CN113809797A - Energy recovery control system and method for full-electric aerial work platform - Google Patents
Energy recovery control system and method for full-electric aerial work platform Download PDFInfo
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- CN113809797A CN113809797A CN202111015210.4A CN202111015210A CN113809797A CN 113809797 A CN113809797 A CN 113809797A CN 202111015210 A CN202111015210 A CN 202111015210A CN 113809797 A CN113809797 A CN 113809797A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
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- B66F13/00—Common constructional features or accessories
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
- H02J7/00304—Overcurrent protection
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/007—Regulation of charging or discharging current or voltage
- H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
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Abstract
The invention discloses an energy recovery control system and method for a full-electric aerial work platform, which comprises a battery pack, an energy recovery control circuit, a control electric module, a lifting electric transmission assembly motor controller, a man-machine interaction module, a whole machine control module, a lifting electric transmission assembly, a platform and a lifting mechanism, wherein the battery pack is connected with the energy recovery control circuit; according to the invention, the energy recovery control circuit is added in the system loop, on the premise of ensuring that the lifting performance of the whole machine operation platform is not influenced, the energy recovery control circuit is utilized to switch the working mode of the battery pack, so that the battery pack can effectively recover the potential energy of the platform at different temperatures and SoC, and the coupling control of platform lifting and energy recovery is realized. Compared with the existing energy recovery device aiming at the hydraulic drive type AWP, the energy recovery device not only can improve the energy recovery efficiency on the fully electric AWP, but also can improve the electric energy utilization rate of the whole machine; the whole machine installed capacity of the AWP battery pack can be optimized, and the purpose of reducing the whole machine manufacturing cost is achieved.
Description
Technical Field
The invention belongs to the technical field of aerial work platforms, and particularly relates to an energy recovery control system and method for a full-electric aerial work platform.
Background
An Aerial Work Platform (AWP) has the characteristics of low requirement on the operation space, flexibility in movement, convenience in transportation and the like, is widely applied to modern production and life, and becomes a necessary operation tool in areas such as hotels, electronic factories, storage and the like. In recent years, with the development of electrified transmission assemblies, people put higher demands on AWP in the aspects of zero emission, no hydraulic oil leakage and the like, so that the full-electric development of AWP becomes a necessary trend. The whole machine system benefiting from the all-electric AWP adopts an all-electric drive mechanism, and provides an innate condition for potential energy recovery of a lifting mechanism of the whole machine system. Therefore, a reasonable energy recovery system is designed to realize potential energy recovery and reutilization of the lifting mechanism, so that the electric energy utilization rate of the AWP is improved.
In recent years, some researchers have proposed various forms of energy recovery devices for hydraulically driven AWPs, and related energy recovery control systems and methods are rarely proposed for fully electric AWPs. For example, patent application No. CN202021717835.6 proposes a hydraulic system for AWP, which stores the kinetic energy of hydraulic oil during the platform descending process by an accumulator, and releases the energy again during the platform lifting process, thereby achieving the purpose of potential energy reuse; the patent application number CN201910648731.X provides a potential energy recovery hydraulic system and lifting equipment based on hydraulic energy recovery for hydraulically driven AWP, and the potential energy recovery and reutilization during platform descending are realized through an energy accumulator; patent application No. CN201720489203.0 proposes an AWP and an energy recovery device thereof, which uses the hydraulic oil that flows back when the platform descends to drive a generator to generate electricity, and in this way, the platform potential energy is converted into electric energy to be stored in a battery pack. In addition, documents "Electric scissoror airborne work platform great effective research", "analysis of kinematics and dynamics of scissor-type aerial platform and optimization of hinge point", "optimization of mechanical analysis of scissor-type aerial platform and optimization of hinge point position of oil cylinder mounting hinge point", "analysis of double hydraulic cylinder driving dynamics of scissor-type aerial platform" and "design of optimized structure of scissor-type aerial platform lifting device" optimize the lifting mechanism of scissor-type AWP and the mounting position of hydraulic cylinder from the angle of hinge point optimization, but do not study the energy recovery process.
It can be seen that the existing AWP-related energy recovery patents mainly adopt an energy accumulator or a generator to recover and reuse kinetic energy of hydraulic oil of a lifting system, so as to improve the energy utilization rate of the whole machine. However, in consideration of the characteristics of hydraulic oil leakage and low energy transmission efficiency, the lifting mechanism of the fully-electric AWP adopts an electric transmission assembly (such as an electric push rod) as an executing component to completely replace the traditional hydraulic system, so that the energy recovery device and the method proposed by the prior patent are difficult to meet the energy recovery control requirement of the fully-electric AWP. Furthermore, there is little existing literature on AWP investigating the platform energy recovery process.
