CN115230486B - Energy control system and method for low-speed tractor of range-extending wharf - Google Patents
Energy control system and method for low-speed tractor of range-extending wharf Download PDFInfo
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- CN115230486B CN115230486B CN202210916522.0A CN202210916522A CN115230486B CN 115230486 B CN115230486 B CN 115230486B CN 202210916522 A CN202210916522 A CN 202210916522A CN 115230486 B CN115230486 B CN 115230486B
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- 238000000034 method Methods 0.000 title claims abstract description 27
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- 238000011084 recovery Methods 0.000 claims description 22
- 238000004891 communication Methods 0.000 claims description 9
- 230000000007 visual effect Effects 0.000 claims description 9
- 238000005265 energy consumption Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000001939 inductive effect Effects 0.000 claims 1
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- 238000010586 diagram Methods 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
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Classifications
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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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- 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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2045—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for optimising the use of energy
-
- 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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
- B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
- B60L50/62—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles charged by low-power generators primarily intended to support the batteries, e.g. range extenders
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/02—Dynamic electric resistor braking
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses an energy control system of a low-speed tractor of a range-extending wharf, which comprises a central control module, an engine, a generator, a driver, a motor, a charger, a battery pack, an engine start-stop control module, a battery pack management system BMS, a positioning information receiving device and a container detection device, wherein the central control module is connected with the engine; the invention also provides an energy control method of the low-speed tractor of the extended-range wharf, which comprises the following steps: analyzing the vehicle positioning information to judge whether to enter a boxing waiting area; judging whether braking is stopped; shutting down the engine and powering the drive from the battery pack; judging whether a container is installed or not; starting an engine, a generator and a motor, starting and accelerating to leave a boxing waiting area; judging whether to accelerate to a speed threshold value or not; the battery pack stops supplying power and the generator supplies power to the motor independently; judging whether the constant speed is reached; whether a container is installed. The invention improves the energy conversion efficiency of the extended range wharf low-speed tractor in the wharf operation transportation process.
Description
Technical Field
The invention relates to the technical field of dock loading and unloading transportation scheduling and new energy automobile control, in particular to an energy control system and method of a range-extending type dock low-speed tractor.
Background
The transportation flow of the range-extending wharf low-speed tractor corresponding to each container is developed between two lifting devices, such as a shore bridge-field bridge, a portal crane-field bridge, a stacker-shore bridge and the like, and is limited to closed roads such as harbors and the like.
The container loading and unloading transportation process comprises a heavy-load transportation state and an idle-load transportation state, and the two transportation processes are respectively from vehicle starting, accelerating, driving at a constant speed, braking, stopping, waiting (the front vehicle finishes loading and unloading), and slowly driving to a loading and unloading area at a short distance, so that the two processes form a cycle, and each cycle operation time is about 10 minutes.
Starting a diesel engine to charge after the SOC of a power battery pack of a traditional extended range wharf low-speed tractor is lower than a lower limit value, and ending the charging after the SOC reaches an upper limit value, wherein an energy management scheme cannot be matched with the operation and transportation flow of the extended range wharf low-speed tractor; in addition, the traditional range-extending low-speed container tractor energy control scheme adopts low-power charging, and the energy of the power battery pack is mostly from waiting and short-distance slow driving periods with lower engine efficiency.
As shown in fig. 2 of the specification, the container entering mode of the existing wharf container loading and unloading transportation field is as follows: the lines from serial number ① to serial number ④ are in a full vehicle state, and the lines from serial number ⑤ to serial number ⑧ are in a no-load vehicle state; the container departure mode of the existing wharf container loading and unloading transportation field is as follows: the lines from number ① to number ④ are in a vehicle no-load state, and the lines from number ⑤ to number ⑧ are in a vehicle full-load state. The driving route of the container entering port mode is from the shore to the yard, and the driving route of the container exiting port mode is from the yard to the shore.
Disclosure of Invention
In view of the above, in order to solve the problems in the prior art, the invention provides an energy control system and an energy control method for a low-speed tractor of an extended-range wharf, which are used for improving the energy conversion efficiency of the low-speed tractor of the extended-range wharf in a wharf operation transportation process, enhancing the starting power of the low-speed tractor of the extended-range wharf under a heavy load condition and avoiding the exhaust pollution generated by an engine when the low-speed tractor of the extended-range wharf is queued under an idle condition.
