CN114578785A - Power limit control method and system for electric engineering machinery - Google Patents
Power limit control method and system for electric engineering machinery Download PDFInfo
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- CN114578785A CN114578785A CN202210108532.1A CN202210108532A CN114578785A CN 114578785 A CN114578785 A CN 114578785A CN 202210108532 A CN202210108532 A CN 202210108532A CN 114578785 A CN114578785 A CN 114578785A
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- 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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention discloses a power limit control method and a power limit control system for electric engineering machinery, and belongs to the technical field of electric vehicle power control. Matching the current battery electric quantity and the battery attenuation coefficient under the battery core temperature in real time according to the battery attenuation characteristic curve; calculating the current power of the hydraulic system according to the current of the electromagnetic valve of the main pump; calculating the calculation current of the main pump electromagnetic valve under the current battery attenuation coefficient according to the battery attenuation coefficient and the current hydraulic system power; and selecting the minimum value of the current main pump electromagnetic valve current and the calculated current of the main pump electromagnetic valve under the current battery attenuation coefficient as the current set current of the main pump electromagnetic valve for power limitation control of the electric engineering machine. The invention considers the influence of the temperature of the battery core on the attenuation of the battery, controls the power of the electric engineering machinery based on the attenuation degree of the current battery, can deal with the influence of the discharge attenuation of the battery on the performance of the whole machine in advance, effectively prolongs the service life of the battery, and stores electric quantity in advance so as to be convenient for charging and transferring.
Description
Technical Field
The invention belongs to the technical field of power control of electric vehicles, and particularly relates to a power limit control method and system for electric engineering machinery.
Background
In the prior art, in order to deal with the influence of the whole machine performance brought by battery attenuation in advance, the characteristic that the electric quantity below 20% begins to attenuate is adopted, the electric quantity of the battery is identified, the electric quantity is lower than 21% and considered to enter an attenuation period, the hydraulic power acceleration and the upper power limit are reduced in advance, the electric quantity is considered to exit the attenuation period when the electric quantity is higher than 22%, and the normal hydraulic power loading speed and the upper power limit are recovered. In the prior art, the influence of the cell temperature on the battery attenuation is not considered, and the power matching control strategy of the traditional excavator is not suitable for the control of the electric excavator.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a power limit control method and a power limit control system for an electric engineering machine, which consider the influence of the temperature of a battery core on the attenuation of the battery, carry out the power control of the electric engineering machine based on the attenuation degree of the current battery, can deal with the influence of the discharge attenuation of the battery on the performance of the whole machine in advance, effectively prolong the service life of the battery, store electric quantity in advance and facilitate charging and transition.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
in a first aspect, a power limit control method for an electrical working machine is provided, including: acquiring the current battery power, the battery core temperature and the current main pump electromagnetic valve current; matching the current battery electric quantity and the battery attenuation coefficient under the battery core temperature in real time according to the battery attenuation characteristic curve; calculating the current power of the hydraulic system according to the current of the electromagnetic valve of the main pump; calculating the calculation current of the main pump electromagnetic valve under the current battery attenuation coefficient according to the battery attenuation coefficient and the current hydraulic system power; and selecting the minimum value of the current main pump electromagnetic valve current and the calculated current of the main pump electromagnetic valve under the current battery attenuation coefficient as the current set current of the main pump electromagnetic valve for limiting the power of the electric engineering machine.
Further, the battery attenuation characteristic curve is fitted according to the battery discharge characteristics of different battery capacities and different cell temperatures.
Further, the calculating the current power of the hydraulic system according to the current of the main pump electromagnetic valve comprises: convert present main pump solenoid valve current into present main pump discharge capacity earlier, specifically do:
D1=Dmin+（I1-Imin）×（Dmax-Dmin）/(Imax-Imin) （1）
d1 represents the current main pump displacement, I1 represents the current main pump solenoid valve current, Dmax represents the main pump maximum displacement, Dmin represents the main pump minimum displacement, Imax represents the solenoid valve current under the main pump maximum displacement, and Imin represents the solenoid valve current under the main pump minimum displacement;
and then calculating the power of the current hydraulic system, specifically as follows:
N1=(P1+P2)×D1×S1/60 （2）
where N1 represents the current hydraulic system power, S1 represents the current motor speed,
p1 represents the current main pump 1 pressure value, and P2 represents the current main pump 2 pressure value.