Disclosure of Invention
The invention aims to provide an energy recovery control system and method for an all-electric aerial work platform, which solve the problem of energy recovery of all-electric AWP (active-forms-welded) so as to improve the energy utilization rate of the AWP, further optimize the battery pack capacity of the AWP and reduce the manufacturing cost of the whole machine.
In order to achieve the purpose, the invention adopts the technical scheme that:
an energy recovery control system of a full-electric aerial working platform comprises a battery pack, an energy recovery control circuit, a control electric module, a lifting electric transmission assembly motor controller, other system assemblies and other electric accessories, wherein the energy recovery control circuit, the control electric module, the lifting electric transmission assembly motor controller, the other system assemblies and the other electric accessories are respectively connected with the battery pack; the control system also comprises a human-computer interaction module, an integral control module, a lifting electric transmission assembly, a platform and a lifting mechanism, wherein the lifting electric transmission assembly is electrically connected with a motor controller of the lifting electric transmission assembly in a power mode, and the lifting electric transmission assembly is mechanically connected with the platform and the lifting mechanism; the control electric module is respectively and electrically connected with the human-computer interaction module, the whole machine control module, the lifting electric transmission assembly motor controller, other system assemblies and other electric accessories; the whole machine control module is respectively in signal connection with the human-computer interaction module, the lifting electric transmission assembly motor controller, other system assemblies and other electric accessories;
the battery pack comprises a power supply management system and a battery pack body, wherein the power supply management system is used for monitoring state parameters of the battery pack body, and the battery pack body mainly provides electric energy for each electric assembly component and electric accessory of the whole vehicle;
the control electric module is used for converting power electricity output by the battery pack into control electricity so as to supply power to each controller or control module in the system loop;
the lifting electric transmission assembly motor controller mainly controls the operation action of a driving motor in the lifting electric transmission assembly according to a control instruction issued by a complete machine control module;
the lifting electric transmission assembly comprises a transmission mechanical part and a driving motor and is mainly used for driving the lifting action of the platform and the lifting mechanism;
the platform and the lifting mechanism are mainly used for bearing operating personnel or objects;
the other system assemblies comprise a steering system assembly and a traveling system assembly, are driven by a full electric assembly, are controlled by a whole vehicle control module, and execute the traveling and steering actions of the whole vehicle;
the human-computer interaction module is used for sending an instruction of a controller and displaying current vehicle state information;
the whole control module is used for updating target signal control of each assembly controller in real time through a self control algorithm according to the current vehicle state information and the control information of a controller;
the other electrical accessories mainly comprise sensors and acousto-optic actuators and are used for detecting vehicle state information in real time and displaying vehicle operation states;
the energy recovery control circuit is used for switching the working mode of the battery pack according to the state parameters of the battery pack at the current moment and the platform power generation parameters.
In the descending process of the platform, the effective potential energy of the platform and the load is converted into the kinetic energy of the platform and the load, the kinetic energy of the lifting mechanism, the mechanical friction loss and the energy applied to the lifting electric transmission assembly according to the law of energy conservation. For the energy applied to the lifting electric transmission assembly, the lifting electric transmission assembly is driven by the energy applied to the lifting electric transmission assembly to rotate to generate electricity, so that the energy applied to the lifting electric transmission assembly by the platform is converted into electric energy to be stored in the battery pack.
Further, in order to ensure the safety of self-charging and discharging and the service life of the battery pack, the charging rates of the battery pack at different states of Charge (State of Charge — SoC) and temperatures are different (for example, the battery is not allowed to be charged in an extreme case). And in the potential energy recovery process, the factor for determining whether the current charging multiplying power of the battery pack exceeds a limit value is the charging power of the motor. According to the analysis process of the motor for charging the battery pack, when the thrust applied to the lifting electric transmission assembly by the platform (including the load) and the lifting mechanism is certain, the retraction speed of the lifting electric transmission assembly influences the power generated by the motor. In order to ensure that the platform can descend at a set speed under any working condition of the battery pack without influencing the currently allowed charging state of the battery pack, the invention achieves the aim through the energy recovery control circuit.
