CN113277442A - Energy recovery control method and system for full-electric aerial work platform - Google Patents
Energy recovery control method and system for full-electric aerial work platform Download PDFInfo
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- CN113277442A CN113277442A CN202110656699.7A CN202110656699A CN113277442A CN 113277442 A CN113277442 A CN 113277442A CN 202110656699 A CN202110656699 A CN 202110656699A CN 113277442 A CN113277442 A CN 113277442A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/065—Scissor linkages, i.e. X-configuration
- B66F7/0666—Multiple scissor linkages vertically arranged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/0625—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement with wheels for moving around the floor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
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- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to an energy recovery control method and system for a full-electric aerial work platform. The invention discloses an energy recovery control method and system for a full-electric scissor-type aerial work platform, which solve the problems of complex hydraulic oil circuit, low overall recovery efficiency and high requirements on installation space and cost existing in the energy recovery of an electro-hydraulic driven scissor-type aerial work platform in the prior art; the lifting motor assembly is reversely dragged by utilizing the descending potential energy, the potential energy is converted into electric energy to be stored in the energy storage battery, and the energy recovery is realized; the technical scheme of the invention adopts electric energy transmission, reduces the energy conversion process, improves the electric energy utilization rate of the whole machine, combines with an efficient energy recovery system, recycles the recovered energy, further improves the cruising ability of the whole machine, and achieves green and environment-friendly operation.
Description
Technical Field
The invention relates to the field of aerial work equipment, in particular to an energy recovery control method and system for a full-electric aerial work platform.
Background
The aerial work platform is mainly used for aerial work, is widely applied to modern production life, and mainly comprises a lifting system, a walking system, a steering system and a power source system on the whole structure. In general, when the aerial work platform lifts people or goods to a high place, the lifting system needs to provide power through a power source system to realize lifting. At present, a commonly used power source system is an electro-hydraulic driving system, a motor drives a hydraulic pump to work, and the purpose of driving a lifting system by hydraulic oil is achieved through a control valve bank. However, in such a driving system, the hydraulic oil in the hydraulic system loop is released to return to the oil tank to realize the descending of the working platform, and in the process, the gravitational potential energy of the platform is difficult to recycle, so that the energy utilization rate of the whole system is low.
Chinese patent CN207819534U discloses an aerial work platform and an energy recovery device thereof, which includes a driving device, a generator and a storage battery, wherein the driving device is disposed on a hydraulic circuit of the aerial work platform, and the generator is driven to rotate to charge the storage battery by using hydraulic oil in the hydraulic circuit when the aerial work platform descends as power. The storage battery can be a newly-added storage battery or a storage battery used as the power of the aerial work platform, so that the energy recovery is realized. The hydraulic oil drives the pump and the motor to drive the alternating current generator to generate power, the alternating current generator is converted into direct current through the conversion device and then is stored in the storage battery, hydraulic oil return oil serves as power to drive the generator to charge the storage battery, and the descending potential energy of the operation platform is not recovered substantially. Chinese patent CN212868045U discloses a hydraulic system for aerial work platform, which comprises a power unit, a lifting unit, an energy storage unit, and a main hydraulic system, wherein the power unit includes a hydraulic pump, the main hydraulic system has an energy delivery unit for delivering pressure oil to the lifting unit and an energy recovery unit for recovering the pressure oil released by the lifting unit to the energy storage unit, and the energy recovery unit inputs the stored pressure oil into the hydraulic pump through a stop valve. When can realize descending, through energy recuperation unit with the energy recovery of hydraulic system release to the energy storage unit in, directly provide the hydraulic pump through energy delivery unit again and use when needing to use, effectively reduced the waste of energy, this patent is the realization is retrieved the energy of hydraulic system release equally, does not realize retrieving the decline potential energy of operation platform.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an energy recovery system and a control method of a full-electric aerial work platform.
