CN114103723B - Locking control system for battery replacement equipment of electric loader - Google Patents
Locking control system for battery replacement equipment of electric loader Download PDFInfo
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- CN114103723B CN114103723B CN202111626181.5A CN202111626181A CN114103723B CN 114103723 B CN114103723 B CN 114103723B CN 202111626181 A CN202111626181 A CN 202111626181A CN 114103723 B CN114103723 B CN 114103723B
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- protection relay
- actuator
- parking
- relay
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Abstract
The invention discloses a locking control system for a battery replacement device of an electric loader, and belongs to the technical field of engineering vehicle control. The execution unit is used for connecting or disconnecting a locking mechanism between the battery and the frame; the man-machine interaction unit is used for acquiring operation information of a driver; the detection unit is used for detecting the position of the locking mechanism; the control unit is used for receiving the detection information of the detection unit and the operation information of the man-machine interaction unit and controlling the action of the execution unit. The invention adopts a mode of combining software protection and hardware protection to carry out double protection on the power conversion control system, thereby avoiding safety accidents caused by improper manual operation and avoiding damages to an actuator caused by improper manual operation or component faults; meanwhile, the hardware control protection is realized by using a logic circuit formed by relays, and the method has the advantages of low cost and convenience in later-stage maintenance; the invention has high automation degree of the electricity changing operation and improves the operation efficiency of the loader.
Description
Technical Field
The invention relates to the technical field of engineering vehicle control, in particular to a locking control system for a battery replacement device of an electric loader.
Background
The power battery of present electricelectric moves loader generally fixes on the frame, when needing to charge, and the loader need suspend construction operations and drive to near filling electric pile, waits to charge and accomplishes the back, just can continue construction operations. The method can not meet the requirement of a construction party on the continuous construction operation of the loader, and greatly influences the construction efficiency. In order to reduce the waiting time of the charging link, the pure electric loader adopts a battery replacement scheme. How to safely and reliably replace the battery is important for safe production.
During the battery replacement operation, the following problems need to be solved:
(1) when the battery pack is lifted and replaced, the locking mechanism of the battery pack needs to be completely disengaged, otherwise the lifting is difficult and the machine is damaged. When a new battery is installed, a locking mechanism of the battery pack needs to be installed in place, otherwise, when the loader works, the battery pack is separated from the frame, and serious safety accidents are caused;
(2) when the electric loader works, the battery pack outputs high-voltage current, at this time, the battery replacement operation can not be carried out, otherwise, serious safety accidents can be caused;
(3) in the construction peak period, the battery replacement operation needs to be carried out for many times, and the battery replacement operation is convenient, fast, efficient and high in automation degree;
(4) the electric loader has a plurality of operation buttons for operation, and it is necessary to prevent a driver from operating the electric loader by mistake and causing danger. On a construction site, drivers can go on duty and different drivers have different familiarity degrees for operating the electric loader, and a set of good human-computer interaction system is needed for guiding the drivers to correctly perform the battery replacement operation.
Disclosure of Invention
The invention aims to provide a locking control system of a battery replacement device of an electric loader, which improves the safety and the automation degree during the battery replacement operation by combining software protection and hardware protection.
The invention is realized by the following technical scheme: a locking control system for a battery replacement device of an electric loader comprises a man-machine interaction unit, a control unit, an execution unit and a detection unit;
the execution unit is used for connecting or disconnecting a locking mechanism between the battery and the frame;
the man-machine interaction unit is used for acquiring operation information of a driver, and the operation information comprises starting information, gear information, parking information and battery-replacement unlocking/locking instruction information of a vehicle;
the detection unit is used for detecting the position of the locking mechanism;
the control unit is used for receiving the detection information of the detection unit and the operation information of the man-machine interaction unit and controlling the action of the execution unit.
It further comprises the following steps: the control unit comprises a vehicle control unit for data analysis and calculation; the detection unit comprises a position sensor for detecting the position of the locking mechanism, and the position sensor is electrically connected with the vehicle control unit; the human-computer interaction unit comprises a key switch, a gear handle, a parking switch, a battery replacement switch, a display screen and a BMS, wherein the key switch, the gear handle, the parking switch, the battery replacement switch, the display screen and the BMS are respectively and electrically connected with the vehicle controller.
