CN113580946B - Milling machine braking system, braking method and milling machine - Google Patents

Milling machine braking system, braking method and milling machine Download PDF

Info

Publication number
CN113580946B
CN113580946B CN202110865259.2A CN202110865259A CN113580946B CN 113580946 B CN113580946 B CN 113580946B CN 202110865259 A CN202110865259 A CN 202110865259A CN 113580946 B CN113580946 B CN 113580946B
Authority
CN
China
Prior art keywords
milling
motor
milling machine
power battery
electric energy
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202110865259.2A
Other languages
Chinese (zh)
Other versions
CN113580946A (en
Inventor
夏一帆
陈日
李帅
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hunan Sany Zhongyi Machinery Co Ltd
Original Assignee
Hunan Sany Zhongyi Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hunan Sany Zhongyi Machinery Co Ltd filed Critical Hunan Sany Zhongyi Machinery Co Ltd
Priority to CN202110865259.2A priority Critical patent/CN113580946B/en
Publication of CN113580946A publication Critical patent/CN113580946A/en
Application granted granted Critical
Publication of CN113580946B publication Critical patent/CN113580946B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • 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
    • B60L7/18—Controlling the braking effect
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
    • E01C23/08—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
    • E01C23/085—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools
    • E01C23/088—Rotary tools, e.g. milling drums
    • 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
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • 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

Abstract

The application relates to the technical field of electrical system safety, in particular to a milling machine braking system, a braking method and a milling machine. Wherein, milling machine braking system includes: a main drive motor; a power battery; a bleeder device; a controller; wherein the operating state of the bleeder device meets a preset condition. Through setting up the controller, when milling machine braking, detect power battery's charge value in order to judge power battery's state, with the operation of control bleeder, when power battery charge value is higher, bleeder operates the electric energy that produces the main motor that drives and carries out the bleeder, the operating condition of control bleeder, thereby ensure that bleeder can totally bleed the electric energy that the main motor produced, with this possibility that improves power battery's normal operating, ensure that milling machine electric braking mode normal operating in braking process, thereby improve energy recuperation's effect.