On one hand, the invention provides an energy recovery control method for a full-electric aerial work platform, which comprises the following steps:
step a: judging whether to enter an energy recovery mode according to preset conditions, and if so, executing steps b, c2 and d; if not, go to step c 1;
step b: calculating a maximum torque for energy recovery;
step c1, when the work platform enters into the ordinary descending mode, calculating the descending demand torque of the work platform according to the height, the speed and the load of the work platform, and using the torque as the torque required to be provided by the braking device;
step c2, when the work platform enters the energy recovery mode, if the maximum torque of the energy recovery meets the descending torque demand of the work platform, the braking device does not provide torque any more; if the maximum torque of the energy recovery does not meet the torque requirement of the descending of the working platform, taking the difference value of the torque required by the descending of the working platform and the energy recovery torque as the torque required by the braking device;
step d: in the energy recovery mode, if the SOC value of the energy storage battery is higher than the preset threshold, the operation is switched to the normal descent mode, and step c1 is executed.
Optionally, the preset condition is that the following conditions are simultaneously satisfied:
condition a1, the work platform height is above a preset height;
under the condition a2, the current SOC value of the energy storage battery is lower than a preset threshold value;
condition a3, the energy storage battery is in a chargeable state;
and a condition a4, no fault alarm of the whole vehicle.
Optionally, the method for calculating the maximum torque for energy recovery in step b is:
b1, calculating the descending required torque of the operation platform according to the height, the speed and the load of the operation platform, and calculating the power generation power of the driving motor based on the rotating speed of the driving motor and the MAP curve;
step b2, calculating the maximum power allowed to be charged according to the current SOC value of the energy storage battery;
step b3, the smaller value of the generated power of the driving motor and the maximum power of the energy storage battery allowed to be charged is taken as the energy recovery power;
and b4, calculating the maximum torque of energy recovery according to the energy recovery power obtained in the step b 3.
On the other hand, the invention also provides a method and a system for controlling the energy recovery of the full-electric aerial work platform, which comprises the following steps:
the lifting electric assembly comprises a driving motor, a motor controller, a servo electric cylinder and a braking device, wherein the motor controller is connected to the driving motor, and the braking device is connected to the driving motor;
the energy storage unit comprises an energy storage battery and a battery controller, the battery controller is used for detecting the current SOC value, the battery temperature and the battery fault level of the energy storage battery and controlling the charging and discharging state of the energy storage battery, and the battery controller is connected to the energy storage battery;
the platform height detection device is used for detecting the current height of the operation platform;
the load and inclination angle detection device is used for detecting the current load capacity of the operation platform and the inclination angle of the whole vehicle;
the angle detection device is used for detecting the angle of the scissor fork arm of the operation platform;
the speed detection device is used for detecting the current speed of the operation platform;
the vehicle control unit is used for controlling the vehicle to enter an energy recovery mode or a common descending mode; the motor controller, the battery controller, the platform height detection device, the load and inclination angle detection device and the speed detection device are respectively connected to the vehicle control unit, and the vehicle control unit judges the fault level of the whole vehicle through the state information of the platform detection device, the battery controller and the motor controller and controls the whole vehicle to enter an energy recovery mode or a common descending mode according to the preset conditions.
Optionally, the work platform is connected to the chassis through a scissor mechanism, the scissor mechanism comprises a plurality of layers of scissor arms, the scissor arms are arranged in the scissor units in a crossed manner, the energy storage unit is arranged on the chassis, the lifting electric assembly is arranged between the scissor arms, the platform height detection device is arranged on the work platform, the load and inclination detection device is arranged on the chassis, the angle detection device is arranged on the scissor arms, the speed detection device is arranged on the work platform, and the vehicle control unit is arranged on the chassis.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects: the invention discloses an energy recovery control method and system for a full-electric scissor-type aerial work platform, which solve the problems of complex hydraulic oil circuit, low overall recovery efficiency and high requirements on installation space and cost existing in the energy recovery of an electro-hydraulic driven scissor-type aerial work platform in the prior art; the lifting motor assembly is reversely dragged by utilizing the descending potential energy, the potential energy is converted into electric energy to be stored in the energy storage battery, and the energy recovery is realized; the technical scheme of the invention adopts electric energy transmission, reduces the energy conversion process, improves the electric energy utilization rate of the whole machine, combines with an efficient energy recovery system, recycles the recovered energy, further improves the cruising ability of the whole machine, and achieves green and environment-friendly operation.
Drawings
FIG. 1 is a schematic structural diagram of a fully electric aerial platform and energy recovery system according to the present invention;
FIG. 2 is a schematic structural diagram of a lifting electric assembly in the all-electric aerial work platform of the present invention;
FIG. 3 is a flow chart of the energy recovery control method of the all-electric aerial work platform of the present invention.