Further, the calculating current of the main pump electromagnetic valve under the current battery attenuation coefficient is calculated according to the battery attenuation coefficient and the current hydraulic system power, and specifically includes: firstly, setting the hydraulic system power under the current battery damping coefficient Q1 to be N1 XQ 1, and then calculating the main pump displacement D2 corresponding to the current battery damping coefficient Q1 according to the formula N1 XQ 1= D2 XS 1X (P1+ P2)/60; and then calculating the calculated current I2 of the main pump electromagnetic valve under the current battery attenuation coefficient according to the following formula:
（Dmax-Dmin）/（Imax-Imin）=（D2-Dmin）/（I2-Imin） （3）。
in a second aspect, a power limitation control system for an electrical engineering machine is provided, including a complete machine controller, where the complete machine controller includes: the data acquisition module is used for acquiring the current battery power, the battery core temperature and the current of the main pump electromagnetic valve; the attenuation coefficient matching module is used for matching the current battery electric quantity and the battery attenuation coefficient under the battery core temperature in real time according to the battery attenuation characteristic curve; the power calculation module is used for calculating the current power of the hydraulic system according to the current of the main pump electromagnetic valve; the current calculation module is used for calculating the calculation current of the main pump electromagnetic valve under the current battery attenuation coefficient according to the battery attenuation coefficient and the current hydraulic system power; and the current setting module is used for selecting the minimum value of the current main pump electromagnetic valve current and the calculated current of the main pump electromagnetic valve under the current battery attenuation coefficient, and taking the minimum value as the current setting current of the main pump electromagnetic valve for limiting the power of the electric engineering machine.
And the battery management system is connected with the whole machine controller through a CAN bus and used for sending the current battery electric quantity and the current battery core temperature to the whole machine controller.
And the motor controller is connected with the complete machine controller through a CAN bus and used for sending the current motor rotating speed to the complete machine controller.
And the monitor is connected with the complete machine controller through a CAN bus and is used for displaying the current motor rotating speed, the current battery capacity, the battery core temperature and the hydraulic system parameters.
Compared with the prior art, the invention has the following beneficial effects: the method matches the current battery electric quantity and the battery attenuation coefficient under the battery core temperature in real time according to the battery attenuation characteristic curve; calculating the calculation current of the main pump electromagnetic valve under the current battery attenuation coefficient according to the battery attenuation coefficient and the current hydraulic system power; selecting the minimum value of the current main pump electromagnetic valve current and the calculated current of the main pump electromagnetic valve under the current battery attenuation coefficient as the current set current of the main pump electromagnetic valve for limiting the power of the electric engineering machinery; the influence of the battery core temperature on the battery attenuation is considered, the power control of the electric engineering machinery is carried out based on the attenuation degree of the current battery, the influence of the whole machine performance caused by the battery discharge attenuation can be dealt with in advance, the service life of the battery is effectively prolonged, and the electric quantity is reserved in advance to facilitate charging and transition.
Drawings
Fig. 1 is a control flow diagram of a power limit control method for an electrical engineering machine according to an embodiment of the present invention.
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.
The first embodiment is as follows:
as shown in fig. 1, a power limit control method for an electric working machine includes: acquiring the current battery power, the battery core temperature and the current of a main pump electromagnetic valve; matching the current battery electric quantity and the battery attenuation coefficient under the battery core temperature in real time according to the battery attenuation characteristic curve; calculating the current power of the hydraulic system according to the current of the electromagnetic valve of the main pump; calculating the calculation current of the main pump electromagnetic valve under the current battery attenuation coefficient according to the battery attenuation coefficient and the current hydraulic system power; and selecting the minimum value of the current main pump electromagnetic valve current and the calculated current of the main pump electromagnetic valve under the current battery attenuation coefficient as the current set current of the main pump electromagnetic valve for limiting the power of the electric engineering machine.
The specific steps of this example are as follows.
Step 1, the BCU receives the current battery power SOC1 and the current battery core temperature T1 which are sent by the BMS in real time.
And 2, acquiring current main pump actual pressure values P1 and P2 by a main oil way pressure acquisition unit, and acquiring current motor rotating speed S1 and current main pump electromagnetic valve current I1 which are sent by a motor controller MCU by a BCU (complete machine controller).