The invention solves the problems by the following technical means:
The invention provides an energy control system of a low-speed tractor of an extended range wharf, which is applied to the low-speed tractor of the extended range wharf, and comprises a central control module, an engine, a generator, a driver, a motor, a charger, a battery pack, an engine start-stop control module, a battery pack management system BMS, a positioning information receiving device and a container detection device; the central control module is respectively in communication connection with the engine start-stop control module, the battery pack management system BMS, the positioning information receiving device and the container detection device; the motor is in transmission connection with the generator, the output end of the charger is electrically connected with the battery pack, and the battery pack management system BMS is electrically connected with the battery pack and the charger respectively; the driver is respectively and electrically connected with the generator, the input end of the charger, the battery pack and the motor; the engine start-stop control module is in communication connection with the engine;
the central control module is used for controlling all parts connected with the central control module so as to control the energy of the wharf low-speed tractor; the engine is used for acting on the generator; the generator is used for providing electric energy for the motor through the driver and providing electric energy for the battery pack through the driver and the charger; the charger is used for charging the battery pack according to battery electric quantity information obtained by the battery pack management system BMS, or recovering or consuming electric energy passing through the driver; the driver is used for processing the input current so as to obtain the current suitable for the motor and the charger; the battery pack is used for storing energy and providing electric energy for the driver; the motor is used for converting electric energy obtained from the driver into mechanical energy for driving the wheels to rotate; the engine start-stop control module is used for controlling the start-stop of the engine according to the control signal of the central control module; the battery pack management system BMS is used for managing charge and discharge of the battery pack; the positioning information receiving device is used for acquiring vehicle positioning information; the container detection device is used for detecting whether the wharf low-speed tractor is provided with a container.
Further, the driver processes the first current provided by the generator to obtain a second current to input to the motor, and obtains a third current to input to the charger.
Further, the driver includes a rectifier and an inverter; the rectifier is electrically connected with the generator, the inverter and the charger respectively; the rectifier is used for rectifying the alternating current provided by the generator into direct current provided for the inverter and the charger; the inverter is used for inverting the direct current provided by the rectifier into the alternating current for driving the motor; the first current is alternating current output from a generator; the second current is alternating current output by the inverter.
Further, the third current is direct current provided by a rectifier; the charger sequentially inverts, high-frequency transforms and rectifies the third current.
Further, the charger comprises an energy recovery module and a charging module; the energy recovery module is used for recovering or consuming energy according to the battery electric quantity information obtained by the battery pack management system BMS and the voltage signal of the connecting circuit between the rectifier and the inverter; the charging module is used for charging the battery pack according to a voltage signal of a connecting circuit between the rectifier and the inverter and according to battery electric quantity information obtained by the battery pack management system BMS; the system further includes a first diode, a unidirectional thyristor, and a second diode; the output anode of the rectifier is electrically connected with the anode of the first diode and the anode of the unidirectional thyristor respectively; the negative electrode of the rectifier is electrically connected with the negative electrode of the energy recovery module, the negative electrode of the charging module, the negative electrode of the battery pack and the negative electrode of the inverter respectively; the cathode of the first diode is electrically connected with the input anode of the charging module; the positive electrode of the inverter is electrically connected with the cathode of the unidirectional thyristor and the cathode of the second diode respectively; the anode of the second diode is electrically connected with the anode of the battery pack.
Further, the energy recovery module is also connected with a brake resistor, and the brake resistor is used for assisting the energy recovery module in energy consumption.
Further, the positioning information receiving device is a satellite positioner or an RFID card used for matching RFID induction positioning; or the positioning information receiving device is a positioning information wireless receiving device, and the system also comprises a visual identification device, wherein the positioning information wireless receiving device is in wireless communication with the visual identification device; the visual recognition device is used for recognizing the license plate number of the wharf low-speed tractor entering the designated loading and unloading area, so that the vehicle positioning information is acquired and transmitted to the central control module by the positioning information wireless receiving device.
The invention also provides an energy control method of the extended range wharf low-speed tractor, which is realized by the energy control system of the extended range wharf low-speed tractor, and comprises the following steps:
S1, analyzing vehicle positioning information to judge whether the extended range wharf low-speed tractor enters a designated boxing waiting area, if so, executing S2, otherwise, continuing S1;
s2, judging whether the vehicle stops braking, if so, executing S3, otherwise, continuing executing S2;
s3, turning off the engine, supplying power to the driver by the battery pack and then executing S4;
s4, detecting and judging whether the wharf low-speed tractor is provided with a container, if yes, executing S5, otherwise, continuing executing S4;
S5, starting an engine, a generator and a motor, starting a wharf low-speed tractor, accelerating the wharf low-speed tractor to leave a designated boxing waiting area, and then executing S6;
s6, judging whether the wharf low-speed tractor accelerates to a specified speed threshold, if so, executing S7, otherwise, continuing S6;
S7, stopping power supply of the battery pack, independently supplying power to the motor by the generator to drive the vehicle, and then executing S8;
S8, judging whether the vehicle reaches a constant-speed running state, if so, charging the battery pack with redundant energy in the driver through a charger in the constant-speed state, otherwise, continuing to execute the S8; s9, executing until the range-extending low-speed container tractor enters the designated unloading waiting area;
S9, detecting and judging whether the wharf low-speed tractor is provided with a container, if yes, continuing to execute the S9, otherwise, starting to drive away from a specified unloading waiting area by the range-extending low-speed container tractor.
