CN113323069B - Power system suitable for electric excavator and control method thereof - Google Patents
Power system suitable for electric excavator and control method thereof Download PDFInfo
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- CN113323069B CN113323069B CN202110624746.XA CN202110624746A CN113323069B CN 113323069 B CN113323069 B CN 113323069B CN 202110624746 A CN202110624746 A CN 202110624746A CN 113323069 B CN113323069 B CN 113323069B
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/207—Control of propulsion units of the type electric propulsion units, e.g. electric motors or generators
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2091—Control of energy storage means for electrical energy, e.g. battery or capacitors
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2095—Control of electric, electro-mechanical or mechanical equipment not otherwise provided for, e.g. ventilators, electro-driven fans
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H3/00—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Power Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention provides a power system suitable for an electric excavator and a control method thereof, wherein the power system comprises a power distribution unit, an integrated control unit, a driving motor, a coupler and a hydraulic pump which are sequentially connected, wherein: the power distribution unit is used for converting the accessed alternating current into direct current, providing the direct current for the integrated control unit, and transmitting operation parameters matched with the power demand data to the integrated control unit after receiving the power demand data; the integrated control unit is used for controlling the driving motor according to the operation parameters so as to drive the hydraulic pump to operate by utilizing the driving motor through the coupler. According to the technical scheme provided by the invention, the working efficiency of the electric excavator can be improved.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a power system suitable for an electric excavator and a control method thereof.
Background
The internal combustion engine is used as a power system in the traditional excavator, the excavator is convenient to transition, is slightly influenced by the environment in use, and can meet most of use requirements. But the defects of high use cost, serious pollution and the like exist, and the method is contrary to the trend of energy conservation and emission reduction. In addition, in some specific situations (e.g., in a tunnel, a mine, etc., where ventilation is poor), an excavator using an internal combustion engine as a power system is not suitable for long-term operation.
The pure electric excavator with the battery as the power source can meet the use requirements of most customers on medium and small excavators, and has the advantages of environmental protection, low use cost and the like. However, if the battery is configured on the large excavator, the actual application requirements cannot be met generally, and the problems of difficult arrangement, high acquisition cost, short endurance and the like exist.
Therefore, for a large-sized electric excavator, power can be supplied directly through a power grid, so that the problems of power consumption cost, endurance and the like of the electric excavator can be solved. The integration degree of a power system in the conventional electric excavator is low, and the whole excavator cannot be controlled generally, so that the working efficiency of the electric excavator is low.
Disclosure of Invention
The invention provides a power system suitable for an electric excavator and a control method thereof, which can improve the working efficiency of the electric excavator.
In order to solve the above problems, in one aspect, the present invention provides a power system for an electric excavator, where the power system includes a power distribution unit, an integrated control unit, a driving motor, a coupling, and a hydraulic pump, which are connected in sequence, and the power system includes: the power distribution unit is used for converting the accessed alternating current into direct current, providing the direct current for the integrated control unit, and transmitting operation parameters matched with the power demand data to the integrated control unit after receiving the power demand data; the integrated control unit is used for controlling the driving motor according to the operation parameters so as to drive the hydraulic pump to operate by utilizing the driving motor through the coupler.
In one embodiment, the power system further includes an earth leakage protection cabinet electrically connected to the power distribution unit, and configured to access ac power of a power grid and provide filtered ac power to the power distribution unit.
In one embodiment, the power distribution unit comprises a pre-charging circuit, a main circuit and a rectifying circuit, wherein the pre-charging circuit is connected with the main circuit in parallel, and the main circuit is connected with the rectifying circuit in series; when the power distribution unit receives an upper high-voltage command, the pre-charging circuit is closed, and after the pre-charging is completed, the main loop is closed, and the pre-charging circuit is opened; and the rectifying circuit converts the alternating current provided by the main loop into direct current and then provides the direct current for the integrated control unit.