And 3, receiving the current battery power SOC1 and the battery core temperature T1 in the step 1, fitting a battery attenuation characteristic curve according to different battery powers and different battery discharge characteristics at different battery core temperatures in a program, and matching the current battery attenuation coefficient Q1 by the current SOC1 and the current T1 in real time according to the characteristic curves.
And 4, receiving the current numerical value in the step 2, converting the I1 into a current main pump displacement D1, D1= Dmin + (I1-Imin) × (Dmax-Dmin)/(Imax-Imin), and calculating current hydraulic system power N1= (P1+ P2). times.D 1 × S1/60.
And 5, according to the current battery attenuation coefficient Q1 in the step 3, setting the hydraulic power under the current characteristic to be N1 × Q1, calculating the current displacement D2 according to N1 × Q1= D2 × S1 × (P1+ P2)/60, and calculating the current I2 under the current attenuation coefficient according to (Dmax-Dmin)/(Imax-Imin) = (D2-Dmin)/(I2-Imin).
And 6, setting the current I = Min (I1, I2), namely, outputting the current of the current main pump electromagnetic valve and the minimum value of the calculated currents of the main pump electromagnetic valve under the current battery attenuation coefficient.
And 7, outputting the set current I to the main pump electromagnetic valve to serve as the set current of the current main pump electromagnetic valve, and limiting the power of the electric engineering machine.
The method matches the current battery electric quantity and the battery attenuation coefficient under the battery core temperature in real time according to the battery attenuation characteristic curve; calculating the calculation current of the main pump electromagnetic valve under the current battery attenuation coefficient according to the battery attenuation coefficient and the current hydraulic system power; selecting the minimum value of the current main pump electromagnetic valve current and the calculated current of the main pump electromagnetic valve under the current battery attenuation coefficient as the current set current of the main pump electromagnetic valve for limiting the power of the electric engineering machinery; the influence of the battery core temperature on the battery attenuation is considered, the power control of the electric engineering machinery is carried out based on the attenuation degree of the current battery, the influence of the whole machine performance caused by the battery discharge attenuation can be dealt with in advance, the service life of the battery is effectively prolonged, and the electric quantity is reserved in advance so as to facilitate charging and transition.
Example two:
based on the power limitation control method of the electric engineering machine according to the first embodiment, the first embodiment provides a power limitation control system of the electric engineering machine, which includes a monitor, a complete machine controller BCU, a motor controller MCU, a battery management system BMS, a hydraulic main pump solenoid valve, a main oil path pressure acquisition unit, and an electric wire harness and a hydraulic rubber hose for connecting various hydraulic and electric elements.
The complete machine controller BCU is used for realizing and calculating a complete machine control strategy and outputting driving current to the electromagnetic valve of the hydraulic main pump; the complete machine controller BCU comprises: the data acquisition module is used for acquiring the current battery power, the battery core temperature and the current of a main pump electromagnetic valve; the attenuation coefficient matching module is used for matching the current battery electric quantity and the battery attenuation coefficient under the battery core temperature in real time according to the battery attenuation characteristic curve; the power calculation module is used for calculating the current power of the hydraulic system according to the current of the main pump electromagnetic valve; the current calculation module is used for calculating the calculation current of the main pump electromagnetic valve under the current battery attenuation coefficient according to the battery attenuation coefficient and the current hydraulic system power; and the current setting module is used for selecting the minimum value of the current main pump electromagnetic valve current and the calculated current of the main pump electromagnetic valve under the current battery attenuation coefficient, and taking the minimum value as the current setting current of the main pump electromagnetic valve for limiting the power of the electric engineering machine.
The monitor is connected with the BCU through a CAN bus and is used for displaying the current motor rotating speed, the current battery electric quantity, the battery core temperature and the hydraulic system parameters.
The motor controller MCU is connected with the complete machine controller BCU through a CAN bus and is used for sending the current motor rotating speed to the complete machine controller BCU.
The battery management system BMS is connected with the BCU through a CAN bus and used for sending the current battery electric quantity and the current battery core temperature to the BCU.