Further, in S9, when it is detected that the dock low speed tractor has no container, the battery pack stops supplying power and the generator alone supplies power to the motor to drive the vehicle;
The method further comprises the steps of:
s10, judging whether the vehicle reaches a uniform speed running state after the range-extending low-speed container tractor drives away from a designated unloading waiting area, if so, charging the battery pack with redundant energy in the driver through a charger in the uniform speed state, otherwise, continuing to execute S10; until the range-extending low-speed container tractor reenters the designated boxing waiting area.
Further, the method is applied to a wharf container lifting and transporting area, wherein the wharf container lifting and transporting area comprises a first operation area on the shore, a second operation area on the shore, a first operation area on a storage yard, a second operation area on the storage yard, a first road area and a second road area; the first operation area and the second operation area are arranged side by side transversely, and a shore crane is arranged between the first operation area and the second operation area; the first operation area of the storage yard and the second operation area of the storage yard are transversely arranged side by side, and a storage yard crane is arranged between the first operation area of the storage yard and the second operation area of the storage yard; a first road area is arranged between the first operation area on the bank side and the first operation area of the storage yard at a longitudinal interval, and a second road area is arranged between the second operation area on the bank side and the second operation area of the storage yard at a longitudinal interval;
When the shore crane, the yard crane and the range-extended wharf low-speed tractor are in a container port entering mode, the designated boxing waiting area in S1 and S5 is a first operation area on the shore, a second operation area on the shore and a container loading and unloading area below the shore crane, the range-extended low-speed container tractor positioned in the second operation area on the shore, the second road area or the second operation area on the yard is provided with a container, the range-extended low-speed container tractor positioned in the first operation area on the yard, the first road area or the first operation area on the shore is provided with a container, and the designated boxing waiting area in S8 and S9 is a container loading and unloading area below the first operation area on the yard, the second operation area on the yard and the yard crane;
when the shoreside crane, the yard crane and the extended range wharf low speed tractor are in a container departure mode, the designated container waiting area in S1 and S5 is a container loading and unloading area under the yard crane, the extended range low speed container tractor positioned in the shoreside second operation area, the second road area or the yard second operation area is used for unloading containers, the extended range low speed container tractor positioned in the yard first operation area, the first road area or the shoreside first operation area is used for loading containers, and the designated container unloading and waiting area in S8 and S9 is a container loading and unloading area under the shoreside first operation area, the shoreside second operation area or the shoreside crane.
Compared with the prior art, the invention has the following beneficial effects:
The invention solves the problems that the energy conversion efficiency is low because the traditional energy control scheme of the low-speed tractor of the range-extending wharf mainly relies on the SOC state and the vehicle speed to start and stop the engine.
The invention solves the problem that the energy transmission path of the traditional extended-range hybrid power has low duty ratio of the path 'engine-generator-motor' with the highest energy conversion rate.
The invention solves the problem that the engine is frequently started and stopped when the vehicle in the traditional technical scheme waits in an operation area and slowly runs in a short distance, and reduces the occurrence times of the engine starting to charge the battery only.
Compared with the traditional technical scheme, the invention reduces the time duty ratio of the working condition of only charging the power battery pack after the engine is started, and increases the time duty ratio of the working condition of simultaneously charging the power battery pack under the condition of medium and low load of the engine when the extended range wharf low-speed tractor runs.
The invention improves the accuracy of the energy recovery intervention time of the low-speed tractor of the extended range wharf.
The energy of the battery pack is obtained from the light load stage and the kinetic energy recovery of the vehicle, the power battery pack is mainly used for standby and short-distance slow running, the energy consumption is low, the power generators are all involved in the starting and accelerating stage, the energy transmission path of the engine-generator-power battery pack-motor is low in duty ratio, the energy saving rate is high, and the service life of the power battery pack is long.
The invention can identify whether the range-extending low-speed container tractor is in a waiting and short-distance slow running state, and reduce the power generation duty ratio of the motor under the condition of low power utilization rate or overhigh engine load.
The invention starts energy recovery in a non-loading and unloading area (road) and prevents frequent intervention of energy recovery from influencing driving experience.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the energy control system of the low speed tractor for an extended range dock according to the present invention;
FIG. 2 is a schematic top view of a quay container handling and transport area in accordance with the present invention;
FIG. 3 is a flow chart of the method of energy control of an extended range dock low speed tractor of the present invention;
reference numerals illustrate:
A central control module-23; an engine-22; a generator-10; chargers-13, 15; drivers-11, 16; battery pack-17; motor-21; an engine start-stop control module 24; battery management system BMS-12; positioning information receiving device 25; container detection device-26; rectifier-11; an inverter-16; a first diode, D18; unidirectional thyristor-D19; a second diode, D20; brake resistance-14; an energy recovery module-15; a charging module-13; the first operation area of the bank side-7, 8; shore crane-100; a second operation area of the bank side, namely 1; a first operation area of the storage yard-5; storage yard crane-200; a second operation area of the storage yard, 4,3; a first road area-6; second road area-2.