Description

Milling machine braking system, braking method and milling machine
Technical Field
The application relates to the technical field of electrical system safety, in particular to a milling machine braking system, a braking method and a milling machine.
Background
During the operation of an electric system of an electric or hybrid engineering machine, when the electric system is braked, the motor is used as a motor and a generator, kinetic energy and potential energy in the electric system are converted into electric energy and stored in a storage battery, so that the utilization rate of energy is improved, and the braking mode is called regenerative braking.
In the related art, when the milling machine is in normal operation, kinetic energy and potential energy generated by the milling machine are gradually stored in the storage battery, but the charge value of the storage battery is maximum, the charge value of the storage battery is continuously increased in the process of charging the storage battery, and when the charge value of the storage battery reaches the maximum, the braking effect of the braking system is reduced or even fails, so that the milling machine has a safety problem in the operation process.
Content of the application
In view of the above, the embodiment of the application provides a milling machine braking system, a braking method and a milling machine, which solve or improve the problem that the braking effect is reduced or even fails due to the overcharge of a storage battery in the operation process of the milling machine.
The application provides a milling machine braking system, which is characterized by comprising: the main driving motor is used for driving the milling machine to operate; the power battery is used for storing electric energy generated by the main drive motor when the milling machine is braked; the discharging device is used for consuming electric energy generated by the main drive motor during braking; the controller is respectively connected with the main drive motor, the power battery and the bleeder device, and is used for acquiring the state of the power battery to control the bleeder device to run or stop; when the operation state of the bleeder device meets the preset condition, the bleeder device can completely consume the electric energy generated by the main drive motor during braking.
According to the milling machine braking system provided by the application, the controller is arranged, when the milling machine is braked, the charge value of the power battery is detected to judge the state of the power battery so as to control the operation or stop of the discharging device, when the charge value of the power battery is higher, the discharging device operates to discharge the electric energy generated by the main driving motor, and the controller controls the operation state of the discharging device so as to ensure that the discharging device can completely discharge the electric energy generated by the main driving motor, thereby improving the possibility of normal operation of the power battery, ensuring the normal operation of the milling machine in an electric braking mode in the braking process, and improving the energy recovery effect.
With reference to the first aspect, in one possible implementation manner, the controller is configured to obtain a state of the power battery according to a charge value of the power battery: when the charge value of the power battery is smaller than a preset threshold value, the controller controls the bleeder device to stop running; and when the charge value of the power battery is greater than or equal to the preset threshold value, the controller controls the discharge device to operate so as to consume the electric energy generated by the main drive motor.
With reference to the first aspect, in one possible implementation manner, the relief device includes: the milling motor is connected with the controller; and the milling drum is connected with the milling motor.
With reference to the first aspect, in one possible implementation manner, the controller is configured to control an electrical energy value input to the milling motor according to a rotation speed of the milling motor.
With reference to the first aspect, in one possible implementation manner, the controller is connected to a brake pedal of the milling machine, and the controller is configured to monitor a state of the brake pedal of the milling machine and adjust an amount of electric energy input to the milling motor according to a rotational speed of the milling motor and the state of the brake pedal.
In a second aspect, the present application provides a method of braking a milling machine, the method comprising: when the milling machine is braked, acquiring a charge value of the power battery; acquiring the state of the power battery according to the charge value of the power battery; and controlling the operation or stop of the bleeder device according to the state of the power battery; when the operation state of the bleeder device is controlled according to the state of the power battery, the operation state of the bleeder device meets the preset condition, and when the operation state of the bleeder device meets the preset condition, the bleeder device can completely consume the electric energy generated by the main drive motor during braking; the main driving motor is used for driving the milling machine to operate; the power battery is used for storing electric energy generated by the main drive motor when the milling machine is braked; the bleeder device is used for consuming the electric energy generated by the main drive motor during braking.
According to the milling machine braking method, when the milling machine is braked, the main driving motor generates electric energy, meanwhile, the charge value of the power battery is obtained to judge the state of the power battery, the operation or stop of the discharging device is controlled according to the state of the power battery, so that the situation of overcharge of the power battery is avoided, meanwhile, the operation state of the discharging device is controlled, the discharging device is ensured to meet the preset condition, the possibility of overcharge of the power battery is reduced, the normal operation of the power battery is ensured, and then the electric braking mode and the transmission braking mode of the milling machine can be operated simultaneously in the braking process, so that the dependence of the milling machine on the traditional braking mode is reduced.
With reference to the second aspect, in one possible implementation manner, the relief device includes: the milling machine comprises a milling drum and a milling motor, wherein the milling motor is used for driving the milling drum to rotate; when the operation of the relief device is controlled according to the state of the power battery, the operation state of the relief device meets the preset condition specifically comprises: when the charge value of the power battery is greater than or equal to a preset threshold value, starting the milling motor to drive the milling drum to operate; wherein the milling drum operates to bleed off the electrical energy generated by the main drive motor during braking.
With reference to the second aspect, in one possible implementation manner, the turning on the milling motor to drive the milling drum to operate specifically includes: when the rotating speed of the milling motor is smaller than the rotating speed preset value, increasing the electric energy value input into the milling motor to increase the rotating speed of the milling motor; when the rotating speed of the milling motor is greater than or equal to the rotating speed preset value, acquiring the state of a brake pedal of the milling machine; and adjusting the electric energy input to the milling motor according to the state of the brake pedal.
With reference to the second aspect, in one possible implementation manner, the adjusting the amount of the electric energy input to the milling motor according to the state of the brake pedal specifically includes: when the state of the brake pedal is unchanged, maintaining the electric energy value input into the milling motor; when the state of the brake pedal changes along a first direction, increasing the electric energy value input into the milling motor so as to increase the rotating speed of the milling motor; and reducing the electrical energy value input to the milling motor to reduce the rotational speed of the milling motor when the state of the brake pedal changes in a second direction; the first direction is the direction when the brake pedal is pressed down, and the second direction is the direction when the brake pedal is lifted up.
In a third aspect, the present application also provides a milling machine comprising: a vehicle body; and the main driving motor, the power battery, the discharging device and the controller are all arranged on the vehicle body.
The application also provides a milling machine, wherein the operation of the milling machine braking system is controlled through the braking system, so that the milling machine can be ensured to operate in a traditional system mode and an electric braking mode simultaneously when braking, and the dependence of the milling machine on the traditional braking mode is reduced.
In a fourth aspect, the present application also provides an electronic device, including: a processor; and a memory having stored therein computer program instructions that, when executed by the processor, cause the processor to perform the milling machine braking method described above.
In a fifth aspect, the present application also provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, cause the processor to perform the above-described method of braking a milling machine.
Drawings
Fig. 1 is a schematic view of a main drive motor, a power battery, and a bleeder device according to some embodiments of the present application.
Fig. 2 is a schematic diagram of a control module and a monitoring module according to some embodiments of the application.
Fig. 3 is a schematic diagram illustrating a control module according to some embodiments of the application.
Fig. 4 is a flow chart of a method of braking a milling machine according to some embodiments of the present application.
Fig. 5 is a flow chart illustrating a method for acquiring a state of a power battery according to some embodiments of the application.