The hydraulic main pump electromagnetic valve is used for responding to the BCU driving current of the whole machine controller to control the output displacement of a main pump; and the main oil circuit pressure acquisition unit is used for receiving the working pressure value of the main oil circuit and is connected with the complete machine controller BCU through an electric wire harness.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A power limit control method for an electric construction machine, comprising:
acquiring the current battery power, the battery core temperature and the current main pump electromagnetic valve current;
matching the current battery electric quantity and the battery attenuation coefficient under the battery core temperature in real time according to the battery attenuation characteristic curve;
calculating the current power of the hydraulic system according to the current of the electromagnetic valve of the main pump;
calculating the calculation current of the main pump electromagnetic valve under the current battery attenuation coefficient according to the battery attenuation coefficient and the current hydraulic system power;
and selecting the minimum value of the current main pump electromagnetic valve current and the calculated current of the main pump electromagnetic valve under the current battery attenuation coefficient as the current set current of the main pump electromagnetic valve for limiting the power of the electric engineering machine.
2. The method of claim 1, wherein the battery attenuation characteristic curve is fit according to battery discharge characteristics at different cell temperatures and different battery capacities.
3. The power limit control method of an electrical working machine according to claim 1, wherein the calculating a present hydraulic system power from a present main pump solenoid valve current comprises:
convert present main pump solenoid valve current into present main pump discharge capacity earlier, specifically do:
D1=Dmin+（I1-Imin）×（Dmax-Dmin）/(Imax-Imin) （1）
d1 represents the current main pump displacement, I1 represents the current main pump solenoid valve current, Dmax represents the main pump maximum displacement, Dmin represents the main pump minimum displacement, Imax represents the solenoid valve current under the main pump maximum displacement, and Imin represents the solenoid valve current under the main pump minimum displacement;
and then calculating the power of the current hydraulic system, specifically:
N1=(P1+P2)×D1×S1/60 （2）
where N1 represents the current hydraulic system power, S1 represents the current motor speed, P1 represents the current main pump 1 pressure value, and P2 represents the current main pump 2 pressure value.
4. The power limit control method of an electrical engineering machine according to claim 1, wherein the calculating current of the main pump solenoid valve under the current battery damping coefficient is calculated according to the battery damping coefficient and the current hydraulic system power, and specifically comprises: firstly, setting the hydraulic system power under the current battery damping coefficient Q1 to be N1 XQ 1, and then calculating the main pump displacement D2 corresponding to the current battery damping coefficient Q1 according to the formula N1 XQ 1= D2 XS 1X (P1+ P2)/60; and then calculating the calculated current I2 of the main pump electromagnetic valve under the current battery attenuation coefficient according to the following formula:
（Dmax-Dmin）/（Imax-Imin）=（D2-Dmin）/（I2-Imin） （3）。
5. a power limit control system of an electric construction machine, comprising a complete machine controller, the complete machine controller comprising:
the data acquisition module is used for acquiring the current battery power, the battery core temperature and the current of the main pump electromagnetic valve;
the attenuation coefficient matching module is used for matching the current battery electric quantity and the battery attenuation coefficient under the battery core temperature in real time according to the battery attenuation characteristic curve;
the power calculation module is used for calculating the current power of the hydraulic system according to the current of the main pump electromagnetic valve;
the current calculation module is used for calculating the calculation current of the main pump electromagnetic valve under the current battery attenuation coefficient according to the battery attenuation coefficient and the current hydraulic system power;
and the current setting module is used for selecting the minimum value of the current main pump electromagnetic valve current and the calculated current of the main pump electromagnetic valve under the current battery attenuation coefficient, and taking the minimum value as the current setting current of the main pump electromagnetic valve for limiting the power of the electric engineering machine.
6. The power limit control system of an electrical engineering machine according to claim 5, further comprising a battery management system, wherein the battery management system is connected to the complete machine controller through a CAN bus, and is configured to send the current battery level and the cell temperature to the complete machine controller.
7. The power limit control system of an electrical engineering machine according to claim 5, further comprising a motor controller, wherein the motor controller is connected to the overall machine controller via a CAN bus, and is configured to send a current motor speed to the overall machine controller.
8. The power limit control system of an electrical engineering machine according to claim 5, further comprising a monitor, wherein the monitor is connected to the complete machine controller through a CAN bus, and is configured to display a current motor speed, a current battery level, a cell temperature, and a hydraulic system parameter.
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