Detailed Description
In order to make the above objects, features and advantages of the present invention more comprehensible, the following detailed description of the technical solution of the present invention refers to the accompanying drawings and specific embodiments. It should be noted that the described embodiments are only some embodiments of the present invention, and not all embodiments, and that all other embodiments obtained by persons skilled in the art without making creative efforts based on the embodiments in the present invention are within the protection scope of the present invention.
It should be appreciated that the orientation or positional relationship indicated by the terms "top," "bottom," and the like are based on the orientation or positional relationship shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or elements being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
The terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", or a third "may explicitly or implicitly include one or more such feature.
Examples
As shown in fig. 1, the present embodiment proposes an energy control system for a low-speed tractor of an extended range terminal, which is applied to the low-speed tractor of the extended range terminal, and includes a central control module 23, an engine 22, a generator 10, drivers 11, 16, a motor 21, chargers 13, 15, a battery pack 17, an engine start-stop control module 24, a battery pack management system BMS12, a positioning information receiving device 25 and a container detection device 26; the central control module 23 is respectively in communication connection with an engine start-stop control module 24, a battery pack management system BMS12, a positioning information receiving device 25 and a container detection device 26; the motor 22 is in transmission connection with the generator 10, the output ends of the chargers 13, 15 are electrically connected with the battery pack 17, and the battery pack management system BMS12 is electrically connected with the battery pack 17 and the chargers 13, 15 respectively; the drivers 11, 16 are electrically connected with the input ends of the generator 10, the chargers 13, 15, the battery pack 17 and the motor 21 respectively; the engine start-stop control module 24 is in communication with the engine 22;
The central control module 23 is used for controlling each component connected with the central control module so as to perform energy control on the wharf low-speed tractor; the engine 22 is used for applying work to the generator 10; the generator 10 is used to supply electric power to the motor 21 via the drives 11, 16 and to supply electric power to the battery pack 17 via the drives 11, 16 and the chargers 13, 15; the chargers 13, 15 are used for charging the battery pack 17 according to the battery charge information obtained by the battery pack management system BMS12, or also recovering or consuming the electric energy passing through the drivers 11, 16; drivers 11, 16 are used to process the input current to obtain a current suitable for motor 21 and chargers 13, 15; the battery pack 17 is used for storing energy and providing electric energy to the drives 11, 16; the electric motor 21 is used for converting the electric energy obtained from the drives 11, 16 into mechanical energy for driving the wheels in rotation; the engine start-stop control module 24 is used for controlling the start-stop of the engine 22 according to the control signal of the central control module 23; the battery pack management system BMS12 is configured to manage charge and discharge of the battery pack 17; the positioning information receiving device 25 is used for acquiring vehicle positioning information; the container detection device 26 is used to detect whether a quay low speed tractor is equipped with a container.
Further in this embodiment, the drivers 11, 16 process the first current provided by the generator 10 to obtain a second current for input to the motor 21 and a third current for input to the chargers 13, 15.
Further in this embodiment, the drivers 11, 16 include a rectifier 11 and an inverter 16; the rectifier 11 is electrically connected with the generator 10, the inverter 16 and the chargers 13 and 15 respectively; the rectifier 11 is used for rectifying the alternating current provided by the generator 10 into direct current provided to the inverter 16 and the chargers 13, 15; the inverter 16 is for inverting the direct current supplied from the rectifier 11 into the alternating current for driving the motor 21; the first current is an alternating current output from the generator 10; the second current is an alternating current output from the inverter 16.
Further in this embodiment, the third current is dc power provided by the rectifier 11; the chargers 13, 15 sequentially perform inversion, high-frequency transformation, and rectification processing on the inputted third current.