In one embodiment, the integrated control unit comprises a driving circuit for supplying power to the driving motor, and is electrically connected with a battery assembly; and after the main loop is closed, the integrated control unit conducts a loop of the battery assembly to charge the battery assembly, and after the main loop is closed, the integrated control unit conducts the driving circuit to complete the high-voltage command.
In one embodiment, the integrated control unit disconnects the driving circuit when the power distribution unit receives a low high voltage command, and the power distribution unit disconnects the main circuit after the integrated control unit disconnects the driving circuit.
In one embodiment, the power distribution unit comprises a complete machine controller, the integrated control unit comprises a motor controller, and the complete machine controller is electrically connected with the motor controller and a hydraulic control system of the electric excavator respectively; after the hydraulic control system transmits power demand data to the complete machine controller, the complete machine controller transmits operating parameters matched with the power demand data to the motor controller according to calibration data, wherein the operating parameters at least comprise torque and rotating speed of the driving motor; and the motor controller controls the driving motor to operate according to the torque and the rotating speed.
In one embodiment, the power distribution unit is further electrically connected to a heat dissipation system; and the power distribution unit sends working parameters of the water pump and the fan to the heat dissipation system according to the temperature control information at the current moment so as to manage and control the water pump and the fan through the heat dissipation system.
In one embodiment, the integrated control unit is further electrically connected with the compressor and the heating assembly respectively; and after the power distribution unit receives air conditioner demand data, the integrated control unit switches on the control loop of the compressor or the heating assembly according to the air conditioner demand data.
In order to solve the above problem, another aspect of the present invention further provides a power control method, including: receiving power demand data sent by a hydraulic control system, and determining operating parameters matched with the power demand data, wherein the operating parameters are used for representing the torque and the rotating speed of a driving motor; transmitting the operating parameters to a motor controller so that the motor controller controls the driving motor to drive a hydraulic pump to operate through a coupler according to the operating parameters; and acquiring temperature control information at the current moment, and sending working parameters of the water pump and the fan to a heat dissipation system so as to manage and control the water pump and the fan through the heat dissipation system.
In one embodiment, the method further comprises: and receiving air conditioner demand data, and switching on a control loop of the compressor or the heating assembly according to the air conditioner demand data.
The invention has the following advantages:
the power distribution unit and the integrated control unit are matched with each other, so that power distribution can be performed on the whole electric excavator, and the working efficiency of the electric excavator is improved. Specifically, the power distribution unit may implement a conversion process of ac power to dc power of the grid, thereby providing dc power to the integrated control unit. In the working process of the electric excavator, the power distribution unit can receive power demand data and can determine operating parameters matched with the power demand data, and the operating parameters can represent the torque and the rotating speed of the driving motor. The power distribution unit provides the operating parameters to the integrated control unit, which may control the drive motors based on the operating parameters. The driving motor can drive the hydraulic pump to operate through the coupler, so that the power distribution process is completed.
In addition, the power distribution unit can also acquire the temperature control information at the current moment and send the corresponding working parameters of the water pump and the fan to the heat dissipation system, so that the water pump and the fan are controlled through the heat dissipation system, and the heat management of the whole machine is realized. When the electric excavator needs an air conditioner to refrigerate or heat, the power distribution unit can receive corresponding air conditioner demand data, and the air conditioner demand data can be sent to the integrated control unit, so that the control loop of the compressor or the heating assembly is switched on through the integrated control unit.
In addition, a leakage protection cabinet can be added between the output end of the power grid and the power distribution unit, so that the power utilization safety of the whole machine can be well protected, and the harm of the vehicle body leakage to people is avoided.
Therefore, the various embodiments provided by the invention can realize the functions of power distribution, heat management, hydraulic-electric coordination and the like on the whole electric excavator, so that the working efficiency of the whole electric excavator is improved; the power distribution unit and the integrated control unit can be highly integrated, so that the power distribution unit and the integrated control unit have the advantages of small space, simple arrangement and low cost; the leakage protection cabinet is added between the whole machine and the power grid, so that the power utilization safety of the whole machine can be well protected, and the harm of the electric leakage of the vehicle body to people is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 illustrates a schematic configuration of a powertrain in one embodiment of the present invention;
FIG. 2 illustrates a schematic structural diagram of a power system in another embodiment of the present invention;
FIG. 3 illustrates a schematic circuit diagram of a power system in one embodiment of the present invention;
FIG. 4 shows a flowchart of a power control method in one embodiment of the invention;
fig. 5 shows a schematic step diagram of a power control method in one embodiment of the invention.