Specifically, the energy recovery control circuit comprises a one-way diode, a switch K1, a switch K2 and a heating resistance module, wherein the one-way diode, the switch K2, the heating resistance module and the battery pack are sequentially connected in series, and the switch K1 is connected in parallel at two ends of the one-way diode; the switch K2 is connected with the heating resistance module in series and then connected with the motor controller of the lift electric transmission assembly in parallel; the energy recovery control circuit switches the working mode of the battery pack by controlling the on and off states of the switch K1 and the switch K2;
when the loop is in a positive discharging state, the switch K1 is disconnected, and the switch K2 is disconnected;
when the loop is in a reverse charging state, if the current reversely charged to the battery pack does not exceed the maximum allowable charging current under the current condition of the battery pack, the switch K1 is closed, and the switch K2 is closed or opened; if the current reversely charged to the battery pack exceeds the maximum allowable charging current under the current condition of the battery pack, the switch K1 is opened, and the switch K2 is closed.
Further, to implement the above control process, it is first necessary to determine the charging current I of the battery pack at 1-time charging rategmSize; secondly, determining the generating current I of the system loop at the time tg(t), and determining a corresponding battery pack charging factor value C according to the SoC (t) and the temperature T (t) of the battery packr(t); finally, according to
And CrThe relationship of (t) determines the off state of switches K1 and K2.
Further, the working modes of the battery pack comprise a non-charging mode, a normal charging mode, a reduced power charging mode and a charging forbidding mode.
Specifically, when the state parameter of the battery pack and the platform power generation parameter satisfy the following conditions, the battery pack is switched to a non-charging mode;
Ig(t)＝0
when the battery pack needs to be switched to a non-charging mode, the switch K1 is controlled to be switched off, and the switch K2 is controlled to be switched off; the current I flowing into the battery pack at this timegb(t) and the current I flowing into the heating resistor modulegr(t) satisfies the following condition:
wherein, Ig(t) is the current generated by the platform at the current moment; i isgb(t) is a charging current flowing into the battery pack; i isgr(t) is a current flowing into the heat-generating resistor.
Specifically, when the state parameters of the battery pack and the platform power generation parameters satisfy the following conditions, the battery pack is switched to a normal charging mode;
when the battery pack needs to be switched to a normal charging mode, the switch K1 is controlled to be closed, the switch K2 is controlled to be opened, and all recovered energy is used for charging the battery pack; the current I flowing into the battery pack at this timegb(t) and the current I flowing into the heating resistor modulegr(t) satisfies the following condition:
wherein, Ig(t) is the current generated by the platform at the current moment; i isgmThe charging current is 1 time of the charging multiplying power of the battery pack; cr(t) is the charging rate value of the battery pack at the current moment; i isgb(t) is a charging current flowing into the battery pack; i isgr(t) is a current flowing into the heat-generating resistor.
Specifically, when the state parameters of the battery pack and the platform power generation parameters meet the following conditions, the battery pack is switched to a reduced power charging mode;
when the battery pack needs to be switched to a reduced power charging mode, the switch K1 is controlled to be closed, the switch K2 is controlled to be closed, part of the recovered energy is used for charging the battery pack, and the other part of the recovered energy is consumed by the heating resistance module; the current I flowing into the battery pack at this timegb(t) and the current I flowing into the heating resistor modulegr(t) satisfies the following condition:
wherein, Ig(t) is the current generated by the platform at the current moment; i isgmThe charging current is 1 time of the charging multiplying power of the battery pack; cr(t) is the charging rate value of the battery pack at the current moment; i isgb(t) is a charging current flowing into the battery pack; i isgr(t) is a current flowing into the heat-generating resistor.
Specifically, when the state parameters of the battery pack and the platform power generation parameters meet the following conditions, the battery pack is switched to a charge forbidding mode;
when the battery pack needs to be switched to the charging forbidding mode, the switch K1 is controlled to be switched off, the switch K2 is controlled to be switched on, and all recovered energy is consumed by the heating resistance module; the current I flowing into the battery pack at this timegb(t) and the current I flowing into the heating resistor modulegr(t) satisfies the following condition:
wherein, Ig(t) is the current generated by the platform at the current moment; i isgmThe charging current is 1 time of the charging multiplying power of the battery pack; cr(t) is the charging rate value of the battery pack at the current moment; i isgb(t) is a charging current flowing into the battery pack; i isgr(t) is a current flowing into the heat-generating resistor.
Specifically, in order to satisfy the above-mentioned 4 operating modes of the battery pack, the maximum current-carrying steady-state value I of the selected heating resistor modulegr_maxNot less than the maximum value I of the platform generating currentg_maxThereby ensuring the safe and reliable operation of the system.
Corresponding to the energy recovery control system, the invention also provides an energy recovery control method of the full-electric aerial work platform, which comprises the following steps:
s1, detecting the state parameters and platform power generation parameters of the battery pack at the time t;
s2, switching the working mode of the battery pack through the energy recovery control circuit according to the current state parameter and the platform power generation parameter of the battery pack;
and S3, updating the system time, and returning to the step S1 when the system time is t +1, and circularly executing the steps S1 to S3 until the system is shut down.