Further in this embodiment, the chargers 13, 15 include an energy recovery module 15 and a charging module 13; the energy recovery module 15 is used for recovering or consuming energy according to the voltage signal of the connection circuit between the rectifier 11 and the inverter 16 and the battery power information obtained by the battery management system BMS 12; the charging module 13 is used for charging the battery pack 17 according to a voltage signal of a connection circuit between the rectifier 11 and the inverter 16 and according to battery capacity information obtained by the battery pack management system BMS 12; the system further comprises a first diode D18, a unidirectional thyristor D19 and a second diode D20; the output anode of the rectifier 11 is electrically connected with the anode of the first diode D18 and the anode of the unidirectional thyristor D19 respectively; the negative electrode of the rectifier 11 is respectively and electrically connected with the negative electrode of the energy recovery module 15, the negative electrode of the charging module 13, the negative electrode of the battery pack 17 and the negative electrode of the inverter 16; the cathode of the first diode D18 is electrically connected with the input anode of the charging module 13; the positive electrode of the inverter 16 is electrically connected with the cathode of the unidirectional thyristor D19 and the cathode of the second diode D20 respectively; the anode of the second diode D20 is electrically connected with the anode of the battery 17; specifically, when only the battery pack 17 is driven and the generator 22 is not operated, the unidirectional thyristor D19 is not turned on, and the charger is not operated; when the generator 10 is driven, the unidirectional thyristors D19 are turned on, whether the chargers 13, 15 are charged or not is controlled by the battery pack management system BMS12, the connection circuit (or bus) between the rectifier 11 and the inverter 16 cannot directly charge the battery due to the presence of the second diode D20, meanwhile, the voltages of the battery pack 17 and the chargers 13, 15 are lower than the voltage of the rectifier 11, and the battery pack 17 and the chargers 13, 15 cannot output current to the outside; the battery pack 17 and the generator 10 are driven together, the generator 10 operates, the unidirectional thyristor D19 does not act, and under the condition of heavy load, the power of the motor 21 exceeds the power of the chargers 13 and 15, namely, the chargers 13 and 15 and the battery pack 17 supply power for the inverter 16 together; the unidirectional thyristor D19 is controlled by the central control module 23 to be turned on only when the single motor 21 is driven; the energy recovery module 15 operates when detecting that the bus voltage is too high in the regenerative braking process, the battery pack 17 is charged when the SOC of the battery pack 17 is low, and the braking resistor 14 consumes energy when the SOC of the battery pack 17 is high;
in this embodiment, the energy recovery module 15 is further connected to a braking resistor 14, and the braking resistor 14 is used for assisting the energy recovery module 15 in energy consumption.
Further, in this embodiment, the positioning information receiving device 25 is a satellite positioner or an RFID card for matching with RFID induction positioning; or the positioning information receiving device 25 is a positioning information wireless receiving device, and the system further comprises a visual identification device, wherein the positioning information wireless receiving device is in wireless communication with the visual identification device; the visual recognition device is used for recognizing the number of the dock low-speed tractor entering the designated loading and unloading area, so that the vehicle positioning information is acquired and transmitted to the central control module 23 by the positioning information wireless receiving device.
As shown in fig. 3, the present embodiment further provides a method for controlling the energy of the low-speed tractor of the extended-range wharf, which is implemented by the energy control system of the low-speed tractor of the extended-range wharf, and includes the following steps:
s1, analyzing vehicle positioning information to judge whether the extended range wharf low-speed tractor enters a designated boxing waiting area, if so, executing S2, otherwise, continuing S1;
s2, judging whether the vehicle stops braking, if so, executing S3, otherwise, continuing executing S2;
S3, the engine 22 is turned off, the driver 11, 16 is powered by the battery pack 17, and then S4 is executed;
s4, detecting and judging whether the wharf low-speed tractor is provided with a container, if yes, executing S5, otherwise, continuing executing S4;
S5, starting the engine 22, the generator 10 and the motor 21, starting and accelerating the dock low-speed tractor to leave a designated boxing waiting area, and then executing S6;
s6, judging whether the wharf low-speed tractor accelerates to a specified speed threshold, if so, executing S7, otherwise, continuing S6;
S7, the battery pack 17 stops the power supply, and the motor 21 is individually supplied with power by the generator 10 to drive the vehicle, and then S8 is performed;
S8, judging whether the vehicle reaches a constant-speed running state, if so, charging the battery pack 17 with redundant energy in the drivers 11, 16 through the chargers 13, 15 in the constant-speed state, otherwise, continuing to execute S8; s9, executing until the range-extending low-speed container tractor enters the designated unloading waiting area;
S9, detecting and judging whether the wharf low-speed tractor is provided with a container, if yes, continuing to execute the S9, otherwise, starting to drive away from a specified unloading waiting area by the range-extending low-speed container tractor.
In this embodiment, when the battery power information SOC detected by the battery management system BMS12 is higher than a first SOC threshold value and the voltage signal of the connection circuit between the rectifier 11 and the inverter 16 is higher than a first voltage threshold value, other energy storage devices are required to perform energy recovery or energy consumption, and the braking resistor 14 is used to perform energy consumption; when the battery charge information SOC detected by the battery management system BMS12 is lower than a second SOC threshold value and the voltage signal of the connection circuit between the rectifier 11 and the inverter 16 is higher than a second voltage threshold value, the chargers 13, 15 perform charging of the battery pack 17.
In the embodiment, in S5, the battery pack 17 is electrically connected on-line all the time before and after starting the engine 22, the generator 10 and the motor 21.
Further in this embodiment, in S9, when it is detected that the dock low speed tractor has no container, the battery pack 17 stops supplying power and the generator 10 alone supplies power to the motor 21 to drive the vehicle;
The method further comprises the steps of:
S10, judging whether the vehicle reaches a uniform speed running state after the range-extending low-speed container tractor drives away from a designated unloading waiting area, if so, charging the battery pack 17 with redundant energy in the drivers 11, 16 through the chargers 13, 15 in the uniform speed state, otherwise, continuing to execute S10; until the range-extending low-speed container tractor again enters the designated boxing waiting area (i.e., the loop execution S1).