Description of reference numerals: the system comprises a power distribution unit 1, an integrated control unit 2, a driving motor 3, a coupler 4, a hydraulic pump 5, a leakage protection cabinet 6, a compressor 7, a heating assembly 8, a battery assembly 9, a heat dissipation system 10 and a hydraulic control system 11.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Furthermore, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, a power system for an electric excavator according to an embodiment of the present invention may include a power distribution unit 1, an integrated control unit 2, a driving motor 3, a coupling 4, and a hydraulic pump 5, which are connected in sequence. The power distribution unit 1, the integrated control unit 2 and the driving motor 3 can be electrically connected in sequence, and the driving motor 3, the coupler 4 and the hydraulic pump 5 can be connected in sequence in a transmission manner.
The power distribution unit 1 can directly take power from a power grid, access alternating current of the power grid, and convert the accessed alternating current into direct current. After the conversion to the direct current, the power distribution unit 1 may supply the direct current to the integrated control unit 2. In addition, the power distribution unit 1 can also realize a hydro-electric coordination function.
Specifically, the power distribution unit 1 may receive power demand data sent by the hydraulic control system after receiving a complete machine work instruction. The power demand data may characterize the power that the electric excavator currently needs to provide to the outside. The power distribution unit 1 can determine the operating parameters matching the power demand data according to the calibration data of the power. The calibration data may represent a mapping relationship between the power demand data and the operating parameters of the drive motor 3, such as torque and rotational speed. When the power distribution unit 1 receives the power demand data, it can query the operating parameters such as torque and rotational speed required by the driving motor 3 according to the mapping relationship. After querying the operation parameter matching the power demand data, the power distribution unit 1 may communicate the operation parameter to the integrated control unit 2.
After receiving the operation parameters sent by the power distribution unit 1, the integrated control unit 2 may identify specific parameters such as torque and rotation speed therein, and then may correspondingly control the driving motor 3 according to the identified torque and rotation speed. The driving motor 3 can drive the hydraulic pump 5 to operate according to the set torque and the set rotating speed through the coupler 4, so that the process of hydraulic-electric control is completed.
Referring to fig. 2, in one embodiment, a leakage protection cabinet 6 may be added between the power grid and the power distribution unit 1, considering that there may be some risk that the power distribution unit 1 is directly connected to the ac power of the power grid. This earth leakage protection cabinet 6 and power distribution unit 1 electric connection, after the alternating current of access electric wire netting, earth leakage protection cabinet 6 can realize the detection and the protection of electric leakage through the control to the electric wire netting. In addition, the earth leakage protection cabinet 6 can also filter the alternating current of the power grid and provide the filtered alternating current to the power distribution unit 1.
Referring to fig. 2, in an embodiment, a compressor 7 and a heating assembly 8 for providing an air conditioning function may be further included in the power system, wherein the heating assembly 8 may be, for example, a PTC (Positive Temperature Coefficient) heating module or other modules with similar functions.
In order to ensure the stability of the power system, a battery assembly 9 can be added into the power system, and the battery assembly 9 can provide temporary power input when the electric excavator is powered off, or can provide power for other small-sized components (such as a fan and lighting equipment) in the electric excavator. In practical applications, the battery assembly 9 may include, for example, a storage battery or a low-voltage battery. The compressor 7, the heating element 8 and the battery element 9 may be electrically connected to the integrated control unit, so that the integrated control unit performs centralized control on these elements.
