of the underground road 2, that is, whether the industrial vehicle 3 is in an uphill running state, based on the vehicle information (step S112).
When determining that the industrial vehicle 3 is in an uphill state along the slope 2a, the controller 23 determines whether or not the amount of charge of the battery 7 of the industrial vehicle 3 is equal to or less than a predetermined value based on the vehicle information (step S113).
When determining that the amount of charge in the battery 7 is equal to or less than the predetermined value, the controller 23 controls the switching unit 22 so that the power stored in the power storage device 6 is transmitted by the power transmitter 21 (step S114). Then, the controller 23 executes the above-described step S111 again.
When the controller 23 determines in step S112 that the industrial vehicle 3 is not in an uphill state along the slope 2a or when the controller determines in step S113 that the amount of charge of the battery 7 is not equal to or less than the predetermined value, the controller controls the switching unit 22 so as to supply the electric power received by the power receiver 20 to the power storage device 6 (step S115). Then, the controller 23 executes the above-described step S111 again.
Returning to fig. 2, the power storage device 6 is connected to the switching unit 22 of the plurality of power transmission and reception devices 5. The power storage device 6 stores electric power received by the power receiver 20 of the power transmission and reception device 5.
As described above, the motor driver 9, the regeneration control unit 17, the charge control unit 18, the vehicle information transmission unit 19, the switching unit 22, and the controller 23 constitute a power supply control unit, and control is performed to supply the electric power stored in the power storage device 6 to the battery 7 via the power transmitter 21 and the power receiver 11.
In the regenerative braking system 1 described above, the operation of the accelerator is released when the industrial vehicle 3 descends a slope 2a along the underground road 2, and the electric motor 8 is operated as a generator by the rotation of the driving wheels 3 a. Therefore, regenerative braking is applied to the industrial vehicle 3, and the regenerative electric power generated from the electric motor 8 by the regenerative braking is charged into the battery 7 via the motor driver 9.
At this time, when the battery 7 is fully charged, the battery 7 cannot receive all of the regenerative electric power. Therefore, the regenerative power is supplied to the power storage device 6 via the power transmission and reception device 5 provided on the slope 2 a. Specifically, the regenerative electric power is sent to the power transmitter 10 via the motor driver 9, and is sent out by the power transmitter 10. Then, the regenerative power from the power transmitter 10 is received by the power receiver 20 of the power transmitting and receiving device 5, and is stored in the power storage device 6 via the switching unit 22.
The electric power stored in the power storage device 6 is supplied to another industrial vehicle 3 ascending along the slope 2a of the underground tunnel 2 via the power transmission and reception device 5. Specifically, the electric power stored in the power storage device 6 is transmitted to the power transmitter 21 via the switching unit 22 in the power transmitting and receiving device 5, and is transmitted by the power transmitter 21. Then, the electric power from the power transmitter 21 is received by the power receiver 11 of the other industrial vehicle 3, and is charged into the battery 7 via the motor driver 9.
As described above, in the present embodiment, when the industrial vehicle 3 descends a slope along the slope 2a, the electric motor 8 operates as a generator, regenerative braking is applied to the industrial vehicle 3, and electric power generated from the electric motor 8 by the regenerative braking is transmitted to the power transmitter 10. Then, the power from the power transmitter 10 is received by the power receiver 20 of the power transmission and reception device 5 and stored in the power storage device 6. The electric power stored in the power storage device 6 is supplied to the other industrial vehicle 3. Therefore, the part of the energy wasted in the form of heat among the energy generated by regenerative braking is recovered in the form of electric power to be used for other industrial vehicles 3. This improves the efficiency of recovering the energy generated by regenerative braking, which is recovered when the industrial vehicle 3 travels downhill. As a result, the operating time of the industrial vehicle 3 can be increased. Further, the cost of electric power to charge the battery 7 of the industrial vehicle 3 can be suppressed.
In the present embodiment, the electric power stored in the power storage device 6 is supplied to the battery 7 via the power transmitter 21 of the power transmission and reception device 5 and the power receiver 11 of the industrial vehicle 3. Therefore, the recovery efficiency of the energy generated by regenerative braking is surely improved.