As shown in fig. 2 and 3, in this embodiment, the method is further applied to a quay container unloading and transporting area, where the quay container unloading and transporting area includes a first working area 7,8, a second working area 1, a first working area 5, second working areas 4,3, a first road area 6 and a second road area 2; the first operation areas 7,8 and the second operation area 1 are arranged side by side transversely, and a shore crane 100 is arranged between the first operation areas 7,8 and the second operation area 1; the first operation area 5 of the storage yard and the second operation areas 4,3 of the storage yard are transversely arranged side by side, and a storage yard crane 200 is arranged between the first operation area 5 of the storage yard and the second operation areas 4,3 of the storage yard; a first road area 6 is arranged between the first operation areas 7 and 8 on the bank side and the first operation area 5 on the storage yard at a longitudinal interval, and a second road area 2 is arranged between the second operation area 1 on the bank side and the second operation areas 4 and 3 on the storage yard at a longitudinal interval;
When the shore crane 100, the yard crane 200 and the extended range wharf low-speed tractor are in the container port-entering mode, the designated boxing waiting area in S1 and S5 is a container loading and unloading area under the shore first operation area 7,8, the shore second operation area 1 and the shore crane 100, the extended range low-speed container tractor positioned in the shore second operation area 1, the second road area 2 or the yard second operation area 4,3 is already loaded with a container, the extended range low-speed container tractor positioned in the yard first operation area 5, the first road area 6 or the shore first operation area 7,8 is already unloaded, and the designated boxing waiting area in S8 and S9 is a container loading and unloading area under the yard first operation area 5, the yard second operation area 4,3 and the yard crane 200;
When the shore crane 100, the yard crane 200 and the extended range quay low-speed tractor are in the container departure mode, the designated container waiting area in S1 and S5 is the container loading and unloading area under the yard first operation area 5, the yard second operation areas 4 and 3 and the yard crane 200, the extended range low-speed container tractor positioned in the shore second operation area 1, the second road area 2 or the yard second operation areas 4 and 3 has unloaded the container, the extended range low-speed container tractor positioned in the yard first operation area 5, the first road area 6 or the shore first operation areas 7 and 8 has loaded the container, and the designated container unloading and waiting area in S8 and S9 is the container loading and unloading area under the shore first operation areas 7 and 8, the shore second operation areas 1 and the shore crane 100.
Specifically, the vehicle starting link described in the background art refers to that after the container state is changed, the vehicle starts to drive away, and belongs to the lower part of the crane between the serial numbers ④ and ⑤ or between the serial numbers ⑧ and ① shown in the attached figure 2 of the specification. In practice, the dock is complicated, the engine 22 is turned off after stopping in the area of the serial number ③④⑦⑧ and is driven by the battery pack 17 at each position of each link from the serial number ① to the serial number ⑧ until the container state changes, and the other areas are driven by the engine 22 except for long-time stopping waiting workers; when the vehicle starts, under the ideal working condition, the position of the container is under the crane between the routes from the serial number ④ to the serial number ⑤ or between the serial number ⑧ and the serial number ① after the state change; in the region ④⑧, only the battery pack 17 supplies power, and when no container is arranged on the vehicle in the other region, the vehicle is started and accelerated by a generator; when a container exists, the generator and the battery start together to accelerate; when the vehicle is braked, the positions of the sequence number ③ and the sequence number ⑦ are generally possible in practice, and the flow can be braked and restarted at all the positions.
The partial working engineering of the invention is as follows:
After the positioning information receiving device 25 detects that the low-speed tractor of the range-extending wharf enters the loading and unloading area, the engine 22 is turned off after the vehicle stops, and the power is supplied to the battery pack 17 until the hoisting is completed, and the engine is not started at this stage, so that energy is saved.
The container detection device 26 detects that the container state is changed (namely, the crane lifts the container), the extended range low-speed tractor is provided with a condition of driving away from the loading and unloading area, an engine (concretely a diesel engine) is started at the moment, and if the tractor is provided with a container after loading and unloading is completed, the generator 10 and the battery pack 17 simultaneously drive the motor 21 to start and accelerate driving away from the loading and unloading area; if the tractor is not provided with a box after the loading and unloading is finished, the generator independently drives the motor 21 to start and accelerate to drive away from the loading and unloading area; the container inspection device 26 not only detects whether lifting is completed, but also adjusts the power output scheme according to whether a box exists.