In the drawings: 1-an operation platform, 2-a chassis, 3-a lifting electric assembly, 4-an energy storage unit,
5-a load and inclination angle detection device, 6-a platform height detection device, 7-an angle detection device and 8-a vehicle control unit;
31-driving motor and motor controller, 32-servo electric cylinder, 33-braking device.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Example 1
Referring to the attached figure 3, the energy recovery control method for the full-electric aerial work platform comprises the following steps:
step a: judging whether to enter an energy recovery mode according to preset conditions, and if so, executing steps b, c2 and d; if not, go to step c 1;
step b: calculating a maximum torque for energy recovery;
step c1, when the work platform 1 enters into the ordinary descending mode, calculating the descending demand torque of the work platform 1 according to the height, the speed and the load of the work platform 1, and using the torque as the torque required to be provided by the braking device 33;
step c2, when the work platform 1 enters the energy recovery mode, if the maximum torque of the energy recovery meets the descending torque demand of the work platform 1, the braking device 33 no longer provides torque; if the maximum torque of the energy recovery does not meet the torque requirement of the work platform 1 for descending, taking the difference value between the torque required by the work platform 1 for descending and the energy recovery torque as the torque required to be provided by the braking device 33;
step d: in the energy recovery mode, if the SOC value of the energy storage battery is higher than the preset threshold, the operation is switched to the normal descent mode, and step c1 is executed.
Wherein, the preset conditions are that the following conditions are simultaneously satisfied:
condition a1, the height of the work platform 1 is higher than a preset height;
under the condition a2, the current SOC value of the energy storage battery is lower than a preset threshold value;
condition a3, the energy storage battery is in a chargeable state;
and a condition a4, no fault alarm of the whole vehicle.
The method for calculating the energy recovery power in the step b comprises the following steps:
b1, calculating the required torque for the work platform 1 to descend according to the height, speed and load of the work platform 1, and calculating the generated power of the driving motor based on the rotating speed of the driving motor and the MAP curve;
in particular, the amount of the solvent to be used,
in the formula:
wherein the push rod is stressed:
in the formula:
calculating the rotating speed of the motor according to the descending speed of the platform, and looking up a table to obtain the generating power of the driving motor based on the rotating speed of the driving motor and the MAP curve;
step b2, calculating the maximum power allowed to be charged according to the current SOC value of the energy storage battery;
step b3, the smaller value of the generated power of the driving motor and the maximum power of the energy storage battery allowed to be charged is taken as the energy recovery power;
and b4, calculating the maximum torque of energy recovery according to the energy recovery power obtained in the step b 3.
The method for calculating the maximum torque for energy recovery comprises the following steps:
Example 2
Referring to the attached drawings 1 and 2, the full-electric aerial working platform energy recovery system comprises a lifting electric assembly 3, an energy storage unit 4, a platform height detection device 6, a load and inclination angle detection device 5, a speed detection device and a vehicle control unit 8;
wherein:
the lifting electric assembly 3 comprises a driving motor, a motor controller 31, a servo electric cylinder 32 and a brake device 33, wherein the motor controller is connected to the driving motor, and the brake device 33 is connected to the driving motor;
the energy storage unit 4 comprises an energy storage battery and a battery controller, the battery controller is used for detecting the current SOC value, the battery temperature and the battery fault level of the energy storage battery and controlling the charging and discharging state of the energy storage battery, and the battery controller is connected to the energy storage battery;
the platform height detection device 6 is used for detecting the current height of the operation platform 1;
the load and inclination angle detection device 5 is used for detecting the current load capacity and the inclination angle of the whole vehicle of the operation platform 1, the inclination angle of the whole vehicle is detected to detect the inclination degree of the whole vehicle, when the inclination degree of the whole vehicle is greater than a certain value, the vehicle control unit 8 can judge that the safety fault of the whole vehicle is alarmed, the operation platform 1 needs to descend, but cannot enter an energy recovery mode, and only can be in a common descending mode;
the angle detection device 7 is used for detecting the angle of the scissor arm of the operation platform 1 and detecting the angle of the scissor arm in the lifting and descending processes, is used for calculating the thrust of the electric cylinder and calculating the reference variable of the smooth and steady ascending or descending speed of the lifting system, and verifies the output result of the control system;
the speed detection device is used for detecting the current speed of the operation platform 1 and is arranged on the operation platform 1;
the vehicle control unit 8 is used for controlling the vehicle to enter an energy recovery mode or a common descending mode; the motor controller, the battery controller, the platform height detection device 6, the load and inclination angle detection device 5 and the speed detection device are respectively connected to the vehicle control unit 8, and the vehicle control unit 8 judges the fault level of the whole vehicle through the platform detection device, the battery controller and the state information of the motor controller and controls the whole vehicle to enter an energy recovery mode or a common descending mode according to the preset conditions.