The execution unit comprises an actuator which is mechanically connected with the locking mechanism;
the control unit also comprises a neutral gear protection relay, a parking protection relay and a power switching protection relay which are electrically connected with the gear handle, the parking switch and the power switching switch in a one-to-one corresponding mode; the power supply and the BMS are electrically connected with a main negative relay, and the main negative relay is electrically connected with a main negative contactor; the main negative relay is electrically connected with a neutral gear protection relay, the neutral gear protection relay is electrically connected with a parking protection relay, the parking protection relay is electrically connected with a power switching protection relay, and the power switching protection relay is electrically connected with a power supply protection relay; and the power supply protection relay is electrically connected between the vehicle control unit and the actuator.
The coil 85 end of the main negative relay is connected with the BMS, the coil 86 end is grounded, the contact 30 end is connected with the power supply, the normally open contact 87 end is connected with the main negative contactor, and the normally closed contact 87A end is connected with the contact 30 end of the neutral protection relay;
the 85 end of a coil of the neutral protection relay is connected with a neutral signal of the gear handle, the 86 end of the coil is grounded, and the 87 end of a normally open contact is connected with the 30 end of the contact of the parking protection relay;
the 85 end of the coil of the parking protection relay is connected with the parking switch, the 86 end of the coil is grounded, and the 87 end of the normally open contact is connected with the 30 end of the contact of the battery replacement protection relay;
the 85 end of the coil of the power switching protection relay is connected with the power switching switch, the 86 end of the coil is grounded, and the 87 end of the normally open contact is connected with the 30 end of the contact of the power supply protection relay;
and the 85 end of a coil of the power supply protection relay is connected with the vehicle control unit, the 86 end of the coil is grounded, and the 87 end of the normally open contact is connected with the actuator.
The control circuit consisting of the key switch, the gear handle, the parking switch, the battery replacement switch and the vehicle control unit realizes software control of the actuator; and the hardware control of the actuator is realized by a logic circuit consisting of the main negative relay, the main negative contactor, the neutral gear protection relay, the parking protection relay, the battery replacement protection relay and the power supply protection relay.
The display screen provides operation information and prompt information for a driver.
The prompt information comprises vehicle state information, operation process prompt and fault alarm.
Maximum time of single action of the actuator
Where s is the displacement of the actuator movement, v is the velocity of the actuator movement, T S Protection time for actuator overload action; setting the maximum frequency of actuator action
Wherein T is A Is the minimum time interval for the actuator to act.
Compared with the prior art, the invention has the beneficial effects that:
1. the method combines software protection and hardware protection to carry out double protection on the power conversion control system, can avoid safety accidents caused by improper manual operation and can also avoid damage to an actuator caused by improper manual operation or component faults;
2. the logic circuit formed by the relay is utilized to realize hardware control protection, the cost is low, and the later maintenance is convenient;
3. the battery replacement operation has high automation degree, the battery replacement speed of the electric loader is increased, and the operation efficiency of the loader is further improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a system composition diagram of one embodiment of the present invention;
FIG. 2 is a circuit schematic of one embodiment of the present invention;
FIG. 3 is a control flow diagram of an embodiment of the present invention;
in the figure: 1. a key switch; 2. a gear handle; 3, a parking switch; 4. a battery replacement switch; 5. a display screen; 6. a vehicle control unit; 7. an actuator; 8. a locking mechanism; 9. a position sensor; 10. a power source; 11. a BMS; 12. a main negative relay; 13. a main negative contactor; 14. a neutral protection relay; 15. a parking protection relay; 16. a battery replacement protection relay; 17. and a power supply protection relay.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Referring to fig. 1 and 2, for safety, the whole vehicle must be switched off the high-voltage power supply, and the whole vehicle must be in a neutral position and a parking position, and at this time, the driver operates the power switching switch, and the actuator 7 can act. In order to achieve the protection purpose, in this embodiment, on one hand, the vehicle control unit 7 is used to implement software control protection through a software program, and on the other hand, the relay is used to form a logic circuit to implement hardware control protection.