In addition, in the present embodiment, the power system may also be operated in cooperation with other systems in the electric excavator. As shown in fig. 2, the electric excavator may further include a heat dissipation system 10 and a hydraulic control system 11, and both the heat dissipation system 10 and the hydraulic control system 11 may be connected to the power distribution unit 1, so that the power distribution unit 1 performs thermal management and electrohydraulic control in a unified manner.
A simple circuit diagram of the power system can be shown in fig. 3, and it should be understood by those skilled in the art that fig. 3 only shows a part of the circuit in the power system by way of example, and in practical applications, the circuit of the power system may be more complex.
Referring to fig. 3, the leakage protection cabinet 6 may include a leakage protection module and an LCL filter circuit, and the leakage protection cabinet 6 may be connected to or disconnected from a power grid through the switch group KM 1. The leakage protection module can monitor the power grid and can realize detection and protection of leakage. The LCL filter circuit may provide ac power to the power distribution unit 1 after filtering ac power from the grid. In practical application, the earth leakage protection cabinet 6 can be placed outside the body of the electric excavator, so that damage to the earth leakage protection cabinet 6 caused by vibration of the body is avoided.
As shown in fig. 3, the power distribution unit 1 may include therein a precharge circuit, a main circuit, and a rectifier circuit. The pre-charging circuit can be opened and closed through a switch group KM2, and the main circuit can be opened and closed through a switch group KM 3. The pre-charging circuit is connected with the main loop in parallel, and the main loop is connected with the rectifying circuit in series. When the electric excavator is just powered on, in order to prevent the capacitor in the circuit from being broken down instantaneously by a high voltage, the capacitor is usually charged first by a pre-charging circuit. After the pre-charging circuit completes the pre-charging process, the main circuit is conducted. Specifically, after the power distribution unit receives a high voltage command of the electric excavator, KM2 may be closed first, so as to turn on the pre-charging circuit. After the pre-charging is completed, KM3 can be closed, so as to conduct the main circuit. KM2 may be turned off while the main circuit is turned on, thereby turning off the precharge circuit.
In the present embodiment, the power distribution unit 1 can convert 380V ac power into 540V dc power through a lower rectifier circuit, thereby supplying 540V dc power to the integrated control unit 2.
In one embodiment, the power distribution unit 1 may further include a complete machine controller, and the complete machine controller may perform command and data interaction with other systems, and may also control a circuit switch in the power distribution unit 1. For example, the upper high voltage command may be received by the overall controller, and the switch of the pre-charge circuit and the main circuit is opened and closed, or may be controlled by the overall controller. In practical application, the Controller of the whole machine CAN be connected with the heat dissipation system and the hydraulic control system through a Controller Area Network (CAN) bus respectively. For example, in fig. 3, the overall controller may be electrically connected to the heat dissipation system through a bus CAN2, and electrically connected to the hydraulic control system through a bus CAN 3.
In one embodiment, a driving circuit for supplying power to the driving motor 3 may be included in the integrated control unit 2, and the driving circuit is electrically connected to the driving motor 3. The integrated control unit 2 may further include a power supply circuit for the battery assembly 9, the compressor 7, and the heating assembly 8, so that the integrated control unit 2 may be electrically connected to the battery assembly 9, the compressor 7, and the heating assembly 8, respectively.
In one embodiment, the integrated control unit 2 may include a motor controller therein, and the motor controller may be electrically connected to the overall controller in the power distribution unit 1 through a bus CAN 1. Therefore, the motor controller CAN receive various instructions sent by the complete machine controller through the bus CAN1 and control the circuit in the integrated control unit 2 based on the received instructions.
Referring to fig. 3 and 4, in a specific application scenario, after the switch group KM1 in the leakage protection cabinet 6 is closed, the ac power of the power grid is filtered and then provided to the power distribution unit 1. After receiving the high-voltage instruction, the complete machine controller in the power distribution unit 1 can perform high-voltage self-checking first, and after the self-checking is finished, the complete machine controller can close KM2 first, so that a pre-charging circuit is conducted. After the pre-charging is completed, KM3 can be closed, so that the main loop is conducted, and KM2 is disconnected. At this time, after the 380V ac power provided by the main circuit is converted into 540V dc power by the rectifier circuit in the power distribution unit 1, 540V dc power can be provided to the integrated control unit 2.