Figure 6 is a schematic flow chart illustrating the operation of the control bleed device in some embodiments of the present application,
FIG. 7 is a schematic flow chart illustrating the operation of the control bleed device according to some embodiments of the present application.
Fig. 8 is a flow chart illustrating the adjustment of the amount of electrical energy input to a milling motor according to some embodiments of the present application.
Fig. 9 is a flow chart illustrating a change in state of a brake pedal of a milling machine in accordance with some embodiments of the present application.
Fig. 10 is a schematic flow chart of power supply to a milling motor according to some embodiments of the present application.
Fig. 11 is a schematic diagram illustrating steps of a braking method of a milling machine according to some embodiments of the present application.
Fig. 12 is a schematic diagram of an electronic device according to some embodiments of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Summary of the application
In the running process of the electric or hybrid milling machine, a braking system generally comprises two braking modes, wherein one braking mode is traditional braking, the other braking mode is electric braking, and the two braking modes can be independently operated or simultaneously operated to improve the braking effect of the milling machine. In the electric braking mode, the performance that the motor can drive and generate electricity is utilized, and when in braking, the kinetic energy of the milling machine is converted into electric energy through the motor and stored in the storage battery to be used for power supply driving, so that the energy utilization rate is improved, and the braking mode is called regenerative braking.
When the milling machine is in operation, the electric quantity storage in the storage battery has an upper limit, and when the electric quantity in the storage battery reaches the upper limit, namely, the charge value (SOC) of the storage battery reaches a peak, if the storage battery is continuously charged, the storage battery is in an overcharged state, the effect of an electric braking mode can be reduced or even be invalid, and the storage battery can be damaged seriously.
As described above, in the prior art, the charge value of the storage battery is generally monitored, so that the state of the storage battery is determined according to the charge value of the storage battery, when the storage battery is in an overcharged state, the operation of the storage battery is stopped, and thus the electric braking mode is stopped, the braking of the milling machine is completed completely depending on the conventional braking mode, or by providing the energy consumption device, the energy consumption device and the driving motor are connected together through the controller to share a part of the electric energy transmitted by the driving motor to the storage battery, so as to consume the electric energy, but in this way, it is difficult to ensure the amount of the electric energy consumed by the energy consumption device, so that the state of the storage battery is difficult to control, and the storage battery is in an overcharged state if possible.
In order to solve or improve the problems, the application provides a milling machine braking system, a braking system method and a milling machine. The method not only can detect the state of the storage battery in real time, but also can monitor and control the state of the discharge device in a closed loop feedback mode, so that when the storage battery is in a super-charged state, the discharge device fully consumes redundant electric energy, thereby reducing the possibility that the storage battery is in the super-charged state for a long time, ensuring that the storage battery can provide electric energy for an electric braking mode, ensuring the effectiveness of the electric braking mode of the milling machine, and ensuring that the electric braking mode and the traditional braking mode can operate simultaneously when the milling machine is braked, so as to improve the energy recovery effect.
It should be noted that the method for braking a milling machine provided by the application can be used for any milling machine in any scene. The specific configuration of the milling machine brake system is not limited in this application.
Having described the basic principles of the present application, various non-limiting embodiments of the present application are described in detail below with reference to the accompanying drawings.
Exemplary milling machine brake System
The embodiment of the application also provides a milling machine braking system for realizing the milling machine braking method described in any embodiment.
Fig. 1 is a schematic view of a main drive motor, a power battery, and a bleeder device according to some embodiments of the present application. Referring to fig. 1, a brake system 80 includes a main drive motor 500, a power cell 600, and a bleed device 700. The main drive motor 500 is used to drive the operation of the milling machine. The power cell 600 is used to store the electrical energy generated by the main drive motor 500 during the braking of the milling machine. The bleed device 700 is electrically connected to the main drive motor 500 to consume electric energy generated by the main drive motor 500 during braking.
Fig. 2 is a schematic diagram of a control module and a monitoring module according to some embodiments of the application. Referring to FIG. 2, the brake system 80 also includes a controller. The controller is connected to the main drive motor 500, the power battery 600, and the drain 700, respectively.
Specifically, the controller is configured to obtain the state of the power battery 600 according to the charge value of the power battery 600: when the charge value of the power battery 600 is smaller than a preset threshold value, the controller controls the bleeder device 700 to stop running; and when the charge value of the power battery 600 is greater than or equal to a preset threshold value, the controller controls the bleed device 700 to operate to consume the electric energy generated by the main drive motor 500.
The gist of the present application is that, under the control of the controller, when the charge value of the power battery 600 is smaller than a preset threshold value, all the electric energy generated by the main drive motor 500 at the time of braking is stored in the power battery 600, and at this time, the bleeder 700 does not participate; when the charge value of the power battery 600 is greater than or equal to the preset threshold, the controller controls the operation of the relief device 700 and enables the operation state of the relief device 700 to meet the preset condition as soon as possible, and when the operation state of the relief device 700 meets the preset condition, the relief device 700 can completely consume the electric energy generated by the main drive motor 500 during braking, so that on one hand, the normal operation of electric braking can be ensured, on the other hand, the overcharge of the power battery can be well avoided, and the service life of the power battery can be prolonged.
Wherein the controller includes a monitoring module 200 and a control module 300. The monitoring module 200 is used for monitoring the charge value of the power battery 600 to determine the state of the power battery 600. The control module 300 is communicatively coupled to the monitoring module 200 to obtain the status of the power cell 600. The control module 300 is configured to control the operation or stop of the bleed device 700 depending on the state of the power cell 600. Wherein, when the bleed apparatus 700 is operated, the operation state of the bleed apparatus 700 satisfies the preset condition.
During braking during operation of the milling machine, the monitoring module 200 detects the charge value of the power battery 600 to determine the state of the power battery 600, the control module 300 is connected with the monitoring module 200 to obtain the state of the power battery 600, and the control module 300 generates a corresponding control instruction according to the state of the power battery 600 to control the operation or stop of the bleeder device 700. When the vent apparatus 700 is operating, the control module 300 controls the operating state of the vent apparatus 700 by generating different control commands to ensure that the vent apparatus 700 meets preset conditions. In this way, the electric braking mode of the milling machine is ensured to be kept running, and the electric braking mode and the traditional braking mode of the milling machine are simultaneously operated when the milling machine is braked, so that the energy recovery effect is improved. Meanwhile, the maximum effect of the electric braking mode can be exerted in a state where the charge value of the power battery 600 is high, and the safe operation of the electric system of the milling machine is ensured.
In some embodiments of the present application, the monitoring module 200 includes a first sensor and a first processor. The first sensor is configured to monitor a charge value of the power battery 600, the first processor is communicatively connected to the first sensor to obtain the charge value, a preset threshold may be set in the first processor, and the first processor is configured to compare the charge value with the preset threshold. When the charge value is less than the preset threshold, the control module 300 issues a stop command and the bleed device 700 stops operating. When the charge value is greater than or equal to the preset threshold, the control module 300 issues an operation command, and the bleeder device 700 operates to bleed the electric energy generated by the main drive motor.
In some embodiments of the present application, bleed apparatus 700 includes a milling motor and a milling drum, wherein the milling motor is coupled to a controller; the milling drum is connected with a milling motor. Preferably, the controller is configured to control the electrical energy value input to the milling motor as a function of the rotational speed of the milling motor. More preferably, the controller is connected with a brake pedal of the milling machine, and the controller is used for monitoring the state of the brake pedal of the milling machine and adjusting the electric energy value input into the milling motor according to the rotating speed of the milling motor and the state of the brake pedal.