The software control of the actuator 7 is realized by a control circuit consisting of a key switch 1, a gear handle 2, a parking switch 3, a battery replacement switch 4 and a vehicle controller 6:
specifically, the execution unit comprises an actuator 7, the actuator 7 is mechanically connected with a locking mechanism 8 between the battery and the frame, and the locking and unlocking of the locking mechanism 8 are controlled through the action of the actuator 7;
the human-computer interaction unit comprises a key switch 1, a gear handle 2, a parking switch 3, a battery replacement switch 4, a display screen 5 and a BMS11 which are respectively and electrically connected with the vehicle controller 6; the man-machine interaction unit is used for acquiring operation information of a driver and providing prompt information for the driver, wherein the operation information comprises starting information, gear information, parking information and battery-replacement unlocking/locking instruction information of a vehicle; the prompt information comprises the state information of the vehicle, operation process prompt and fault alarm;
the detection unit comprises a position sensor 9, and the position sensor 9 is used for detecting the position of the locking mechanism 8 and transmitting the detection information to the control unit;
the control unit comprises a vehicle control unit 6, the vehicle control unit 6 receives the detection information of the detection unit and the operation information of the man-machine interaction unit, and the execution unit is controlled to act after logic calculation.
The software control protection principle is as follows:
the vehicle control unit 6 simultaneously collects a starting signal of a key switch 1, a gear signal of a gear handle 2, a parking signal of a parking switch 3, a power replacing instruction of a power replacing switch 4 and a position signal of a position sensor 9, logic judgment is carried out, when a power replacing condition is met, output control enables a coil 85 end of the power protection relay 17 to be electrified, a coil 86 end of the power protection relay 17 is connected with the ground, at the moment, a contact of the power protection relay 17 acts, and a contact 30 end is communicated with a normally open contact 87 end. However, at this time, whether the contact 30 of the power protection relay 17 is electrified or not needs a logic circuit formed by the relay to meet a certain condition, that is, the hardware control protection is needed to be synchronously performed.
The hardware control of the actuator 7 is realized by a logic circuit consisting of a main negative relay 12, a main negative contactor 13, a neutral gear protection relay 14, a parking protection relay 15, a battery replacement protection relay 16 and a power supply protection relay 17:
specifically, the coil 85 end of the main negative relay 12 is connected with the BMS11, the coil 86 end is grounded, the contact 30 end is connected with the power supply 10, the normally open contact 87 end is connected with the main negative contactor 13, and the normally closed contact 87A end is connected with the contact 30 end of the neutral protection relay 14;
the 85 end of the coil of the neutral protection relay 14 is connected with a neutral signal of the gear handle 2, the 86 end of the coil is grounded, and the 87 end of the normally open contact is connected with the 30 end of the contact of the parking protection relay 15;
the coil 85 end of the parking protection relay 15 is connected with the parking switch 3, the coil 86 end is grounded, and the normally open contact 87 end is connected with the contact 30 end of the battery replacement protection relay 16;
the coil 85 end of the power switching protection relay 16 is connected with the power switching switch 4, the coil 86 end is grounded, and the normally open contact 87 end is connected with the contact 30 end of the power protection relay 17;
and the coil 85 end of the power protection relay 17 is connected with the vehicle control unit 6, the coil 86 end is grounded, and the normally open contact 87 end is connected with the actuator 7.