After the power distribution unit 1 is successfully powered on, the integrated control unit 2 may close KM5, so as to turn on the loop of the battery assembly 9, and at this time, the direct current received by the integrated control unit 2 may charge the battery assembly 9. Furthermore, integrated control unit 2 may also close KM4, so that the motor controller may be enabled and the driving circuit in integrated control unit 2 may be turned on, at which point the high voltage command is completed.
In another specific application scenario, after the complete machine controller in the power distribution unit 1 receives the down high pressure command, the down high pressure command is transmitted to the integrated control unit 2 by the complete machine controller. In response to a high voltage command, integrated control unit 2 may first turn off KM4, thereby turning off the driving circuit. Then, the integrated control unit 2 may disconnect KM5, KM6 and KM7, thereby disconnecting the circuits of the battery assembly 9, the compressor 7 and the heating assembly 8. After the integrated control unit 2 performs the above operation, the power distribution unit 1 may disconnect KM3, thereby cutting off the main circuit. After a low-voltage controller (not shown in fig. 3) in the electric excavator is disconnected, the whole excavator can complete a low-voltage function and enter a dormant state.
In one embodiment, the power distribution unit 1 and the integrated control unit 2 can realize functions such as hydro-electric control and thermal management in addition to the functions of upper and lower high voltages.
Specifically, referring to fig. 3 and fig. 4, after the complete machine controller in the power distribution unit 1 receives the power demand data transmitted by the hydraulic control system 11, the operational parameters matched with the power demand data can be determined according to the calibration data, and the operational parameters can represent the torque and the rotation speed of the driving motor 3. After obtaining the operating parameters, the overall controller may send the operating parameters to the motor controller in the integrated control unit 2. The motor controller can control the driving motor 3 to operate according to the information of the torque, the rotating speed and the like in the operation parameters. The driving motor 3 can drive the hydraulic pump 5 to operate through the coupler 4, so that the electrohydraulic control function can be realized.
Further, in one embodiment, when an air conditioner needs to be used in the electric excavator, the overall controller in the power distribution unit 1 receives air conditioning demand data, which may include, for example, a set temperature, a selected mode (cooling or heating), and the like. The whole machine controller can transmit the received air conditioner demand data to the integrated control unit 2, and the integrated control unit 2 can selectively conduct the control loop of the compressor 7 or the control loop of the heating assembly 8 according to the air conditioner demand data, so that the refrigerating or heating effect is realized.
In one embodiment, the overall controller in the power distribution unit 1 may also implement a thermal management function. Specifically, the complete machine controller may obtain temperature control information of the current time, where the temperature control information may include a system operating temperature. The whole machine controller can determine working parameters of the water pump and the fan according to the temperature control information at the current moment. The operating parameters may be power required to be executed by the water pump, the rotation speed required to be executed by the fan, and the like for cooling. The working parameters can be sent to the heat dissipation system 10 which is electrically connected through the whole machine controller, so that the water pump and the fan are controlled through the heat dissipation system 10, and the effect of heat management is achieved.
It should be noted that the above embodiments are merely illustrative of one or more structures that can be implemented by the power system, and such structural relationships are not necessarily exhaustive. Those skilled in the art can adjust the structural relationship to some extent based on the understanding of the technical spirit of the present invention, but such adjustment shall also fall into the protection scope of the present invention. For example, in a specific application scenario, the driving motor 3 may be a permanent magnet synchronous motor, an asynchronous motor, or another type of motor capable of implementing the function of the driving motor 3 in the present invention. For another example, the integrated control unit 2 may include an inverter in addition to the motor controller and the respective circuits illustrated, and may integrate devices such as a steering, a top-loading, and an OBC (on board charger). For example, the LCL filter circuit in the earth leakage protection device 6 may be recombined with a rectifier circuit in the power distribution unit 1 to realize a rectifying and filtering function. Such variations are intended to fall within the scope of the present invention.