Specifically, the milling motor is used for driving the milling drum to rotate, and the milling motor is connected with the main driving motor 500 through the controller to receive the electric energy generated by the main driving motor 500. When the milling machine is braked, the milling motor is in a to-be-operated state, when the discharging module is required to be operated, the milling motor is connected with the main driving motor 500 through the controller, electric energy generated by the main driving motor 500 is transmitted to the milling motor, the milling motor starts to operate after electric energy is obtained, so as to drive the milling drum to idle, and the milling drum smoothly discharges the electric energy.
It should be noted that, the milling drum has various beneficial effects as the energy dissipation member, on one hand, the milling drum has large self weight, and can consume more capacity when rotating, so as to fully discharge electric energy, namely, the electric energy generated by the main driving motor 500 during braking can be completely consumed, the overcharged state of the power battery 600 is effectively reduced, the power battery 600 is protected, the service life of the power battery 600 can be prolonged, and the requirement of electric braking of the milling machine can be met. On the other hand, the milling drum belongs to a part of the structure of the milling machine, and the discharge element is not required to be added independently, so that the overall cost is reduced, and the complexity of the device is also simplified.
Fig. 3 is a schematic diagram illustrating a control module according to some embodiments of the application. Referring to fig. 3, the control module 300 includes a feedback device 310 and a current limiting unit 320. The feedback device 310 is communicatively connected to the milling motor to monitor the operation state of the milling motor, and the current limiting unit 320 performs current-to-current conversion on the current generated by the main driving motor 500 to protect the milling motor. The current limiting unit 320 is in communication connection with the feedback device 310, and the current limiting unit 320 adjusts the amount of electric energy input into the milling motor according to the running state of the milling motor.
In some embodiments of the present application, the feedback device 310 includes a second sensor and a second processor. The second sensor is used for detecting the rotating speed of the milling motor, the second processor is in communication connection with the second sensor to obtain the rotating speed, a rotating speed preset value is set in the second processor, and the second processor is used for comparing the rotating speed with the rotating speed preset value. When the rotating speed is smaller than the rotating speed preset value, the electric energy value input into the milling motor is increased to increase the rotating speed of the milling motor.
In some embodiments of the present application, feedback device 310 also includes a status sensor. The state sensor is used for detecting the state of a brake pedal of the milling machine. The state sensor is in communication connection with the second processor, and when the rotating speed of the milling motor is larger than a rotating speed preset value, the second processor adjusts the electric energy value input into the milling motor according to the state of the brake pedal.
Specifically, when the state of the brake pedal is unchanged, the electric energy value input into the milling motor is maintained; when the state of the brake pedal changes along the first direction, the electric energy value input into the milling motor is increased to increase the rotating speed of the milling motor; when the state of the brake pedal changes along the second direction, the electric energy value input into the milling motor is reduced to reduce the rotating speed of the milling motor.
In some embodiments of the present application, the current limiting unit 320 includes a third sensor and a third processor, the third sensor is configured to detect a current value generated by the main driving motor 500, the third processor is communicatively connected to the third sensor to obtain the current value, a preset current value is set in the third processor, and the third processor is configured to compare the current value with the preset current value. When the current value is greater than the preset current value, the current generated by the main driving motor 500 is converted in a variable current manner and then transmitted into the milling motor.
In some embodiments of the present application, control module 300 may be an all-in-one controller that may be communicatively coupled to both main drive motor 500, milling motor, and monitoring module 200.
In some embodiments of the application, the apparatus further comprises a parking brake. When the milling machine speed is zero, the parking brake is started to brake the milling machine.
Exemplary milling machine braking method
The embodiment of the application provides a milling machine braking method.
The method is suitable for a braking system of a milling machine. The braking system includes a main drive motor 500, a power cell 600, and a bleed device 700. The main drive motor 500 is used to drive the operation of the milling machine. The power cell 600 is used to store the electrical energy generated by the main drive motor 500 during the braking of the milling machine. The bleed device 700 is electrically connected to the main drive motor 500 to consume electric energy generated by the main drive motor 500 during braking.
Fig. 4 is a flow chart of a method of braking a milling machine according to some embodiments of the present application. Referring to fig. 4, the milling machine braking method includes:
step 100: and when the milling machine is braked, acquiring the charge value of the power battery.
The milling machine is braked, namely, the driver is stepping on the brake pedal of the milling machine. The power cell is a power source mounted on the milling machine for providing electrical energy to an electric braking mode of the milling machine. The charge value characterizes the current electric quantity of the power battery. Since the braking of the milling machine has to react rapidly, the charge value of the power battery is obtained immediately from the moment the driver steps on the brake pedal, both almost simultaneously.
Step 110: and acquiring the state of the power battery according to the charge value of the power battery.
After the charge value of the power battery is obtained, the electric quantity of the power battery can be judged, and the state of the power battery can be judged according to the electric quantity of the power battery. The process can be concluded by simply logically comparing the charge value with the standard value, so that the process is completed instantaneously after the charge value is obtained.
Step 120: the operation or stop of the bleeder device is controlled according to the state of the power battery.
When the operation of the relief device is controlled according to the state of the power battery, the operation state of the relief device meets the preset condition.
The bleeder device is used for consuming the electric energy generated by the main drive motor during braking. When the power battery is in the overcharged state, the bleeder device can operate to consume the electric energy of the main driving motor, and then the normal operation of the power battery is ensured. When the power battery is not in the overcharged state, the bleeder device does not operate, and electric energy generated by the main drive motor is stored in the power battery to supply power for driving.
The preset condition is a criterion for the operating state of the bleeder device, such as the rotational speed or the amount of energy consumed. When the running state of the discharge device meets the preset condition, the discharge device can completely discharge the electric energy generated by the main drive motor, otherwise, the discharge device cannot completely discharge the electric energy generated by the main drive motor, and the running state of the discharge device needs to be adjusted to meet the preset condition.
When the milling machine is braked, the intervals among the steps 100, 110 and 120 are short, so that the whole step is completed only by hundreds of microseconds, and the brake system can complete the steps 100, 110 and 120 within hundreds of microseconds to brake the milling machine at the moment that the driver pushes the brake pedal. Therefore, the milling machine does not have the problem of brake delay.
Through the steps 100, 110 and 120, when braking is performed during the operation of the milling machine, the main driving motor generates electric energy, the state of the power battery is determined by acquiring the charge value of the power battery, the operation or stop of the discharging device is controlled according to the state of the power battery, and when the discharging device is operated, the discharging device is ensured to completely discharge the electric energy generated by the main driving motor by controlling the operation state of the discharging device, so that the possibility that the power battery is in an overcharged state is reduced, the possibility of normal operation of an electric braking mode is improved, and when the milling machine is braked, the electric braking mode and a traditional braking mode can be operated simultaneously, so that the energy recovery effect is improved.
Fig. 5 is a flow chart illustrating a method for acquiring a state of a power battery according to some embodiments of the application. Referring to fig. 5, the step 120 specifically includes:
Step 121: and when the charge value of the power battery is smaller than a preset threshold value, controlling the bleeder device to stop running.
The preset threshold is a standard for judging the charge value of the power battery, and when the charge value of the power battery is smaller than the preset threshold, the power battery is considered not to be in a super-charge state, and the bleeder device does not need to operate.
Step 122: when the charge value of the power battery is greater than or equal to a preset threshold value, the bleeder device is controlled to operate so as to consume the electric energy generated by the main drive motor.
When the power battery and the charge value are larger than or equal to a preset threshold value, the power battery is in a super-charged state, and the discharging device operates to consume the electric energy of the main driving motor.