The principle of hardware control protection is as follows:
when the battery replacement operation is needed, the battery replacement switch 4 controls the coil 85 end of the battery replacement protection relay 16 to be electrified, and the contact 30 end of the battery replacement protection relay 16 is communicated with the normally open contact 87 end;
when the parking switch 3 is in a parking state, the parking switch 3 controls the coil 85 end of the parking protection relay 15 to be electrified, and the contact 30 end of the parking protection relay 15 is communicated with the normally open contact 87 end;
a neutral signal of the gear handle 2 controls the coil 85 end of the neutral protection relay 14 to be electrified, and the contact 30 end of the neutral protection relay 14 is communicated with the normally open contact 87 end; the contact 30 end of the neutral protection relay 14 is connected with the normally closed contact 87A end of the main negative relay 12, at the moment, the coil 85 end of the main negative relay 12 cannot be electrified, the power supply 10 supplies power to the normally closed contact 87A end of the main negative relay 12, then the contact 30 end of the power supply protection relay 17 is electrified, the actuator 7 is electrified to act, and the power changing action is realized;
when the whole vehicle is in a high-voltage state, the BMS11 controls the coil 85 end of the main negative relay 12 to be electrified, the contact of the main negative relay 12 acts, the normally open contact 87 end is communicated with the power supply 10 to be electrified, the main negative contactor acts to be electrified, and the power battery outputs high voltage; the normally closed contact 87A of the main and negative relays 12 loses power, so that the contact 30 end of the power protection relay 17 cannot be powered, the actuator 7 cannot act, and the purpose of control protection is achieved.
Similarly, when the gear handle 2 is not in neutral, the power supply of the actuator 7 can be cut off through the neutral protection relay 14; the parking switch is not in a parking state, and the power supply of the actuator 7 can be cut off through the parking protection relay 15; the power switch 4 is not operated, and the power supply of the actuator 7 can be cut off through the power switch protection relay 16. Therefore, when any one of the vehicle starting state, the gear state, the parking state and the power change instruction does not meet the power change condition, the power supply of the actuator 7 can be cut off through the logic circuit, and the purpose of hardware control protection is achieved.
Referring to fig. 3, the control flow of this embodiment is:
judging whether the whole vehicle is in a high-voltage state, if so, closing the actuator, and if not, further judging whether the whole vehicle is in a neutral gear state;
if the whole vehicle is not in the neutral gear state, closing the actuator, and if the whole vehicle is in the neutral gear state, further judging whether the whole vehicle is in the parking state;
if the whole vehicle is not in the parking state, closing the actuator, and if the whole vehicle is in the parking state, further judging whether a hand has a power change instruction;
if the battery replacement instruction does not exist, the actuator is closed, and if the unlocking instruction exists, whether the unlocking position of the locking mechanism is in place needs to be judged;
if the unlocking position of the locking mechanism is in place, closing the actuator, and if the unlocking position is not in place, opening the actuator until the unlocking position is in place and then closing the actuator;
if the locking instruction exists, whether the locking position is in place or not needs to be judged, if the locking position is in place, the actuator is closed, and if the locking position is not in place, the actuator is opened until the locking position is in place, and then the actuator is closed.
In order to avoid position feedback signal loss caused by position sensor fault and enable the actuator opening process to enter infinite endless loop, fault protection needs to be carried out on the opening action of the actuator. The practical significance is that the actuator can be prevented from being powered on all the time, and the damage to the hardware of the actuator caused by overload is avoided. Meanwhile, the maximum frequency of the action of the actuator is limited, and the damage to the hardware of the actuator caused by frequent action is avoided. The protection control method of the actuator action comprises the following steps:
setting the maximum time of single action of the actuator
Where s is the displacement of the actuator movement, v is the velocity of the actuator movement, T S The protection time of the overload action of the actuator. Setting the maximum frequency of actuator action
Wherein T is A Is the minimum time interval for the actuator to act.
In this embodiment, a locking control system of the electric loader battery replacement device is provided in a manner combining software control protection and hardware control protection, so that the battery replacement operation is safe and efficient, the possibility of safety accidents caused by improper manual operation and component faults is reduced, and the safety is improved. The logic circuit formed by the relays is used for realizing hardware control protection, and the relay protection circuit has the advantages of low cost and convenience in maintenance.
The foregoing is only a preferred embodiment of the present invention. It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention.