Referring to fig. 5, an embodiment of the present invention further provides a power control method applied to the power system, where the method includes:
s1: receiving power demand data sent by a hydraulic control system, and determining operating parameters matched with the power demand data, wherein the operating parameters are used for representing the torque and the rotating speed of a driving motor;
s3: transmitting the operating parameters to a motor controller so that the motor controller controls the driving motor to drive a hydraulic pump to operate through a coupler according to the operating parameters;
s5: and acquiring temperature control information at the current moment, and sending working parameters of the water pump and the fan to a heat dissipation system so as to manage and control the water pump and the fan through the heat dissipation system.
In one embodiment, the method further comprises:
and receiving air conditioner demand data, and switching on a control loop of the compressor or the heating assembly according to the air conditioner demand data.
The specific implementation manner of each step in the above method embodiment may refer to the description of the foregoing power system, and is not described here again.
In the above embodiments of the present invention, the power distribution unit and the integrated control unit are used to cooperate with each other, so that power distribution can be performed on the whole electric excavator, and the work efficiency of the electric excavator can be improved. Specifically, the power distribution unit may implement a conversion process of ac power to dc power of the grid, thereby providing dc power to the integrated control unit. In the working process of the electric excavator, the power distribution unit can receive power demand data and can determine operating parameters matched with the power demand data, and the operating parameters can represent the torque and the rotating speed of the driving motor. The power distribution unit provides the operating parameters to the integrated control unit, which may control the drive motors based on the operating parameters. The driving motor can drive the hydraulic pump to operate through the coupler, so that the power distribution process is completed.
In addition, the power distribution unit can also acquire temperature control information at the current moment and send the corresponding working parameters of the water pump and the fan to the heat dissipation system, so that the water pump and the fan are controlled through the heat dissipation system, and the heat management of the whole machine is realized. When the electric excavator needs an air conditioner to refrigerate or heat, the power distribution unit can receive corresponding air conditioner demand data, and the air conditioner demand data can be sent to the integrated control unit, so that the control loop of the compressor or the heating assembly is switched on through the integrated control unit.
In addition, a leakage protection cabinet can be added between the output end of the power grid and the power distribution unit, so that the power utilization safety of the whole machine can be well protected, and the harm of the vehicle body leakage to people is avoided.
Therefore, the various embodiments provided by the invention can realize the functions of power distribution, heat management, hydraulic-electric coordination and the like on the whole electric excavator, so that the working efficiency of the whole electric excavator is improved; the power distribution unit and the integrated control unit can be highly integrated, so that the power distribution unit and the integrated control unit have the advantages of small space, simple arrangement and low cost; the leakage protection cabinet is added between the whole machine and the power grid, so that the power utilization safety of the whole machine can be well protected, and the harm of the electric leakage of the vehicle body to people is avoided.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications derived therefrom are intended to be within the scope of the invention.
Claims (9)
1. The utility model provides a driving system suitable for electric excavator, its characterized in that, driving system includes consecutive power distribution unit, integrated control unit, driving motor, shaft coupling and hydraulic pump, wherein:
the power distribution unit is used for converting the accessed alternating current into direct current, providing the direct current for the integrated control unit, and transmitting operation parameters matched with the power demand data to the integrated control unit after receiving the power demand data;
the integrated control unit is used for controlling the driving motor according to the operation parameters so as to drive the hydraulic pump to operate by utilizing the driving motor through the coupler;
the power distribution unit comprises a complete machine controller, the integrated control unit comprises a motor controller, and the complete machine controller is electrically connected with the motor controller and a hydraulic control system of the electric excavator respectively;
after the hydraulic control system transmits power demand data to the complete machine controller, the complete machine controller transmits operating parameters matched with the power demand data to the motor controller according to calibration data, wherein the operating parameters at least comprise torque and rotating speed of the driving motor; and the motor controller controls the driving motor to operate according to the torque and the rotating speed.