Through the steps 121 and 122, after the charge value of the power battery is obtained, the state of the power battery is determined by comparing the charge value with a preset threshold value, and then the operation or stop of the bleeder device is controlled according to the state of the power battery.
In some embodiments of the present application, the charge value represents a percentage of a current electric quantity of the power battery to a total electric quantity of the power battery, and the preset threshold is also a percentage value, for example, the preset threshold may be set to 95%, that is, when the charge value is greater than or equal to 95%, the power battery may be considered to be in a super-charged state.
In some embodiments of the present application, the step 122 specifically includes: and the main driving motor is communicated with the discharge device so as to transmit the electric energy generated by the main driving motor to the discharge device. When the power battery is in the overcharged state, the main driving motor is directly connected with the discharge device, electric energy generated by the main driving motor is directly transmitted to the discharge device, and the discharge device is operated by electric energy, so that the electric energy of the main driving motor is discharged.
Fig. 6 is a schematic flow chart of a control of the operation of a tapping device according to some embodiments of the present application, the tapping device including a milling drum and a milling motor for driving the milling drum in rotation. Referring to fig. 6, the step 122 specifically includes:
step 1221: when the milling machine is braked, the milling motor is controlled to be in a state to be operated.
When the milling machine is braked, namely, the moment when a driver presses a pedal, the milling motor is started at the moment but is not electrified, and the milling motor can be kept in a starting state but does not run due to no electric energy.
Step 1222: the main driving motor is connected with the milling motor to transmit electric energy to the milling motor.
Because the milling motor is started, when the main driving motor is connected with the milling motor, the electric energy generated by the main driving motor during braking is input into the milling motor, and the milling motor directly starts to operate after obtaining the electric energy.
Step 1223: the milling motor is started to drive the milling drum to run.
Wherein the milling drum operates to bleed the electrical energy of the main drive motor.
After the milling motor starts to operate, the milling drum is driven to operate, so that the electric energy of the milling motor is consumed, namely, the electric energy generated by the main driving motor during braking is discharged.
Through the steps 1221, 1222 and 1223, when the electric energy generated by the main driving motor during braking is required to be discharged, the main driving motor is connected with the milling motor, the electric energy generated by the main driving motor is directly transmitted to the milling motor, at this time, the milling motor is started, and after the electric energy is obtained by the milling motor, the milling motor directly starts to operate to drive the milling drum to operate, so that the electric energy generated by the main driving motor is rapidly discharged.
In some embodiments of the present application, the preset condition is that the maximum value of the electric energy consumption of the bleeder device is greater than the electric energy value generated by the main driving motor during braking, and when the running state of the bleeder device meets the preset condition, the bleeder device can completely bleed the electric energy generated by the main driving motor during braking, so as to ensure that the power battery cannot be charged again, and reduce the possibility of overcharge of the power battery.
FIG. 7 is a schematic flow chart illustrating the operation of the control bleed device according to some embodiments of the present application. Referring to fig. 7, the step 120 specifically includes:
step 123: and acquiring the running state of the milling motor.
The running state of the milling motor directly influences the running state of the milling drum, for example, the rotating speed of the milling motor directly influences the rotating speed of the milling drum, and the running state of the milling drum determines the amount of electric energy which can be discharged.
Step 124: the electric energy input to the milling motor is adjusted according to the running state of the milling motor.
By changing the magnitude of the electric energy input by the milling motor, the running state of the milling motor, such as the rotating speed, can be changed, specifically, when the input electric energy is increased, the rotating speed of the milling motor is increased, and the rotating speed of the milling drum is synchronously increased, so that the discharging capacity of the electric energy is enhanced.
Through the above steps 123 and 124, the operation state of the milling drum is controlled by controlling the operation state of the milling motor, so as to control the discharging capability of the milling drum to the electric energy generated by the milling motor, thereby ensuring that the milling drum has the condition of completely discharging the electric energy.
Fig. 8 is a flow chart illustrating the adjustment of the amount of electrical energy input to a milling motor according to some embodiments of the present application. Referring to fig. 8, the step 124 specifically includes:
Step 1241: when the rotating speed of the milling motor is smaller than the rotating speed preset value, the electric energy value input into the milling motor is increased to increase the rotating speed of the milling motor.
When the rotating speed of the milling motor is smaller than the rotating speed preset value, the milling drum is considered to be incapable of completely discharging the electric energy generated by the main driving motor, the electric energy value input into the milling motor is increased at the moment, the rotating speed of the milling motor is gradually increased, and meanwhile, the rotating speed of the milling drum is synchronously increased, so that the discharging degree of the electric energy generated by the main driving motor is improved.
In step 1242, when the rotational speed of the milling motor is greater than the rotational speed preset value, a state of a brake pedal of the milling machine is obtained.
The brake pedal is used for opening or closing a brake mode of the milling machine, when a driver steps on the brake pedal, the milling machine enters the brake mode, a main driving motor of the milling machine starts to generate electric energy, the state of the brake pedal has direct influence on the electric energy generated by the main driving motor, specifically, when the brake pressing plate is lightly stepped on, the electric energy generated by the main driving motor is smaller, and when the brake pedal is heavily stepped on, the electric energy generated by the main driving motor is larger.
In step 1243, the amount of electrical energy supplied to the milling motor is adjusted as a function of the state of the brake pedal.
The electric energy generated by the main drive motor can be determined by acquiring the state of the brake pedal, so that the electric energy input to the milling motor is correspondingly changed, and the rotating speed of the milling motor is conveniently controlled to correspondingly discharge the electric energy generated by the main drive motor.
Through above-mentioned step 1241, step 1242 and step 1243, through the comparison to milling motor's rotational speed and rotational speed default, judge milling motor's running state, and then judge milling drum's the strong and weak to the electric energy bleeder ability, when milling drum can not totally release the electric energy that the main driving motor produced, then increase milling motor's input electric energy value, milling motor's rotational speed thereby improves, milling drum's rotational speed improves along with milling motor's rotational speed improvement, milling drum's bleeder ability to the electric energy that the main driving motor produced strengthens, thereby ensure that milling drum can totally release the electric energy that the main driving motor produced. Meanwhile, the electric energy generated by the main drive motor is judged through the state of the brake pedal, so that the electric energy input into the milling motor is correspondingly changed, the rotating speed of the milling motor is conveniently controlled, and the electric energy generated by the main drive motor is completely discharged.
Fig. 9 is a flow chart illustrating a change in state of a brake pedal of a milling machine in accordance with some embodiments of the present application. Referring to fig. 9, the step 1243 specifically includes:
Step 12431: when the state of the brake pedal is unchanged, the electric energy value input into the milling motor is maintained.
The brake pedal is unchanged, including both cases. The first is that the driver does not tread the brake pedal, and the main driving motor of the milling machine is mainly used for driving the milling machine to run, so that no electric energy is generated; the second is that the driver steps on the brake pedal and keeps still, at the moment, the braking mode of the milling machine is stably maintained in a state, and at the moment, the braking module of the main driving motor is started and stably generates electric energy, so that the power battery can be ensured not to be in an overcharged state only by maintaining the electric energy value of the milling motor.
Step 12432: when the state of the brake pedal changes along the first direction, the electric energy value input into the milling motor is increased to increase the rotating speed of the milling motor.
The first direction is the direction when the brake pedal is pressed down.
When the brake pedal is pressed downwards along the first direction, the force of the driver for stepping on the brake pedal is indicated to be increased, the braking effect of the brake module of the main driving motor is enhanced, the electric energy generated by the main driving motor is also improved, and the electric energy value input into the milling motor is increased to improve the rotating speed of the milling motor, so that the consumption strength of the electric energy generated by the main driving motor is improved.