Claims (5)
1. The utility model provides an electronic loader trades electrical equipment locking control system which characterized in that: the system comprises a human-computer interaction unit, a control unit, an execution unit and a detection unit;
the execution unit is used for connecting or disconnecting a locking mechanism (8) between the battery and the frame;
the man-machine interaction unit is used for acquiring operation information of a driver, and the operation information comprises starting information, gear information, parking information and battery-replacement unlocking/locking instruction information of a vehicle;
the detection unit is used for detecting the position of the locking mechanism (8);
the control unit is used for receiving the detection information of the detection unit and the operation information of the man-machine interaction unit and controlling the action of the execution unit;
the execution unit comprises an actuator (7), and the actuator (7) is mechanically connected with the locking mechanism (8);
the control unit comprises a vehicle control unit (6) for data analysis and calculation;
the man-machine interaction unit comprises a key switch (1), a gear handle (2), a parking switch (3), a battery replacement switch (4), a display screen (5) and a BMS (11), which are respectively and electrically connected with the vehicle controller (6);
the control unit also comprises a neutral gear protection relay (14), a parking protection relay (15) and a power switching protection relay (16) which are electrically connected with the gear handle (2), the parking switch (3) and the power switching switch (4) in a one-to-one correspondence manner; the power supply (10) and the BMS (11) are electrically connected with a main negative relay (12), and the main negative relay (12) is electrically connected with a main negative contactor (13); the main negative relay (12) is electrically connected with a neutral gear protection relay (14), the neutral gear protection relay (14) is electrically connected with a parking protection relay (15), the parking protection relay (15) is electrically connected with a power switching protection relay (16), and the power switching protection relay (16) is electrically connected with a power supply protection relay (17); the power supply protection relay (17) is electrically connected between the vehicle control unit (6) and the actuator (7);
the control circuit consisting of the key switch (1), the gear handle (2), the parking switch (3), the battery replacement switch (4) and the vehicle controller (6) realizes software control of the actuator (7); a logic circuit consisting of the main negative relay (12), the main negative contactor (13), the neutral gear protection relay (14), the parking protection relay (15), the battery replacement protection relay (16) and the power supply protection relay (17) realizes hardware control of the actuator (7);
the coil 85 end of the main negative relay (12) is connected with the BMS (11), the coil 86 end is grounded, the contact 30 end is connected with the power supply (10), the normally open contact 87 end is connected with the main negative contactor (13), and the normally closed contact 87A end is connected with the contact 30 end of the neutral protection relay (14);
the 85 end of a coil of the neutral protection relay (14) is connected with a neutral signal of the gear handle (2), the 86 end of the coil is grounded, and the 87 end of a normally open contact is connected with the 30 end of a contact of the parking protection relay (15);
the coil 85 end of the parking protection relay (15) is connected with the parking switch (3), the coil 86 end is grounded, and the normally open contact 87 end is connected with the contact 30 end of the battery replacement protection relay (16);
the coil 85 end of the power switching protection relay (16) is connected with the power switching switch (4), the coil 86 end is grounded, and the normally open contact 87 end is connected with the contact 30 end of the power supply protection relay (17);
and the coil 85 end of the power protection relay (17) is connected with the vehicle control unit (6), the coil 86 end is grounded, and the normally open contact 87 end is connected with the actuator (7).
2. The electric loader power swapping device locking control system of claim 1, wherein: the detection unit comprises a position sensor (9) used for detecting the position of the locking mechanism (8), and the position sensor (9) is electrically connected with the vehicle control unit (6).
3. The electric loader power swapping device locking control system of claim 1, wherein: the display screen (5) provides operation information and prompt information for a driver.
4. The electric loader power swapping device locking control system of claim 3, wherein: the prompt information comprises vehicle state information, operation process prompt and fault alarm.
5. The electric loader power swapping device locking control system of claim 1, wherein: maximum time of single action of the actuator (7)
Where s is the displacement of the actuator (7) movement, v is the velocity of the actuator (7) movement, T S The protection time of the overload action of the actuator (7); setting the maximum frequency of the actuator (7) action
Wherein T is A Is the minimum time interval of the action of the actuator (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111626181.5A CN114103723B (en) | 2021-12-29 | 2021-12-29 | Locking control system for battery replacement equipment of electric loader |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111626181.5A CN114103723B (en) | 2021-12-29 | 2021-12-29 | Locking control system for battery replacement equipment of electric loader |
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| CN114103723B true CN114103723B (en) | 2022-08-02 |
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| CN114103723A (en) | 2022-03-01 |
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