2. The power system of claim 1, further comprising an earth leakage protection cabinet electrically connected to the power distribution unit for accessing ac power from a power grid and providing filtered ac power to the power distribution unit.
3. The power system according to claim 1 or 2, wherein the power distribution unit comprises a pre-charging circuit, a main loop and a rectifying circuit, the pre-charging circuit is connected with the main loop in parallel, and the main loop is connected with the rectifying circuit in series;
when the power distribution unit receives an upper high-voltage command, the pre-charging circuit is closed, and after pre-charging is completed, the main loop is closed, and meanwhile, the pre-charging circuit is opened; and the rectifying circuit converts the alternating current provided by the main loop into direct current and then provides the direct current for the integrated control unit.
4. The power system of claim 3, wherein the integrated control unit comprises a driving circuit for supplying power to the driving motor, and the integrated control unit is electrically connected with a battery assembly;
after the main loop is closed, the integrated control unit conducts a loop of the battery assembly to charge the battery assembly, and after the main loop is closed, the integrated control unit conducts the driving circuit to complete the upper high voltage instruction.
5. The powertrain system of claim 4, wherein the integrated control unit disconnects the drive circuit when the power distribution unit receives a low high voltage command, and wherein the power distribution unit disconnects the primary circuit after the integrated control unit disconnects the drive circuit.
6. The power system of claim 1, wherein the power distribution unit is further electrically coupled to a heat dissipation system; and the power distribution unit sends working parameters of the water pump and the fan to the heat dissipation system according to the temperature control information at the current moment so as to manage and control the water pump and the fan through the heat dissipation system.
7. The power system of claim 1, wherein the integrated control unit is further electrically connected to the compressor and the heating assembly, respectively; when the power distribution unit receives air conditioner demand data, the integrated control unit conducts a control loop of the compressor or the heating assembly according to the air conditioner demand data.
8. A power control method applied to the power system of any one of claims 1 to 7, characterized by comprising:
receiving power demand data sent by a hydraulic control system, and determining operating parameters matched with the power demand data, wherein the operating parameters are used for representing the torque and the rotating speed of a driving motor;
transmitting the operating parameters to a motor controller so that the motor controller controls the driving motor to drive a hydraulic pump to operate through a coupler according to the operating parameters;
and acquiring temperature control information at the current moment, and sending working parameters of the water pump and the fan to a heat dissipation system so as to manage and control the water pump and the fan through the heat dissipation system.
9. The method of claim 8, further comprising:
and receiving air conditioner demand data, and switching on a control loop of the compressor or the heating assembly according to the air conditioner demand data.
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| CN109353231A (en) * | 2018-09-29 | 2019-02-19 | 潍柴动力股份有限公司 | Take the drive system of electric automobile, electric car and control method of dress system |
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| JP5220679B2 (en) * | 2009-04-20 | 2013-06-26 | 住友重機械工業株式会社 | Hybrid type work machine and control method of hybrid type work machine |
| KR101652112B1 (en) * | 2009-12-23 | 2016-08-29 | 두산인프라코어 주식회사 | Hybrid Excavator Boom Actuator System and its Control Method |
| KR101908135B1 (en) * | 2012-01-30 | 2018-10-15 | 두산인프라코어 주식회사 | Boom Actuating System of Hybrid Excavator and Control Method |
| KR101825752B1 (en) * | 2012-08-17 | 2018-02-06 | 현대건설기계 주식회사 | System and Method for Driving Control of Wheel Excavator |
| JP6314800B2 (en) * | 2014-11-14 | 2018-04-25 | トヨタ自動車株式会社 | Braking force control system, vehicle, and braking force control method |
| CN112384424B (en) * | 2019-03-28 | 2024-06-14 | 日立建机株式会社 | Work vehicle |
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| CN101037869A (en) * | 2006-03-15 | 2007-09-19 | 神钢建设机械株式会社 | Hybrid construction machine |
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