Specifically, the energy recovery control circuit comprises a one-way diode, a switch K1, a switch K2 and a heating resistance module, wherein the one-way diode, the switch K2, the heating resistance module and the battery pack are sequentially connected in series, and the switch K1 is connected in parallel at two ends of the one-way diode; the switch K2 is connected with the heating resistance module in series and then connected with the motor controller of the lift electric transmission assembly in parallel; the energy recovery control circuit switches the working mode of the battery pack by controlling the on and off states of the switch K1 and the switch K2.
Further, in step S1, the state parameters of the battery pack include a state of charge soc (t) of the battery pack, a temperature t (t), and a charging current I of the battery pack at 1 time of charging rategmCharging current I flowing into battery packgb(t) and a current I flowing into the heat-generating resistorgr(t); the platform power generation parameters comprise the power generation current I of the platformg(t)。
Further, step S2 includes the steps of:
s201, determining a charging rate value C of the battery pack at the current moment according to a battery pack charging rate universal characteristic diagram and the current-moment charge state SoC (t) and the temperature T (t) of the battery packr(t)；
S202, according to Cr(t) and Igm、Ig(t) determining the operating mode of the battery pack at the current moment;
and S203, switching the working mode of the battery pack by controlling the opening and closing states of the switch K1 and the switch K2 according to the determined working mode.
Further, in step S202:
if IgIf the (t) is 0, determining that the working mode of the battery pack at the current moment is a non-charging mode;
if it is
Determining that the working mode of the battery pack at the current moment is a normal charging mode;
if it is
Then the current battery time is determinedThe working mode of the group is a reduced power charging mode;
if it is
Or
The operation mode of the battery pack at the present time is determined as the disable mode.
Further, in step S203:
if the working mode of the battery pack at the current moment is determined to be a non-charging mode, controlling the switch K1 to be switched off and the switch K2 to be switched off;
if the working mode of the battery pack at the current moment is determined to be the normal charging mode, controlling the switch K1 to be closed and the switch K2 to be opened;
if the working mode of the battery pack at the current moment is determined to be the power reduction charging mode, controlling the switch K1 to be closed and the switch K2 to be closed;
and if the working mode of the battery pack at the current moment is determined to be the forbidden mode, controlling the switch K1 to be opened and the switch K2 to be closed.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the energy recovery control circuit is added in the system loop, on the premise of ensuring that the lifting performance of the whole machine operation platform is not influenced, the energy recovery control circuit is utilized to switch and control the working mode of the battery pack, so that the battery pack can effectively recover the potential energy of the platform at different temperatures and SoC, and the coupling control of platform lifting and energy recovery is realized. Compared with the existing energy recovery device aiming at the hydraulically driven AWP, the energy recovery device not only can improve the energy recovery efficiency on the fully electric AWP, but also can improve the electric energy utilization rate of the whole machine; the whole machine installed capacity of the AWP battery pack can be optimized, and the purpose of reducing the whole machine manufacturing cost is achieved.
Drawings
Fig. 1 is a schematic block diagram of an energy recovery control system of a fully electric aerial work platform according to embodiment 1 of the present invention.
Fig. 2 is a schematic diagram of an energy recovery principle of the lifting system in embodiment 1 of the present invention.
Fig. 3 is a flowchart of an energy recovery control method for a fully electric aerial work platform according to embodiment 2 of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all 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.