In the present embodiment, when the industrial vehicle 3 ascends an uphill along the slope 2a, the electric power stored in the power storage device 6 is supplied to the battery 7 via the power transmitter 21 and the power receiver 11. When the industrial vehicle 3 travels on an uphill slope, the electric motor 8 requires a larger electric power than when the industrial vehicle 3 travels on a flat travel path. Therefore, when the industrial vehicle 3 travels uphill, the electric power stored in the power storage device 6 is supplied to the battery 7 of the industrial vehicle 3, and the electric power generated by regenerative braking can be effectively used.
In the present embodiment, when the amount of charge in the battery 7 is equal to or less than the predetermined value, the electric power stored in the power storage device 6 is charged into the battery 7 via the power transmitter 21 and the power receiver 11. Therefore, the electric power stored in the power storage device 6 is supplied to the battery 7 having a small amount of charge. Therefore, the electric power generated by regenerative braking can be more effectively utilized.
Fig. 5 is a schematic configuration diagram showing a regenerative braking system according to embodiment 2 of the present invention. Fig. 6 is a block diagram of the regenerative braking system shown in fig. 5. In fig. 5 and 6, the regenerative braking system 1A of the present embodiment includes: a traveling unit 4A mounted on the industrial vehicle 3; a plurality of power receiving devices 30 provided on a slope 2a of the underground tunnel 2; the above-described power storage device 6; and a charging station 31.
The travel unit 4A includes a battery 7, an electric motor 8, a motor driver 9, a power transmitter 10, an accelerator sensor 12, a slope detection sensor 14, and an ECU 15A. The travel unit 4A does not include the power receiver 11 in embodiment 1.
The ECU15A includes a voltage detection unit 13, a drive control unit 16, and a regeneration control unit 17. The ECU15A does not include the charge control unit 18 and the vehicle information transmitting unit 19 in embodiment 1.
The power receiving device 30 is connected to the power storage device 6. The power receiving device 30 includes a power receiver 20. The power receiving device 30 does not include the power transmitter 21 and the switching unit 22 in embodiment 1. Therefore, the regenerative power generated by regenerative braking in the industrial vehicle 3 is supplied to the power storage device 6 via the power receiving device 30. However, the electric power stored in the power storage device 6 is not supplied to the battery 7 of the industrial vehicle 3 via the power receiving device 30. In addition, the power receiving device 30 may have a controller.
The charging station 31 is a charging field provided on the travel path a on which the industrial vehicle 3 travels. The charging station 31 is connected to the power storage device 6. The charging station 31 includes: a charger 32 that charges the battery 7 of the industrial vehicle 3 using the electric power stored in the power storage device 6; and a charge button 33 for instructing to charge the battery 7 by the charger 32.
When the battery 7 of the industrial vehicle 3 is charged in the charging station 31, the charging button 33 is turned on in a state where the battery 7 and the charger 32 are connected by a battery cable. In this way, the electric power stored in power storage device 6 is supplied to battery 7 via charger 32, and battery 7 is charged.
As described above, in the present embodiment, the electric power stored in the power storage device 6 is supplied to the battery 7 of the industrial vehicle 3 via the charging station 31, and the battery 7 is charged. By providing such a charging station 31, the power receiver 11 and the power transmitter 21 in embodiment 1 described above are not required, and therefore the regenerative braking system 1A can be simplified.
The present invention is not limited to the above embodiments. For example, in embodiment 1 described above, the regenerative braking system 1 includes the power transmission and reception device 5 having the power receiver 20, the power transmitter 21, the switching unit 22, and the controller 23, but is not particularly limited to this configuration. The regenerative braking system 1 may include a power receiving device having a power receiving coil, a controller for the power receiving device, a power transmitting device having a power transmitting coil, and a controller for the power transmitting device.
In addition, although the power stored in the power storage device 6 is supplied to the battery 7 of the industrial vehicle 3 when the industrial vehicle 3 travels on an uphill slope in embodiment 1 described above, the present invention is not particularly limited to this configuration, and the power stored in the power storage device 6 may be supplied to the industrial vehicle 3 when the industrial vehicle 3 travels on a flat traveling road. In this case, the power transmission/reception device 5 is installed on a flat traveling road.