When the alternating current of the generator 10 is changed into direct current, the rectifier 11 outputs higher voltage, the battery pack 17 is at low potential relative to the output of the rectifier 11, the current flows from the output end of the rectifier 11 to the battery direction and the inverter 16, meanwhile, the circuit of the battery pack 17 is provided with the second diode D20, and the current of the rectifier 11 cannot be directly supplied to the battery pack 17. At this time, the low-potential battery 17 cannot output current to the high potential (i.e., the output terminal of the rectifier 11 and the input terminal of the inverter 16), i.e., the battery 17 cannot perform work to the outside. This process is only load-to-high voltage selection, with selective logic but no control circuitry (i.e., using the principle of direct current charge flow from high to low voltage). When no generator 10 ac power is changed to dc, only the voltage of the battery pack 17 is output to the inverter 16.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (5)
1. An energy control system of a low-speed tractor of an extended range wharf is applied to the low-speed tractor of the extended range wharf, and is characterized by comprising a central control module (23), an engine (22), a generator (10), drivers (11, 16), a motor (21), chargers (13, 15), a battery pack (17), an engine start-stop control module (24), a battery pack management system BMS (12), a positioning information receiving device (25) and a container detection device (26); the central control module (23) is respectively in communication connection with the engine start-stop control module (24), the battery pack management system BMS (12), the positioning information receiving device (25) and the container detection device (26); the motor (22) is in transmission connection with the generator (10), the output ends of the chargers (13, 15) are electrically connected with the battery pack (17), and the battery pack management system (BMS) (12) is electrically connected with the battery pack (17) and the chargers (13, 15) respectively; the drivers (11, 16) are respectively and electrically connected with the input ends of the generator (10), the chargers (13, 15), the battery pack (17) and the motor (21); the engine start-stop control module (24) is in communication connection with the engine (22);
the central control module (23) is used for controlling each part connected with the central control module so as to control the energy of the wharf low-speed tractor; the engine (22) is used for acting on the generator (10); the generator (10) is used for supplying electric energy to the motor (21) by means of the drivers (11, 16) and also to the battery pack (17) by means of the drivers (11, 16) and the chargers (13, 15); the charger (13, 15) is used for charging the battery pack (17) according to battery power information obtained by the battery pack management system (12), or recovering or consuming the electric energy passing through the driver (11, 16); a driver (11, 16) for processing the input current to obtain a current suitable for the motor (21) and the charger (13, 15); the battery pack (17) is used for storing energy and providing electric energy for the drivers (11, 16); the electric motor (21) is used for converting electric energy obtained from the drivers (11, 16) into mechanical energy for driving the wheels to rotate; the engine start-stop control module (24) is used for controlling the start-stop of the engine (22) according to the control signal of the central control module (23); the battery pack management system BMS (12) is used for managing the charge and discharge of the battery pack (17); positioning information receiving means (25) for acquiring vehicle positioning information; the container detection device (26) is used for detecting whether the wharf low-speed tractor is provided with a container or not;
-said driver (11, 16) processes the first current supplied by the generator (10) to obtain a second current to be input to the motor (21) and a third current to be input to the charger (13, 15);
The drive (11, 16) comprises a rectifier (11) and an inverter (16); the rectifier (11) is electrically connected with the generator (10), the inverter (16) and the chargers (13, 15) respectively; the rectifier (11) is used for rectifying alternating current provided by the generator (10) into direct current provided to the inverter (16) and the chargers (13, 15); an inverter (16) for inverting the direct current supplied from the rectifier (11) into an alternating current for driving the motor (21); the first current is an alternating current output from a generator (10); the second current is alternating current output by the inverter (16);
The third current is direct current provided by a rectifier (11); the charger (13, 15) sequentially inverts, high-frequency transforms and rectifies the third current;
The charger (13, 15) comprises an energy recovery module (15) and a charging module (13); the energy recovery module (15) is used for recovering or consuming energy according to a voltage signal of a connecting circuit between the rectifier (11) and the inverter (16) and battery electric quantity information obtained by the battery pack management system BMS (12); the charging module (13) is used for charging the battery pack (17) according to a voltage signal of a connecting circuit between the rectifier (11) and the inverter (16) and according to battery capacity information obtained by the battery pack management system BMS (12); the system further comprises a first diode (D18), a unidirectional thyristor (D19) and a second diode (D20); the output anode of the rectifier (11) is electrically connected with the anode of the first diode (D18) and the anode of the unidirectional thyristor (D19) respectively; the negative electrode of the rectifier (11) is electrically connected with the negative electrode of the energy recovery module (15), the negative electrode of the charging module (13), the negative electrode of the battery pack (17) and the negative electrode of the inverter (16) respectively; the cathode of the first diode (D18) is electrically connected with the input anode of the charging module (13); the positive electrode of the inverter (16) is electrically connected with the cathode of the unidirectional thyristor (D19) and the cathode of the second diode (D20) respectively; the anode of the second diode (D20) is electrically connected with the anode of the battery pack (17).
2. The extended range dock low-speed tractor energy control system of claim 1, wherein the energy recovery module (15) is further connected to a braking resistor (14), and the braking resistor (14) is used for assisting the energy recovery module (15) in energy consumption.