Example 1
As shown in fig. 1, the embodiment provides an energy recovery control system for a fully electric aerial working platform, which includes a battery pack, an energy recovery control circuit, a control electric module, a lift electric transmission assembly motor controller, other system assemblies, and other electrical accessories, which are respectively connected to the battery pack; the control system also comprises a human-computer interaction module, an integral control module, a lifting electric transmission assembly, a platform and a lifting mechanism, wherein the lifting electric transmission assembly is electrically connected with a motor controller of the lifting electric transmission assembly in a power mode, and the lifting electric transmission assembly is mechanically connected with the platform and the lifting mechanism; the control electric module is respectively and electrically connected with the human-computer interaction module, the whole machine control module, the lifting electric transmission assembly motor controller, other system assemblies and other electric accessories; the whole machine control module is respectively in signal connection with the human-computer interaction module, the lifting electric transmission assembly motor controller, other system assemblies and other electric accessories;
the battery pack comprises a power supply management system and a battery pack body, wherein the power supply management system is used for monitoring state parameters of the battery pack body, and the battery pack body mainly provides electric energy for each electric assembly component and electric accessory of the whole vehicle;
the control electric module is used for converting power electricity output by the battery pack into control electricity so as to supply power to each controller or control module in the system loop;
the lifting electric transmission assembly motor controller mainly controls the operation action of a driving motor in the lifting electric transmission assembly according to a control instruction issued by a complete machine control module;
the lifting electric transmission assembly comprises a transmission mechanical part and a driving motor and is mainly used for driving the lifting action of the platform and the lifting mechanism;
the platform and the lifting mechanism are mainly used for bearing operating personnel or objects;
the other system assemblies comprise a steering system assembly and a traveling system assembly, are driven by a full electric assembly, are controlled by a whole vehicle control module, and execute the traveling and steering actions of the whole vehicle;
the human-computer interaction module is used for sending an instruction of a controller and displaying current vehicle state information;
the whole control module is used for updating target signal control of each assembly controller in real time through a self control algorithm according to the current vehicle state information and the control information of a controller;
the other electrical accessories mainly comprise sensors and acousto-optic actuators and are used for detecting vehicle state information in real time and displaying vehicle operation states;
the energy recovery control circuit is used for switching the working mode of the battery pack according to the state parameters of the battery pack at the current moment and the platform power generation parameters.
As shown in fig. 2, the energy recovery principle of the lifting system of the present invention is as follows: during the descending process of the platform, the effective potential energy of the platform and the load is converted into the kinetic energy of the platform and the load, the kinetic energy of the lifting mechanism, the mechanical friction loss and the energy applied to the lifting electric transmission assembly according to the law of energy conservation. For the energy applied to the lifting electric transmission assembly, the lifting electric transmission assembly is driven by the energy applied to the lifting electric transmission assembly to rotate to generate electricity, so that the energy applied to the lifting electric transmission assembly by the platform is converted into electric energy to be stored in the battery pack.
Further, in order to ensure the safety of self-charging and discharging and the service life of the battery pack, the charging rates of the battery pack at different states of Charge (State of Charge — SoC) and temperatures are different (for example, the battery is not allowed to be charged in an extreme case). And in the potential energy recovery process, the factor for determining whether the current charging multiplying power of the battery pack exceeds a limit value is the charging power of the motor. According to the analysis process of the motor for charging the battery pack, when the thrust applied to the lifting electric transmission assembly by the platform (including the load) and the lifting mechanism is certain, the retraction speed of the lifting electric transmission assembly influences the power generated by the motor. In order to ensure that the platform can descend at a set speed under any working condition of the battery pack without influencing the currently allowed charging state of the battery pack, the invention achieves the aim through the energy recovery control circuit.
Specifically, the energy recovery control circuit comprises a one-way diode, a switch K1, a switch K2 and a heating resistance module, wherein the one-way diode, the switch K2, the heating resistance module and the battery pack are sequentially connected in series, and the switch K1 is connected in parallel at two ends of the one-way diode; the switch K2 is connected with the heating resistance module in series and then connected with the motor controller of the lift electric transmission assembly in parallel; the energy recovery control circuit switches the working mode of the battery pack by controlling the on and off states of the switch K1 and the switch K2;
when the loop is in a positive discharging state, the switch K1 is disconnected, and the switch K2 is disconnected;
when the loop is in a reverse charging state, if the current reversely charged to the battery pack does not exceed the maximum allowable charging current under the current condition of the battery pack, the switch K1 is closed, and the switch K2 is closed or opened; if the current reversely charged to the battery pack exceeds the maximum allowable charging current under the current condition of the battery pack, the switch K1 is opened, and the switch K2 is closed.
Further, to implement the above control process, it is first necessary to determine the charging current I of the battery pack at 1-time charging rategmSize; secondly, determining the generating current I of the system loop at the time tg(t), and determining a corresponding battery pack charging factor value C according to the SoC (t) and the temperature T (t) of the battery packr(t); finally, according to
And Cr(t) the relationship determines the turn off of switches K1 and K2Status.
Further, the working modes of the battery pack comprise a non-charging mode, a normal charging mode, a reduced power charging mode and a charging forbidding mode.
Specifically, when the state parameter of the battery pack and the platform power generation parameter satisfy the following conditions, the battery pack is switched to a non-charging mode;
Ig(t)＝0
when the battery pack needs to be switched to a non-charging mode, the switch K1 is controlled to be switched off, and the switch K2 is controlled to be switched off; the current I flowing into the battery pack at this timegb(t) and the current I flowing into the heating resistor modulegr(t) satisfies the following condition:
wherein, Ig(t) is the current generated by the platform at the current moment; i isgb(t) is a charging current flowing into the battery pack; i isgr(t) is a current flowing into the heat-generating resistor.