In the above embodiment, the power transmitter 10 of the industrial vehicle 3 transmits the electric power generated by regenerative braking in a non-contact manner, and the power receiver 20 of the power transmission and reception device 5 receives the electric power from the power transmitter 10 in a non-contact manner, but the power transmitter 10 and the power receiver 20 are not particularly limited to such a non-contact manner, and may be in a contact manner. The contact power transmitter 10 is, for example, a metal roller mounted on a lower portion of the industrial vehicle 3. The contact power receiver 20 is, for example, a metal rail, and is disposed on the traveling road a to contact the metal roller.
In the above embodiment, the slope detection sensor 14 that detects whether the industrial vehicle 3 is traveling along the slope 2a of the underground passage 2 is mounted on the industrial vehicle 3, but the invention is not particularly limited to this configuration, and the slope detection sensor 14 may be provided on the slope 2 a. The slope detection sensor used in this case includes, for example, a contact sensor and an infrared sensor.
Further, the above-described embodiment is a system that recovers kinetic energy of the industrial vehicle 3 as electric energy and uses regenerative braking when the industrial vehicle 3 travels downhill, but the present invention is applicable to not only the industrial vehicle 3 but also a case where kinetic energy of a vehicle such as a truck is recovered as electric energy and uses regenerative braking when the vehicle travels downhill, for example.
[ description of symbols ]
1. 1A regenerative braking system
2a ramp
3 Industrial vehicle (vehicle)
6 electric storage device
7 storage battery
8 electric motor
9 Motor driver (Power supply control part)
10 power transmitter (vehicle side power transmission part)
11 current collector (vehicle side current collector)
13 Voltage detecting part (charging detecting part)
14 ramp detecting sensor (uphill detecting part)
17 regeneration control part (Power supply control part)
18 charging control part (Power supply control part)
19 vehicle information transmitting part (Power supply control part)
20 current collector (road side power receiving unit)
21 power transmitter (traveling road side power transmission part)
22 switching part (Power supply control part)
23 controller (Power supply control part)
31 charging station (charging field)
And A, running the road.

Claims (5)

1. A regenerative braking system for braking a vehicle by operating an electric motor for driving the vehicle along a traveling path as a generator and recovering kinetic energy of the vehicle as electric energy, the regenerative braking system comprising:
a battery mounted on the vehicle;
a vehicle-side power transmission unit that is mounted on the vehicle and transmits electric power generated from the electric motor by the regenerative braking when the vehicle is descending a slope along the traveling road;
a travel-side power receiving unit that is provided on the slope and receives the electric power transmitted from the vehicle-side power transmitting unit; and
and a power storage device connected to the travel-path-side power receiving unit and storing the electric power received by the travel-path-side power receiving unit.
2. The regenerative braking system according to claim 1, further comprising:
a traveling road-side power transmission unit that is provided on the traveling road, is connected to the power storage device, and transmits electric power stored in the power storage device;
a vehicle-side power receiving unit that is mounted on the vehicle and that receives electric power transmitted from the travel-side power transmitting unit; and
and a power supply control unit that controls the electric power stored in the storage device to be supplied to the storage battery via the travel path side power transmission unit and the vehicle side power receiving unit.
3. The regenerative braking system according to claim 2, further comprising:
an uphill detecting section that detects whether the vehicle is in a state of ascending a slope along the slope;
the travel path side power transmission unit is provided on the slope,
when the uphill detection unit detects that the vehicle is ascending along the slope, the electric power supply control unit performs the control of supplying the electric power stored in the storage device to the storage battery via the travel path side power transmission unit and the vehicle side power receiving unit.
4. The regenerative braking system according to claim 2 or 3, further comprising:
a charge detection unit that detects a charge amount of the battery;
the electric power supply control unit performs the control of supplying the electric power stored in the storage device to the battery via the travel path side power transmission unit and the vehicle side power receiving unit when the charge amount of the battery detected by the charge detection unit is a predetermined value or less.
5. The regenerative braking system according to any one of claims 1 to 4, further comprising:
and a charging field that is provided on the traveling road, is connected to the power storage device, and charges the battery using the electric power stored in the power storage device.
CN202110011736.9A 2020-01-10 2021-01-06 Regenerative braking system Active CN113103876B (en)

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TWI788751B (en) 2023-01-01
CN113103876B (en) 2024-05-28

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