3. The extended range wharf low speed tractor energy control system of claim 1, wherein the positioning information receiving device (25) is a satellite positioner or an RFID card for RFID inductive positioning; or the positioning information receiving device (25) is a positioning information wireless receiving device, and the system also comprises a visual identification device, wherein the positioning information wireless receiving device is in wireless communication with the visual identification device; the visual recognition device is used for recognizing the license plate number of the dock low-speed tractor entering the designated loading and unloading area, so that the vehicle positioning information is acquired and transmitted to the central control module (23) by the positioning information wireless receiving device.
4. A method for controlling the energy of a low speed tractor for an extended range terminal, which is realized by the energy control system for the low speed tractor for the extended range terminal according to any one of claims 1 to 3, and is characterized in that the method comprises the following steps:
S1, analyzing vehicle positioning information to judge whether the extended range wharf low-speed tractor enters a designated boxing waiting area, if so, executing S2, otherwise, continuing S1;
s2, judging whether the vehicle stops braking, if so, executing S3, otherwise, continuing executing S2;
s3, turning off the engine (22) and supplying power to the drivers (11, 16) by the battery pack (17) and then executing S4;
s4, detecting and judging whether the wharf low-speed tractor is provided with a container, if yes, executing S5, otherwise, continuing executing S4;
S5, starting an engine (22), a generator (10) and a motor (21), starting a wharf low-speed tractor, accelerating the wharf low-speed tractor to leave a designated boxing waiting area, and then executing S6;
s6, judging whether the wharf low-speed tractor accelerates to a specified speed threshold, if so, executing S7, otherwise, continuing S6;
S7, the battery pack (17) stops supplying power, and the generator (10) supplies power to the motor (21) alone to drive the vehicle, and then S8 is executed;
S8, judging whether the vehicle reaches a constant-speed running state, if so, charging the battery pack (17) with redundant energy in the drivers (11, 16) through the chargers (13, 15) in the constant-speed state, otherwise, continuing to execute the S8; s9, executing until the range-extending low-speed container tractor enters the designated unloading waiting area;
S9, detecting and judging whether the wharf low-speed tractor is provided with a container, if yes, continuing to execute the S9, otherwise, starting to drive away from a specified unloading waiting area by the range-extending low-speed container tractor;
in S9, when the dock low-speed tractor is detected to have no container, the battery pack (17) stops supplying power, and the generator (10) singly supplies power to the motor (21) to drive the vehicle;
The method further comprises the steps of:
S10, after the range-extending low-speed container tractor drives away from a designated unloading waiting area, judging whether the vehicle reaches a uniform speed running state, if so, charging the battery pack (17) with redundant energy in the drivers (11, 16) through chargers (13, 15) in the uniform speed state, otherwise, continuing to execute S10; until the range-extending low-speed container tractor reenters the designated boxing waiting area.
5. The extended range terminal low speed tractor energy control method of claim 4, applied to a terminal container handling and transport area comprising a shore first operation area (7, 8), a shore second operation area (1), a yard first operation area (5), a yard second operation area (4, 3), a first road area (6) and a second road area (2); the shore first operation areas (7, 8) and the shore second operation area (1) are transversely arranged side by side, and a shore crane (100) is arranged between the shore first operation areas (7, 8) and the shore second operation area (1); the first operation area (5) and the second operation areas (4, 3) are transversely arranged side by side, and a yard crane (200) is arranged between the first operation area (5) and the second operation areas (4, 3); a first road area (6) is arranged between the first operation areas (7, 8) on the shore and the first operation area (5) of the storage yard at a longitudinal interval, and a second road area (2) is arranged between the second operation area (1) on the shore and the second operation areas (4, 3) of the storage yard at a longitudinal interval;
When the shore crane (100), the yard crane (200) and the range-extending wharf low-speed tractor are in a container port entering mode, the designated boxing waiting area in S1 and S5 is a container loading and unloading area below the shore first operation area (7, 8), the shore second operation area (1) and the shore crane (100), the range-extending low-speed container tractor positioned in the shore second operation area (1), the second road area (2) or the yard second operation area (4, 3) is filled with containers, the range-extending low-speed container tractor positioned in the yard first operation area (5), the first road area (6) or the shore first operation area (7, 8) is unloaded, and the designated boxing waiting area in S8 and S9 is a container loading and unloading area below the yard first operation area (5), the yard second operation area (4, 3) and the yard crane (200);
When the shoreside crane (100), the yard crane (200) and the range-extended dock low-speed tractor are in a container departure mode, the designated boxing waiting area in S1 and S5 is a container loading and unloading area below the yard first operation area (5), the yard second operation areas (4, 3) and the yard crane (200), the range-extended low-speed container tractor positioned in the shoreside second operation area (1), the second road area (2) or the yard second operation areas (4, 3) is unloaded, the range-extended low-speed container tractor positioned in the yard first operation area (5), the first road area (6) or the shoreside first operation areas (7, 8) is loaded with containers, and the designated boxing waiting area in S8 and S9 is a container loading and unloading area below the shoreside first operation areas (7, 8), the shoreside second operation areas (1) and the shoreside crane (100).
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