The working platform 1 of the all-electric aerial working platform 1 is connected to the chassis 2 through a fork shearing mechanism, the fork shearing mechanism comprises a plurality of layers of fork shearing units, fork shearing arms are arranged in the fork shearing units in a crossed mode, the energy storage unit 4 is arranged on the chassis 2, the lifting electric assembly 3 is arranged between the fork shearing arms, the platform height detection device 6 is arranged on the working platform 1, the load and inclination angle detection device 5 is arranged on the chassis 2, the angle detection device 7 is arranged on the fork shearing arms, the speed detection device is arranged on the working platform 1, and the vehicle control unit 8 is arranged on the chassis 2.
Based on the system structure, in the descending process of the working platform 1, when the state of the whole vehicle meets the conditions from a1 to a4, the system enters an energy recovery mode; if the whole machine does not meet the conditions, the system enters a common descending mode, the braking device 33 is required to participate in the energy recovery mode and the common descending mode, and the braking torques required to be provided in different modes are calculated through the control method, so that the safe and stable descending of the operation platform 1 is ensured.
Compared with the prior art, the method and the system for controlling energy recovery of the full-electric scissor-type aerial work platform solve the problems of complex hydraulic oil circuit, low overall recovery efficiency and high requirements on installation space and cost existing in the energy recovery of the electro-hydraulic driven scissor-type aerial work platform in the prior art; the lifting motor assembly is reversely dragged by utilizing the descending potential energy, the potential energy is converted into electric energy to be stored in the energy storage battery, and the energy recovery is realized; the technical scheme of the invention adopts electric energy transmission, reduces the energy conversion process, improves the electric energy utilization rate of the whole machine, combines with an efficient energy recovery system, recycles the recovered energy, further improves the cruising ability of the whole machine, and achieves green and environment-friendly operation.
The above detailed description should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The energy recovery control method for the full-electric aerial work platform is characterized by comprising the following steps of:
step a: judging whether to enter an energy recovery mode according to preset conditions, and if so, executing steps b, c2 and d; if not, go to step c 1;
step b: calculating a maximum torque for energy recovery;
step c1, when the work platform enters into the ordinary descending mode, calculating the descending demand torque of the work platform according to the height, the speed and the load of the work platform, and using the torque as the torque required to be provided by the braking device;
step c2, when the work platform enters the energy recovery mode, if the maximum torque of the energy recovery meets the descending torque demand of the work platform, the braking device does not provide torque any more; if the maximum torque of the energy recovery does not meet the torque requirement of the descending of the working platform, taking the difference value of the torque required by the descending of the working platform and the energy recovery torque as the torque required by the braking device;
step d: in the energy recovery mode, if the SOC value of the energy storage battery is higher than the preset threshold, the operation is switched to the normal descent mode, and step c1 is executed.
2. The energy recovery control method for the all-electric aerial work platform according to claim 1, wherein the preset conditions are that the following conditions are simultaneously satisfied:
condition a1, the work platform height is above a preset height;
under the condition a2, the current SOC value of the energy storage battery is lower than a preset threshold value;
condition a3, the energy storage battery is in a chargeable state;
and a condition a4, no fault alarm of the whole vehicle.
3. The energy recovery control method for the all-electric aerial platform as claimed in claim 1, wherein the method for calculating the maximum torque of energy recovery in the step b comprises the following steps:
b1, calculating the descending required torque of the operation platform according to the height, the speed and the load of the operation platform, and calculating the power generation power of the driving motor based on the rotating speed of the driving motor and the MAP curve;
step b2, calculating the maximum power allowed to be charged according to the current SOC value of the energy storage battery;
step b3, the smaller value of the generated power of the driving motor and the maximum power of the energy storage battery allowed to be charged is taken as the energy recovery power;
and b4, calculating the maximum torque of energy recovery according to the energy recovery power obtained in the step b 3.