Specifically, when the state parameters of the battery pack and the platform power generation parameters satisfy the following conditions, the battery pack is switched to a normal charging mode;
when the battery pack needs to be switched to a normal charging mode, the switch K1 is controlled to be closed, the switch K2 is controlled to be opened, and all recovered energy is used for charging the battery pack; the current I flowing into the battery pack at this timegb(t) and the current I flowing into the heating resistor modulegr(t) satisfies the following condition:
wherein, Ig(t) is the current generated by the platform at the current moment; i isgmThe charging current is 1 time of the charging multiplying power of the battery pack; cr(t) is electricityThe charging multiplying power value of the current moment of the battery pack; i isgb(t) is a charging current flowing into the battery pack; i isgr(t) is a current flowing into the heat-generating resistor.
Specifically, when the state parameters of the battery pack and the platform power generation parameters meet the following conditions, the battery pack is switched to a reduced power charging mode;
when the battery pack needs to be switched to a reduced power charging mode, the switch K1 is controlled to be closed, the switch K2 is controlled to be closed, part of the recovered energy is used for charging the battery pack, and the other part of the recovered energy is consumed by the heating resistance module; the current I flowing into the battery pack at this timegb(t) and the current I flowing into the heating resistor modulegr(t) satisfies the following condition:
wherein, Ig(t) is the current generated by the platform at the current moment; i isgmThe charging current is 1 time of the charging multiplying power of the battery pack; cr(t) is the charging rate value of the battery pack at the current moment; i isgb(t) is a charging current flowing into the battery pack; i isgr(t) is a current flowing into the heat-generating resistor.
Specifically, when the state parameters of the battery pack and the platform power generation parameters meet the following conditions, the battery pack is switched to a charge forbidding mode;
when the battery pack needs to be switched to the charging forbidding mode, the switch K1 is controlled to be switched off, the switch K2 is controlled to be switched on, and all recovered energy is consumed by the heating resistance module; the current I flowing into the battery pack at this timegb(t) and the current I flowing into the heating resistor modulegr(t) satisfies the following condition:
wherein, Ig(t) is the current generated by the platform at the current moment; i isgmThe charging current is 1 time of the charging multiplying power of the battery pack; cr(t) is the charging rate value of the battery pack at the current moment; i isgb(t) is a charging current flowing into the battery pack; i isgr(t) is a current flowing into the heat-generating resistor.
Specifically, in order to satisfy the above-mentioned 4 operating modes of the battery pack, the maximum current-carrying steady-state value I of the selected heating resistor modulegr_maxNot less than the maximum value I of the platform generating currentg_maxThereby ensuring the safe and reliable operation of the system.
Example 2
As shown in fig. 3, the embodiment provides an energy recovery control method for an all-electric aerial work platform, which includes the following steps:
s1, detecting the state parameters and platform power generation parameters of the battery pack at the time t;
s2, switching the working mode of the battery pack through the energy recovery control circuit according to the current state parameter and the platform power generation parameter of the battery pack;
and S3, updating the system time, and returning to the step S1 when the system time is t +1, and circularly executing the steps S1 to S3 until the system is shut down.
Specifically, the energy recovery control circuit comprises a one-way diode, a switch K1, a switch K2 and a heating resistance module, wherein the one-way diode, the switch K2, the heating resistance module and the battery pack are sequentially connected in series, and the switch K1 is connected in parallel at two ends of the one-way diode; the switch K2 is connected with the heating resistance module in series and then connected with the motor controller of the lift electric transmission assembly in parallel; the energy recovery control circuit switches the working mode of the battery pack by controlling the on and off states of the switch K1 and the switch K2.
Further, in step S1, the state parameters of the battery pack include a state of charge soc (t) of the battery pack, a temperature t (t), and a charging current I of the battery pack at 1 time of charging rategmAnd into the battery packCharging current I ofgb(t) and a current I flowing into the heat-generating resistorgr(t); the platform power generation parameters comprise the power generation current I of the platformg(t)。
Further, step S2 includes the steps of:
s201, determining a charging rate value C of the battery pack at the current moment according to a battery pack charging rate universal characteristic diagram and the current-moment charge state SoC (t) and the temperature T (t) of the battery packr(t)；
S202, according to Cr(t) and Igm、Ig(t) determining the operating mode of the battery pack at the current moment;
and S203, switching the working mode of the battery pack by controlling the opening and closing states of the switch K1 and the switch K2 according to the determined working mode.