Step 12433: when the state of the brake pedal changes along the second direction, the electric energy value input into the milling motor is reduced to reduce the rotating speed of the milling motor.
Wherein the second direction is the direction when the brake pedal is lifted.
When the brake pedal is lifted in the second direction, the force of the driver for stepping on the brake pedal is reduced, the braking effect of the brake module of the main driving motor is reduced, the electric energy generated by the main driving motor is reduced, and the electric energy value input into the milling motor is correspondingly reduced.
Through the steps 12431, 12432 and 12433, the electric energy generated by the main driving motor is determined according to the state of the brake pedal, so that the electric energy value transmitted to the milling motor is adjusted according to the state of the brake pedal, so as to ensure that the milling motor can completely discharge the electric energy value generated by the main driving motor.
Fig. 10 is a schematic flow chart of power supply to a milling motor according to some embodiments of the present application. Referring to fig. 10, the step 1222 specifically includes:
step 12221: and acquiring a current value generated by the main drive motor during braking.
The main drive motor can generate current in the braking process, and the current is detected to obtain a current value so as to judge the current.
Step 12222: when the current value is larger than a preset current value, the current generated by the main drive motor is converted in a variable flow mode and then transmitted to the milling motor.
When the current value is larger than the preset current value, the current generated by the main drive motor is considered to be larger and exceeds the rated current of the milling motor, so that the current generated by the main drive motor is subjected to variable-current conversion to have the effect of limiting the current generated by the main drive motor. When the input current of the milling motor needs to be increased, the current limiting effect is reduced, and the current generated by the main driving motor is further input into the milling motor, so that the current value input into the milling motor is smoothly increased.
Through the steps 12221 and 12222, the current generated by the main driving motor is limited, so that the normal operation of the milling motor can be protected, and when the input current of the milling motor needs to be increased, the current limiting effect on the main driving motor is reduced, and the current generated by the main driving motor is transmitted into the milling motor more.
In some embodiments of the application, the method further comprises: acquiring the speed of the milling machine; when the vehicle speed is zero, the milling machine is braked as a parking brake.
The speed of the milling machine characterizes the running speed of the milling machine, the running speed of the milling machine has great influence on the running of a brake system, and particularly, when the milling machine runs slowly, a driver only needs to lightly tread a brake pedal, the brake system runs for a short time, and the milling machine can realize braking; when the milling machine is operated rapidly, a driver needs to re-step on a brake pedal, a brake system needs to be operated for a long time, and the milling machine can realize braking.
When the vehicle speed is zero, it indicates that the milling machine has stopped, and therefore no power is generated, and the parking brake is the braking mode used when the milling machine is stopped, and the parking brake is used to fix the milling machine.
Fig. 11 is a schematic diagram illustrating steps of a braking method of a milling machine according to some embodiments of the present application. To sum up, referring to fig. 11, when the milling machine brakes (S1), it is first determined whether the vehicle speed is zero (S2), when the vehicle speed is zero, the milling machine is parking braked (S3), when the vehicle speed is not zero, it is determined whether the power battery is overcharged (S4), when the power battery is not overcharged, the electric brake mode is operated (S5), when the power battery is overcharged, the milling motor is operated (S6), and the milling motor drives the milling drum to operate (S7), so as to discharge the electric energy generated by the main driving motor.
Referring to fig. 11, it is simultaneously determined whether the rotation speed of the milling motor is less than a rotation speed preset value (S8), and when the rotation speed of the milling motor is less than the rotation speed preset value, the electric brake mode is operated, and when the rotation speed of the milling motor is less than the rotation speed preset value, the input current value of the milling motor is increased (S9) to increase the rotation speed of the milling motor.
Referring to fig. 11, when the rotation speed of the milling motor is greater than a rotation speed preset value, a state of a brake pedal of the milling machine is judged (S10), an input current value of the milling machine is maintained when the state of the brake pedal of the milling machine is unchanged, an electric brake mode is operated (S5), the input current value of the milling machine is increased (S11) when the state of the brake pedal of the milling machine is continuously depressed, the electric brake mode is operated (S5), and the input current value of the milling machine is decreased (S12) when the brake pedal of the milling machine is continuously lifted, and the electric brake mode is operated (S5).
Exemplary milling machine
The application also provides a milling machine.
The milling machine includes: the vehicle body and the milling machine braking system described in any of the embodiments above, the main drive motor, the power battery, the bleed device and the controller are all disposed on the vehicle body. The milling machine braking system is used for realizing the braking of the vehicle body.
In the running process of the vehicle body, the electric energy generated in the braking process of the milling machine is recovered through the braking system, so that the utilization rate of the electric energy is improved, the possibility of running in an electric braking mode and a transmission braking mode simultaneously can be improved, and the dependence of the vehicle body on traditional braking is reduced.
Since the milling machine is provided with the milling machine braking system, the milling machine has all the technical effects of the milling machine braking system, and is not described herein.
Exemplary electronic device
Fig. 12 is a schematic diagram of an electronic device according to some embodiments of the present application. As shown in fig. 12, the electronic device 910 includes: one or more processors 9101 and memory 9102; and computer program instructions stored in the memory 9102 that, when executed by the processor 9101, cause the processor 9101 to perform a milling machine braking method as in any of the embodiments described above.
The processor 9101 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in the electronic device to perform desired functions.
The memory 9102 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer readable storage medium that the processor 9101 can execute to implement the steps in the milling machine braking method and/or other desired functions of the various embodiments of the present application described above. Information such as vehicle acceleration, road condition information, and vehicle hydraulic pressure may also be stored in the computer readable storage medium.
In one example, the electronic device 910 may further include: input devices 9103 and output devices 9104 are interconnected by a bus system and/or other forms of connection (not shown in fig. 12).
Of course, only some of the components of the electronic device 910 that are relevant to the present application are shown in fig. 12 for simplicity, with components such as buses, input/output interfaces, etc. omitted. In addition, the electronic device 910 may include any other suitable components depending on the particular application.
Exemplary computer program product and computer readable storage Medium
In addition to the methods and apparatus described above, embodiments of the present application may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps of the milling machine braking method of any of the embodiments described above.
The computer program product may include program code for performing operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium, having stored thereon computer program instructions, which when executed by a processor, cause the processor to perform the steps of a milling machine braking method according to various embodiments of the present application described in the above-mentioned "exemplary milling machine braking method" section of the present specification.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory ((RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The basic principles of the present application have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are merely examples and not intended to be limiting, and these advantages, benefits, effects, etc. are not to be considered as essential to the various embodiments of the present application. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the application is not necessarily limited to practice with the above described specific details.
The block diagrams of the devices, apparatuses, devices, systems referred to in the present application are only illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.
It is also noted that in the apparatus, devices and methods of the present application, the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent aspects of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit embodiments of the application to the form disclosed herein. Although a number of example aspects and embodiments have been discussed above, a person of ordinary skill in the art will recognize certain variations, modifications, alterations, additions, and subcombinations thereof.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is to be construed as including any modifications, equivalents, and alternatives falling within the spirit and principles of the application.