4. An all-electric aerial platform energy recovery control system for implementing the all-electric aerial platform energy recovery control method of any one of claims 1 to 3, the system comprising:
the lifting electric assembly comprises a driving motor, a motor controller, a servo electric cylinder and a braking device, wherein the motor controller is connected to the driving motor, and the braking device is connected to the driving motor;
the energy storage unit comprises an energy storage battery and a battery controller, the battery controller is used for detecting the current SOC value, the battery temperature and the battery fault level of the energy storage battery and controlling the charging and discharging state of the energy storage battery, and the battery controller is connected to the energy storage battery;
the platform height detection device is used for detecting the current height of the operation platform;
the load and inclination angle detection device is used for detecting the current load capacity of the operation platform and the inclination angle of the whole vehicle;
the angle detection device is used for detecting the angle of the scissor fork arm of the operation platform;
the speed detection device is used for detecting the current speed of the operation platform;
the vehicle control unit is used for controlling the vehicle to enter an energy recovery mode or a common descending mode; the motor controller, the battery controller, the platform height detection device, the load and inclination angle detection device and the speed detection device are respectively connected to the vehicle control unit, and the vehicle control unit judges the fault level of the whole vehicle through the state information of the platform detection device, the battery controller and the motor controller and controls the whole vehicle to enter an energy recovery mode or a common descending mode according to the preset conditions.
5. The system of claim 4, wherein the work platform is connected to a chassis via a scissor mechanism, the scissor mechanism comprises a multi-layer scissor unit, the scissor unit comprises scissor arms arranged in a cross manner, the energy storage unit is arranged on the chassis, the lifting electric assembly is arranged between the scissor arms, the platform height detection device is arranged on the work platform, the load and inclination detection device is arranged on the chassis, the angle detection device is arranged on the scissor arms, the speed detection device is arranged on the work platform, and the vehicle control unit is arranged on the chassis.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110656699.7A CN113277442B (en) | 2021-06-11 | 2021-06-11 | Energy recovery control method and system for full-electric aerial work platform |
| PCT/CN2022/095114 WO2022257769A1 (en) | 2021-06-11 | 2022-05-26 | Energy recovery control method and system for fully-electric aerial work platform |
| BR112023003882A BR112023003882A2 (en) | 2021-06-11 | 2022-05-26 | ENERGY RECOVERY CONTROL METHOD AND SYSTEM FOR FULLY ELECTRIC AERIAL WORK PLATFORM |
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| CN202110656699.7A CN113277442B (en) | 2021-06-11 | 2021-06-11 | Energy recovery control method and system for full-electric aerial work platform |
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| CN113277442A true CN113277442A (en) | 2021-08-20 |
| CN113277442B CN113277442B (en) | 2022-04-22 |
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| Country | Link |
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| CN (1) | CN113277442B (en) |
| BR (1) | BR112023003882A2 (en) |
| WO (1) | WO2022257769A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113809797A (en) * | 2021-08-31 | 2021-12-17 | 江苏汇智高端工程机械创新中心有限公司 | Energy recovery control system and method for full-electric aerial work platform |
| CN113830011A (en) * | 2021-08-31 | 2021-12-24 | 江苏汇智高端工程机械创新中心有限公司 | Complete machine control system and method for full-electric scissor-type aerial work platform |
| CN114314463A (en) * | 2021-11-29 | 2022-04-12 | 湖南中联重科智能高空作业机械有限公司 | Method and device for load control and full-electric aerial working equipment |
| WO2022257769A1 (en) * | 2021-06-11 | 2022-12-15 | 江苏汇智高端工程机械创新中心有限公司 | Energy recovery control method and system for fully-electric aerial work platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US11641572B2 (en) * | 2019-06-07 | 2023-05-02 | Anthony Macaluso | Systems and methods for managing a vehicle's energy via a wireless network |
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| WO2022257769A1 (en) * | 2021-06-11 | 2022-12-15 | 江苏汇智高端工程机械创新中心有限公司 | Energy recovery control method and system for fully-electric aerial work platform |
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Also Published As
| Publication number | Publication date |
|---|---|
| BR112023003882A2 (en) | 2023-12-19 |
| CN113277442B (en) | 2022-04-22 |
| WO2022257769A1 (en) | 2022-12-15 |
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