Further, in step S202:
if IgIf the (t) is 0, determining that the working mode of the battery pack at the current moment is a non-charging mode;
if it is
Determining that the working mode of the battery pack at the current moment is a normal charging mode;
if it is
Determining that the working mode of the battery pack at the current moment is a power reduction charging mode;
if it is
Or
The operation mode of the battery pack at the present time is determined as the disable mode.
Further, in step S203:
if the working mode of the battery pack at the current moment is determined to be a non-charging mode, controlling the switch K1 to be switched off and the switch K2 to be switched off;
if the working mode of the battery pack at the current moment is determined to be the normal charging mode, controlling the switch K1 to be closed and the switch K2 to be opened;
if the working mode of the battery pack at the current moment is determined to be the power reduction charging mode, controlling the switch K1 to be closed and the switch K2 to be closed;
and if the working mode of the battery pack at the current moment is determined to be the forbidden mode, controlling the switch K1 to be opened and the switch K2 to be closed.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (14)
1. An energy recovery control system of a full-electric aerial working platform is characterized by comprising a battery pack, an energy recovery control circuit, a control electric module and a lifting electric transmission assembly motor controller, wherein the energy recovery control circuit, the control electric module and the lifting electric transmission assembly motor controller are respectively connected with the battery pack; the control system also comprises a human-computer interaction module, an integral control module, a lifting electric transmission assembly, a platform and a lifting mechanism, wherein the lifting electric transmission assembly is electrically connected with a motor controller of the lifting electric transmission assembly in a power mode, and the lifting electric transmission assembly is mechanically connected with the platform and the lifting mechanism; the control electric module is respectively and electrically connected with the human-computer interaction module, the whole machine control module and the lifting electric transmission assembly motor controller; the whole machine control module is respectively in signal connection with the human-computer interaction module and the lifting electric transmission assembly motor controller; the energy recovery control circuit is used for switching the working mode of the battery pack according to the state parameters of the battery pack at the current moment and the platform power generation parameters.
2. An all-electric aerial work platform energy recovery control system as claimed in claim 1, wherein the energy recovery control circuit comprises a one-way diode, a switch K1, a switch K2 and a heating resistance module, the one-way diode, the switch K2, the heating resistance module and the battery pack are connected in series in sequence, and the switch K1 is connected in parallel at two ends of the one-way diode; the switch K2 is connected with the heating resistance module in series and then connected with the motor controller of the lift electric transmission assembly in parallel; the energy recovery control circuit switches the working mode of the battery pack by controlling the on and off states of the switch K1 and the switch K2.
3. An all-electric aerial work platform energy recovery control system as claimed in claim 2 wherein the operating modes of the battery pack include a non-charging mode, a normal charging mode, a reduced power charging mode and a no-charging mode.
4. A full electric aerial work platform energy recovery control system according to claim 3, wherein the battery pack is switched to a non-charging mode when the state parameters of the battery pack and the platform power generation parameters meet the following conditions;
Ig(t)＝0
when the battery pack needs to be switched to a non-charging mode, the switch K1 is controlled to be switched off, and the switch K2 is controlled to be switched off; the current I flowing into the battery pack at this timegb(t) and the current I flowing into the heating resistor modulegr(t) satisfies the following condition:
wherein, Ig(t) is the current generated by the platform at the current moment; i isgb(t) is a charging current flowing into the battery pack; i isgr(t) is a current flowing into the heat-generating resistor.
5. A full electric aerial work platform energy recovery control system according to claim 3, wherein the battery pack is switched to a normal charging mode when the state parameters of the battery pack and the platform power generation parameters satisfy the following conditions;
when the battery pack needs to be switched to a normal charging mode, the switch K1 is controlled to be closed, and the switch K2 is controlled to be opened; the current I flowing into the battery pack at this timegb(t) and the current I flowing into the heating resistor modulegr(t) satisfies the following condition:
wherein, Ig(t) is the current generated by the platform at the current moment; i isgmThe charging current is 1 time of the charging multiplying power of the battery pack; cr(t) is the charging rate value of the battery pack at the current moment; i isgb(t) is a charging current flowing into the battery pack; i isgr(t) is a current flowing into the heat-generating resistor.