Claims (8)

1. A milling machine braking system, comprising:
the main driving motor is used for driving the milling machine to operate;
the power battery is used for storing electric energy generated by the main drive motor when the milling machine is braked;
the discharging device is used for consuming electric energy generated by the main drive motor during braking; and
the controller is respectively connected with the main drive motor, the power battery and the bleeder device, and is used for acquiring the state of the power battery to control the bleeder device to run or stop;
when the operation state of the bleeder device meets the preset condition, the bleeder device can completely consume the electric energy generated by the main drive motor during braking; the vent apparatus includes: the milling motor is connected with the controller; the milling drum is connected with the milling motor; the controller is used for controlling and inputting the electric energy value of the milling motor according to the rotating speed of the milling motor.
2. The milling machine brake system of claim 1, wherein said controller is configured to obtain a state of said power cell based on a charge value of said power cell:
when the charge value of the power battery is smaller than a preset threshold value, the controller controls the bleeder device to stop running; and
when the charge value of the power battery is greater than or equal to the preset threshold value, the controller controls the discharge device to operate so as to consume the electric energy generated by the main drive motor.
3. The milling machine brake system of claim 1, wherein said controller is coupled to a brake pedal of said milling machine, said controller being configured to monitor a condition of said brake pedal of said milling machine and to adjust an amount of electrical power input to said milling motor based on a rotational speed of said milling motor and a condition of said brake pedal.
4. A method of braking a milling machine, the method comprising:
when the milling machine is braked, acquiring a charge value of the power battery;
acquiring the state of the power battery according to the charge value of the power battery; and
controlling the operation or stop of the bleeder device according to the state of the power battery;
When the operation state of the bleeder device is controlled according to the state of the power battery, the operation state of the bleeder device meets the preset condition, and when the operation state of the bleeder device meets the preset condition, the bleeder device can completely consume the electric energy generated by the main drive motor during braking;
the main driving motor is used for driving the milling machine to operate; the power battery is used for storing electric energy generated by the main drive motor when the milling machine is braked; the bleeder device is used for consuming the electric energy generated by the main drive motor during braking; the vent apparatus includes: the milling machine comprises a milling drum and a milling motor, wherein the milling motor is used for driving the milling drum to rotate; the electrical energy value fed to the milling motor is determined as a function of the rotational speed of the milling motor.
5. The method of claim 4, wherein the controlling the operation of the bleeder device according to the state of the power battery, the operation state of the bleeder device satisfying a predetermined condition, specifically comprises:
when the charge value of the power battery is greater than or equal to a preset threshold value,
starting the milling motor to drive the milling drum to run;
Wherein the milling drum operates to bleed off the electrical energy generated by the main drive motor during braking.
6. The milling machine braking method of claim 5, wherein said turning on the milling motor to drive the milling drum operation specifically comprises:
when the rotating speed of the milling motor is smaller than the rotating speed preset value, increasing the electric energy value input into the milling motor to increase the rotating speed of the milling motor;
when the rotating speed of the milling motor is greater than or equal to the rotating speed preset value, acquiring the state of a brake pedal of the milling machine; and
the amount of electrical energy supplied to the milling motor is adjusted as a function of the state of the brake pedal.
7. The milling machine braking method of claim 6, wherein said adjusting the amount of electrical energy input to said milling motor in accordance with the state of said brake pedal comprises:
when the state of the brake pedal is unchanged, maintaining the electric energy value input into the milling motor;
when the state of the brake pedal changes along a first direction, increasing the electric energy value input into the milling motor so as to increase the rotating speed of the milling motor; and
when the state of the brake pedal changes along the second direction, reducing the electric energy value input into the milling motor so as to reduce the rotating speed of the milling motor;
The first direction is the direction when the brake pedal is pressed down, and the second direction is the direction when the brake pedal is lifted up.
8. A milling machine, comprising:
a vehicle body; and
a milling machine brake system as claimed in any one of claims 1 to 3, wherein the main drive motor, the power battery, the bleed device and the controller are all provided on the vehicle body.
CN202110865259.2A 2021-07-29 2021-07-29 Milling machine braking system, braking method and milling machine Active CN113580946B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110865259.2A CN113580946B (en) 2021-07-29 2021-07-29 Milling machine braking system, braking method and milling machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110865259.2A CN113580946B (en) 2021-07-29 2021-07-29 Milling machine braking system, braking method and milling machine