6. A full electric aerial work platform energy recovery control system according to claim 3, wherein the battery pack is switched to a reduced power charging mode when the state parameters of the battery pack and the platform power generation parameters meet the following conditions;
when the battery pack needs to be switched to a reduced power charging mode, the switch K1 is controlled to be closed, and the switch K2 is controlled to be closed; the current I flowing into the battery pack at this timegb(t) and the current I flowing into the heating resistor modulegr(t) satisfies the following condition:
wherein, Ig(t) is the current generated by the platform at the current moment; i isgmThe charging current is 1 time of the charging multiplying power of the battery pack; cr(t) is the charging rate of the battery pack at the current momentA value; i isgb(t) is a charging current flowing into the battery pack; i isgr(t) is a current flowing into the heat-generating resistor.
7. A full electric aerial work platform energy recovery control system according to claim 3, wherein the battery pack is switched to the disabled mode when the state parameters of the battery pack and the platform power generation parameters satisfy the following conditions;
When the battery pack needs to be switched to the forbidden mode, the switch K1 is controlled to be opened, and the switch K2 is controlled to be closed; the current I flowing into the battery pack at this timegb(t) and the current I flowing into the heating resistor modulegr(t) satisfies the following condition:
wherein, Ig(t) is the current generated by the platform at the current moment; i isgmThe charging current is 1 time of the charging multiplying power of the battery pack; cr(t) is the charging rate value of the battery pack at the current moment; i isgb(t) is a charging current flowing into the battery pack; i isgr(t) is a current flowing into the heat-generating resistor.
8. An all-electric aerial work platform energy recovery control system as claimed in claim 2, wherein the current-carrying maximum steady state value I of the heating resistance modulegr_maxNot less than the maximum value I of the platform generating currentg_max。
9. An energy recovery control method for an all-electric aerial work platform based on the energy recovery control system for the all-electric aerial work platform of any one of claims 1 to 8, characterized by comprising the following steps:
s1, detecting the state parameters and platform power generation parameters of the battery pack at the time t;
s2, switching the working mode of the battery pack through the energy recovery control circuit according to the current state parameter and the platform power generation parameter of the battery pack;
and S3, updating the system time, and returning to the step S1 when the system time is t +1, and circularly executing the steps S1 to S3 until the system is shut down.
10. The energy recovery control method for the all-electric aerial work platform according to claim 9, wherein the energy recovery control circuit comprises a one-way diode, a switch K1, a switch K2 and a heating resistance module, the one-way diode, the switch K2, the heating resistance module and the battery pack are sequentially connected in series, and the switch K1 is connected in parallel at two ends of the one-way diode; the switch K2 is connected with the heating resistance module in series and then connected with the motor controller of the lift electric transmission assembly in parallel; the energy recovery control circuit switches the working mode of the battery pack by controlling the on and off states of the switch K1 and the switch K2.
11. The energy recovery control method for all-electric aerial working platform according to claim 10, wherein in step S1, the state parameters of the battery pack include soc (t), temperature t (t), and charging current I of the battery pack at 1-fold charging rategmCharging current I flowing into battery packgb(t) and a current I flowing into the heat-generating resistorgr(t); the platform power generation parameters comprise the power generation current I of the platformg(t)。
12. The energy recovery control method for all-electric aerial platform according to claim 11, wherein step S2 comprises the following steps:
s201, determining the charging time of the battery pack at the current moment according to the universal characteristic diagram of the charging time of the battery pack and the current-moment charge state SoC (t) and the temperature T (t) of the battery packValue of rate Cr(t)；
S202, according to Cr(t) and Igm、Ig(t) determining the operating mode of the battery pack at the current moment;
and S203, switching the working mode of the battery pack by controlling the opening and closing states of the switch K1 and the switch K2 according to the determined working mode.
13. The energy recovery control method for all-electric aerial platform according to claim 12, wherein in step S202,
if IgIf the (t) is 0, determining that the working mode of the battery pack at the current moment is a non-charging mode;
if it is
Determining that the working mode of the battery pack at the current moment is a normal charging mode;
if it is
Determining that the working mode of the battery pack at the current moment is a power reduction charging mode;
if it is
Or
The operation mode of the battery pack at the present time is determined as the disable mode.
14. The energy recovery control method for all-electric aerial platform according to claim 12, wherein in step S203,
if the working mode of the battery pack at the current moment is determined to be a non-charging mode, controlling the switch K1 to be switched off and the switch K2 to be switched off;
if the working mode of the battery pack at the current moment is determined to be the normal charging mode, controlling the switch K1 to be closed and the switch K2 to be opened;
if the working mode of the battery pack at the current moment is determined to be the power reduction charging mode, controlling the switch K1 to be closed and the switch K2 to be closed;
and if the working mode of the battery pack at the current moment is determined to be the forbidden mode, controlling the switch K1 to be opened and the switch K2 to be closed.
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