Publications (2)

Publication Number Publication Date
CN113580946A CN113580946A (en) 2021-11-02
CN113580946B true CN113580946B (en) 2023-09-01

Family

ID=78252045

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110865259.2A Active CN113580946B (en) 2021-07-29 2021-07-29 Milling machine braking system, braking method and milling machine

Country Status (1)

Country Link
CN (1) CN113580946B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021129619A1 (en) * 2021-11-12 2023-05-17 Wirtgen Gmbh Mainly electrically operated soil tillage machine

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101979259A (en) * 2010-09-10 2011-02-23 奇瑞汽车股份有限公司 Electric vehicle energy recovery system and control method thereof
CN102343824A (en) * 2010-07-30 2012-02-08 北汽福田汽车股份有限公司 Regenerative braking control method of electric car and device thereof
WO2018119914A1 (en) * 2016-12-29 2018-07-05 深圳配天智能技术研究院有限公司 Brake energy feedback method and feedback system for electric vehicle, and vehicle
CN108263218A (en) * 2016-12-30 2018-07-10 比亚迪股份有限公司 Electric vehicle, electric car body antihunt means and system
CN112014085A (en) * 2020-08-20 2020-12-01 徐州徐工筑路机械有限公司 Milling drum driving system dynamic load torque test device with energy recovery system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102343824A (en) * 2010-07-30 2012-02-08 北汽福田汽车股份有限公司 Regenerative braking control method of electric car and device thereof
CN101979259A (en) * 2010-09-10 2011-02-23 奇瑞汽车股份有限公司 Electric vehicle energy recovery system and control method thereof
WO2018119914A1 (en) * 2016-12-29 2018-07-05 深圳配天智能技术研究院有限公司 Brake energy feedback method and feedback system for electric vehicle, and vehicle
CN108263218A (en) * 2016-12-30 2018-07-10 比亚迪股份有限公司 Electric vehicle, electric car body antihunt means and system
CN112014085A (en) * 2020-08-20 2020-12-01 徐州徐工筑路机械有限公司 Milling drum driving system dynamic load torque test device with energy recovery system

Also Published As

Publication number Publication date
CN113580946A (en) 2021-11-02

Similar Documents

Publication Publication Date Title
CN108544937B (en) Automobile storage battery charging and discharging management method and system
CA2475597C (en) Methods of supplying energy to an energy bus in a hybrid electric vehicle, and apparatuses, media and signals for the same
US10981471B2 (en) Fuel cell system, vehicle including fuel cell system, and control method of fuel cell system
CA2911638C (en) Fuel cell system and method of controlling air pump
CN109130874B (en) Braking energy recovery control system of electric automobile and control method thereof
JP6725879B2 (en) Operation control device for hybrid vehicles
US10814739B2 (en) Multiple storage system and method for operating a multiple storage system
CN108859775B (en) Brake energy feedback control circuit and power distribution method
CN113580946B (en) Milling machine braking system, braking method and milling machine
CN205498658U (en) New energy automobile integrated form electrical system
WO2024046343A1 (en) Parameter setting method and apparatus
CN110979028B (en) Control method for acceleration limitation of pure electric bus
CN112550254B (en) Electromechanical brake system and control method thereof
CN117124875A (en) Vehicle coasting energy recovery control method, device, equipment and storage medium
CN115056658A (en) Control method and device of power supply system, power supply system and vehicle
US20080211438A1 (en) Fully Charged Battery Protection
CN113696748B (en) Fuel cell power supply system, control method and control device thereof
JP7248565B2 (en) electric vehicle
JP7131413B2 (en) vehicle
KR101371800B1 (en) Power System Of Fuel Cell-Support Energy Hybrid Vehicle And Control Method Thereof
JP2015217757A (en) Hybrid electric vehicle controller
CN114312377B (en) Energy recovery method and device of electric road roller and electric road roller
CN110154772A (en) A kind of new-energy automobile braking energy feedback and force electricity-generating control method
CN109823200A (en) A kind of composite energy storage system based on electrodynamic type flywheel, fuel cell and lithium battery
CN116101258B (en) Vehicle control method, device, terminal and medium

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant