CN115697752A - Method and apparatus in an electric mining machine - Google Patents
Method and apparatus in an electric mining machine Download PDFInfo
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- CN115697752A CN115697752A CN202180039251.9A CN202180039251A CN115697752A CN 115697752 A CN115697752 A CN 115697752A CN 202180039251 A CN202180039251 A CN 202180039251A CN 115697752 A CN115697752 A CN 115697752A
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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
- B60L1/00—Supplying electric power to auxiliary equipment of vehicles
- B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
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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
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
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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
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The present disclosure relates to a method, a computer program product, an inverter control device, a power system and a mining machine. A method is provided that is performed in an inverter control apparatus included in a power system of an electric mining machine. The method includes obtaining an input from an inverter operable in a plurality of operating modes, wherein the input includes a first operating mode of the plurality of operating modes of the inverter, and wherein the first operating mode is one of a battery traction operating mode, a battery charging mode, an energy dump mode, a no battery traction operating mode, an on-board grid mode, and a battery high power drive operating mode. The method further comprises the following steps: selecting a second operation mode from the plurality of operation modes based on the obtained input, wherein the second operation mode is an operation mode different from the first operation mode; and activating a second operating mode of the inverter, wherein activating the second operating mode comprises operating the inverter with a set of parameters associated with the second operating mode.
Description
Technical Field
The present disclosure relates to systems in an electric mining machine. In particular, the present disclosure relates to methods and apparatus for inverter control in a mobile electric mining machine configured to perform high power operations. The disclosure also relates to a mining machine and a corresponding computer program configured to cause the method to be performed.
Background
The daily operations of mining typically include the excavation cycle of transportation, drilling, bolting, and blasting. Mining machines such as loaders, haulers, dump trucks, face drills, production drills, rock bolters, cable bolters, and concrete injection machines are configured to perform such operations. Mining machines require considerable power in performing the operations listed and during transportation to and from the operating site. To support the complex power requirements of various operations, the mining machine is configured to receive power from the grid during stationary operations, and to perform other operations using the built-in rechargeable energy storage system, i.e., batteries, such as transferring drives to/from an operating position. Accordingly, it is desirable to configure the mining machine to support various consumer connection modes of the mining machine, which correspond to AC powered operation and DC powered operation.
Existing solutions for power supply of such consumer connected modes require a plurality of power converters, i.e. AC/DC converters or inverters, each configured to provide power from a respective power source to the connected consumer. One inverter may be configured to adapt input power from an AC grid to grid-powered charging operations, while another inverter may be employed when performing high-power operations that drive one or more power tools from a battery. Thus, existing solutions require that one inverter be configured for each miner operation. However, to improve security, it may be desirable to end a first operation before enabling the next operation. Furthermore, as the complexity and variety of the various power supply operations increase, the large number of inverters resulting from existing solutions will occupy too much space in the limited space of the mining machine. Accordingly, there is a need for improved power supply in an electric mining machine and improved inverter control in an electric mining machine.
Disclosure of Invention
It is therefore an object of the present disclosure to provide a method, computer program product, inverter control device, power system and mining machine which seek to mitigate, alleviate or eliminate all or at least some of the above-mentioned disadvantages of the currently known solutions.
This and other objects are achieved by a method, a computer program product, an inverter control device, a power system and a mining machine as defined in the appended claims. The term "exemplary" is to be understood in this context as serving as an example, instance, or illustration.
According to a first aspect of the present disclosure, there is provided a method performed in an inverter control apparatus comprised in a power system of a mobile electric mining machine. The electric mining machine is configured to perform high power operations that drive one or more power tools. The power system includes a grid connection, such as an AC grid connection, an optional battery, at least one electric traction motor, at least one electric drive motor configured to drive one or more power tools of the mining machine, an inverter control device, and an inverter configured to operate in one of a plurality of operating modes, each operating mode associated with a set of parameters in the inverter. The method includes obtaining an input from the inverter, wherein the input includes a first operating mode of a plurality of operating modes of the inverter, and wherein the first operating mode is one of a battery traction operating mode, a battery charging mode, an energy dump mode, a no battery traction operating mode, an on-board grid mode, and a battery high power drive operating mode. The method also includes selecting a second operating mode from the plurality of operating modes based on the obtained input, wherein the second operating mode is a different operating mode than the first operating mode, and activating a transition mode in the inverter before activating the second operating mode of the inverter. Activating the second operating mode includes operating the inverter with a set of parameters associated with the second operating mode.
The advantages of the proposed method are: a single inverter is reconfigurable for use in multiple operating modes, supporting various consumer connection modes of the mining machine. Configuring a single inverter to operate in any of a plurality of operating modes eliminates the need for multiple inverters, thereby reducing cost and space in the power system of the mining machine.
The proposed method allows the operator to select a desired operation mode of the single inverter. The operator may select any of a plurality of operating modes, for example, via a graphical user interface provided to the operator. Furthermore, the proposed method allows for an automatic mode selection, wherein the inverter control device of the inverter selects the desired operation mode of the inverter based on the output power and/or the priority level assigned to each operation mode of the inverter.
In some embodiments, the plurality of operating modes further includes a transition mode. The transition mode in the inverter may be activated before the second operation mode is activated. The transition mode is associated with one or more parameters of safe mode operation of the inverter.
In some embodiments, the method further comprises selecting the first operating mode or another operating mode of the inverter from a plurality of operating modes, and activating the transition mode before reactivating the selected first operating mode or activating the selected another operating mode.
In some embodiments, selecting the second operating mode from the plurality of operating modes includes selecting a transition mode when an abnormality in an input obtained from the inverter is determined.
The introduction of the transition mode thus provides the advantage of being able to make a safe transition between the two high power consumption modes, but also provides a safe fallback mode in case of inverter failure. The safe mode operation of the inverter may be a non-operational connected state of the inverter.
In some embodiments, the second operating mode is one of a battery traction operating mode, a battery charging mode, an energy dump mode, a no battery traction operating mode, an on-board grid mode, and a battery high power drive operating mode.
According to a second aspect of the present disclosure, there is provided a computer program product comprising a non-transitory computer readable medium having thereon a computer program comprising program instructions, the computer program being loadable into processing circuitry and configured to cause execution of the method according to the first aspect when the computer program is run by the processing circuitry.
According to a third aspect, there is provided an inverter control device for an electrical system of a mobile electric mining machine. The mobile electric mining machine is configured to perform high power operations that drive one or more power tools. The power system includes a grid connection, such as an AC grid connection, an optional battery, at least one electric traction motor, at least one electric drive motor configured to drive one or more power tools of the mining machine, an inverter control device, and an inverter configured to operate in one of a plurality of operating modes, each operating mode associated with a set of parameters in the inverter. The inverter control device further includes processing circuitry configured to obtain an input from the inverter, wherein the input comprises a first operating mode of a plurality of operating modes of the inverter, and wherein the first operating mode is one of a battery traction operating mode, a battery charging mode, an energy dump mode, a no battery traction operating mode, an on-board grid mode, and a battery high power drive operating mode. The processing circuitry is further configured to select a second operating mode from the plurality of operating modes based on the obtained input, wherein the second operating mode is a different operating mode than the first operating mode. The processing circuitry is further configured to: activating a transition mode in the inverter before activating the second operating mode, and activating the second operating mode of the inverter. Activating the second operating mode includes operating the inverter with a set of parameters associated with the second operating mode.
According to a fourth aspect, there is provided a power system including the inverter control device of the third aspect. The power system is included in a mobile powered mining machine configured to perform high power operations that drive one or more power tools. The power system comprises a grid connection, e.g. an AC grid connection, an optional battery, at least one electric traction motor, at least one electric drive motor configured to drive one or more electric tools of the mining machine, an inverter control device according to the third aspect, and an inverter configured to operate in one of a plurality of operating modes, each operating mode being associated with a set of parameters in the inverter.
In some embodiments, the power system further comprises a battery charger configured to charge a battery when receiving power over the grid connection.
According to a fifth aspect of the present disclosure, there is provided a mining machine configured to perform high power operations that drive one or more power tools. The mining machine comprises an electrical power system according to the fourth aspect.
In some embodiments, the high power operation is an at least partially stationary high power operation, such as a drilling or bolting operation, and wherein the mining machine is a drilling or bolting machine. Drilling rigs, such as surface drilling rigs and production drilling rigs, require particularly high peak power during high power operation of a borehole, and therefore benefit particularly well from the disclosed power system and associated methods.
Drawings
The foregoing will be apparent from the following more particular description of example embodiments, as illustrated in the accompanying drawings in which like reference characters refer to the same parts throughout the different views. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating example embodiments.
FIG. 1 illustrates a mining machine including a power system and an inverter control device according to the present disclosure;
FIG. 2 provides a flowchart representation of example method steps performed in an inverter control device;
fig. 3 discloses an example block diagram of a power system comprising an inverter control device; and
fig. 4 discloses an example block diagram of an inverter control device.
Detailed Description
Aspects of the present disclosure will be described more fully hereinafter with reference to the accompanying drawings. The apparatus and methods disclosed herein may, however, be embodied in many different forms and should not be construed as limited to the aspects set forth herein. Like reference symbols in the various drawings indicate like elements throughout.
The terminology used herein is for the purpose of describing particular aspects of the disclosure only and is not intended to be limiting of the invention. It should be emphasized that the term "comprises/comprising" when used in this specification is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps, components or groups thereof. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
Embodiments of the present disclosure will be described and illustrated more fully hereinafter with reference to the accompanying drawings. The solutions disclosed herein may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In some implementations and in accordance with some aspects of the present disclosure, the functions or steps noted in the block may occur out of the order noted in the operational illustrations. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Further, according to some aspects of the present disclosure, functions or steps noted in the blocks may be performed in continuous loop.
It will be understood that when the present disclosure is described in terms of a method, it may also be embodied in one or more processors and one or more memories coupled to the one or more processors, where the one or more memories store one or more programs that, when executed by the one or more processors, perform the steps, services, and functions disclosed herein.
In the following description of the exemplary embodiments, the same reference numerals denote the same or similar components.
Fig. 1 illustrates a mining machine 10 according to the present disclosure that includes one or more power tools 11 and a power system 12. The power system 12 includes a grid connection, such as an AC grid connection 13, through which the power system is configured to receive power from a power grid, such as a local AC grid, to power the mining machine. Thus, the mining machine is configured to perform high power operations, such as driving one or more power tools, when connected to an AC power grid. The power system is configured to provide power to one or more power tools 11 and to provide power to an optional battery. The battery may provide power to a traction system of the mining machine. Thus, the power system is configured to support one or more consumers, i.e. to drive one or more power tools and to provide power to the electric traction system. To support the complex power requirements of various operations, the mining machine is configured to receive power from the grid during stationary operations, and to perform other operations using the built-in rechargeable energy storage system, i.e., batteries, such as transferring drives to/from an operating position. Accordingly, it is desirable to configure the mining machine to support various consumer connection modes of the mining machine, which correspond to AC powered operation and DC powered operation.
A battery is a rechargeable battery that includes multiple battery cells organized into one or more battery sub-packs or multiple battery cells organized in a single battery pack.
The disclosed power system 12 includes a grid connection 13, a battery 15, at least one electric traction motor 16, at least one electric drive motor 17 configured to drive one or more electric tools of the mining machine, an inverter control device 13, and an inverter 14 configured to operate in a plurality of operating modes; each operating mode is associated with a set of parameters in the inverter. As previously mentioned, existing solutions for the power supply of mining machine consumers require a plurality of power converters, i.e. AC/DC converters or inverters; each power converter is configured to provide power from a respective power source to a connected consumer.
In the present disclosure, the term inverter is used to denote a current conversion device capable of AC/DC conversion, DC/AC conversion, AC/AC conversion, and DC/DC conversion.
In this disclosure, the term battery is used to denote a rechargeable energy storage device included in the power system of the mining machine. The term battery should be interpreted to mean any of a rechargeable energy storage such as a battery, a supercapacitor, a rechargeable fuel cell and a flywheel. It will also be understood that the term battery may reflect a plurality of rechargeable batteries co-located within the mining machine or a single battery unit comprising a plurality of battery units, wherein one or more of the plurality of battery units may define a rechargeable battery. In some examples, the battery is a lithium ion battery. Each battery is configured for use in a respective mining machine. Each battery is rechargeable and may include multiple battery cells organized into one or more battery sub-packs or multiple battery cells organized in a single battery pack. In accordance with the present disclosure, the inverter control device 13 includes processing circuitry configured to control the operation of the inverter. More specifically, the processing circuitry is configured to obtain an input from the inverter 14, wherein the input includes a first operating mode of a plurality of operating modes of the inverter, such as a consumer connection mode, and wherein the first operating mode is one of a battery traction operating mode, a battery charging mode, an energy dump mode, a no battery traction operating mode, an on-board grid mode, and a battery high power drive operating mode. The processing circuitry is further configured to: selecting a second operation mode from the plurality of operation modes based on the obtained input, wherein the second operation mode is an operation mode different from the first operation mode; and activating a second operating mode of the inverter, wherein activating the second operating mode comprises operating the inverter with a parameter set associated with the second operating mode, e.g. a preconfigured parameter set. In the context of the present disclosure, the set of parameters may include parameter settings for contactor sequencing, activating or deactivating contactors, which in turn enable or disable the optional battery 15, battery charger, traction motor, grid connection, and/or electrical connection between one or more power tools of the mining machine.
Thus, the single inverter is reconfigurable by means of the inverter control device for use in at least one of a battery traction mode of operation, a battery charging mode, an energy dump mode, a no battery traction mode of operation, an on-board grid mode, and a battery high power drive mode of operation. Furthermore, the same single inverter is also used when transitioning to a different operating mode, i.e. battery traction operating mode, battery charging mode, energy dump mode, non-battery traction operating mode, on-board grid mode and battery high power drive operating mode, or another mode such as another of the transition modes, which provides improved safety of operation of the mining machine when having a high power grid connection. An additional benefit of the ability to configure a single inverter to operate in any of a plurality of operating modes is that this eliminates the need for multiple inverters, associated components and wiring; thus reducing the cost and space of the power system of the mining machine.
In some examples, the power tool is actuated by a hydraulic drive system, such as by an electro-hydraulic actuator. In other examples, the power tool is directly driven by an electric drive motor, such as operating an electric impact tool. In some examples, the power tool includes one or more buckets, lift blades, truck beds, or any other power tool or device on a loader, transporter, or dump truck. In other examples, the power tools include impact tools such as bolters or drills and hydraulic attachment tools.
In some examples, the power system includes an interface to a mechanical control unit of the mining machine. Thus, control signals from the machine control unit of the mining machine may be used to select the inverter operating mode in the inverter control unit.
Mining machines such as loaders, haulers, dump trucks, and concrete sprayers may need to perform high power operations, such as at least partially stationary high power operations, and thus benefit from the disclosed power system. Bolting machines, such as rock bolting machines and cable bolting machines, and drilling machines, such as surface drilling machines and production drilling machines, mainly perform fixed high power operations and are therefore particularly suitable for having an electrical power system as described above and below. Thus, according to some aspects, the mining machine is a bolting machine or a drilling machine.
Multiple operating modes of the inverter may be supported by dynamically controlled electrical connections between the grid connection, the battery charger, the optional battery, the at least one traction motor, and the at least one motor powering the power tool of the mining machine. In some examples, the at least one electric traction motor is an AC motor or a DC motor, and the at least one electric drive motor is an AC motor. In some examples, an auxiliary motor (AUX motor) such as a low power AC motor is included in the power system; the AUX motor is configured to pressurize and generate flow in steering, braking, cooling systems and drive hydraulic pumps, coolant circulation pumps, air conditioning compressors, and the like.
The battery charging mode may be driven by enabling the supply of power from a power grid, such as an AC power grid, to the battery charger. Accordingly, the disclosed power system may include a battery charger configured to charge a battery when receiving power over a grid connection. In other cases, during the batteryless traction mode of operation, the traction motors may be driven by enabling the supply of power from the AC power grid by way of the inverter. Similarly, the supply of power from the battery to the power tool may be enabled by disabling a power grid connection with the power tool and activating the electrical connection, whereby the inverter is able to provide AC power to the power tool. Thus, in addition to supporting various operating modes, the power system including the inverter provides a power safety buffer between the power grid and one or more consumers, i.e., battery chargers, and one or more power tools.
Turning to fig. 2, a flowchart representation of example method steps performed in an inverter control apparatus of an electric mining machine (e.g., in a power system included in the mining machine of fig. 1) is disclosed. Example method steps may be performed by an inverter control device included in a power system. The mining machine is configured to perform high power operations, such as at least partially stationary high power operations, that drive one or more power tools. The power system includes a grid connection, such as an AC grid connection, an optional battery, at least one electric traction motor, at least one electric drive motor configured to drive one or more power tools of the mining machine, an inverter control device, and an inverter configured to operate in one of a plurality of operating modes. A plurality of parameter sets corresponding to various operating modes may have been defined in the inverter, and the inverter device is configured to operate with any of these parameter sets in response to receiving information about the parameters or parameter sets, for example to switch between preconfigured parameter sets when receiving information identifying the operating mode. Thus, each inverter operation mode may be associated with a parameter set in the inverter, and upon receiving information about the operation mode to be applied, the inverter may activate the parameter set. In the context of the present disclosure, the set of parameters may include preconfigured parameter settings for contactor sequencing, activating or deactivating contactors, which in turn enable or disable the battery, battery charger, traction motor, grid connection, and/or electrical connection between one or more power tools of the mining machine. Further, the parameter set may include a timing parameter that determines a time interval that provides a forced delay in initiating the mode switch.
When the operation mode is initially defined, activation of the operation mode may include an operation of setting parameters in the inverter, for example by setting parameters in an inverter control and uploading the resulting parameter settings to the inverter to configure the inverter to operate in a plurality of predefined modes. In the following example, where the operating mode was previously exited or reactivated after a transition from the operating mode, the set of parameters would be accessible without the need to define specific parameters. In some examples, implementing the operational mode may also involve changing one or more parameters within the parameter set. Thus, while the inverter is configured to store parameter sets corresponding to various operating modes, changes within the parameter sets may also be implemented, for example, when changing or transitioning between operating modes.
The disclosed method performed in an inverter control device of a power system is a computer-implemented method comprising the steps of: obtaining S21 an input from the inverter, wherein the input comprises a first operating mode of a plurality of operating modes of the inverter, and wherein the first operating mode is one of a battery traction operating mode, a battery charging mode, an energy dump mode, a no battery traction operating mode, an on-board grid mode, and a battery high power drive operating mode. The various modes are further described and exemplified below.
Battery traction mode of operation: this mode represents a mode of transportation of the mining machine, for example to perform a battery-powered transportation operation.
Battery charging mode: this mode provides power to the battery charger, for example, while providing power to one or more power tools. The battery charging mode enables supply of DC power for charging the battery, the DC power being converted from AC power received through the AC power grid connection.
Energy dump mode: a configuration in which the inverter functions as a motor inverter to dump electric power. In this mode, for example, a portion of the power is dumped during a downhill transfer operation of the mining machine to remove excess power, or energy from the battery or battery sub-group is dumped prior to a replacement operation. During an energy dump operation, a simulation operation may be performed using one or more consumers in the miner.
Battery-less operation mode: the configuration of the mining machine is operated using grid power instead without a battery. This mode enables the consumer to operate without a battery, for example, converting power from an AC grid to operate the traction motors during a transfer operation of the mining machine.
An airborne power grid mode: configurations in which the inverter may be used as a grid inverter to power tools from or to provide battery power to the grid from or to battery power. Depending on the electrical load and system settings, this mode may allow for connecting the motors one after the other when connecting multiple motors to the grid. In this mode, one or more power tools are driven using battery power, grid power, or seamlessly switching between battery power and grid power. One or more high power rotary motors may be initially powered using battery power, while the frequency, phase and amplitude are synchronized with the grid. The grid power may then be connected and the battery power disconnected for further continued operation of the motor using only the grid power. The inverter control means may enable simultaneous battery power supply if the grid power for any reason cannot provide the required power.
Battery high power drive mode of operation: the configuration may be an extension of the energy dump mode; including a hydraulic pump and cooling for performing high power operation of the battery. In this mode, one or more power tools are driven using battery power. Examples include drilling or bolting using battery power, for example to power an impact tool using battery power. Other examples include loading, transporting, or dumping using battery power.
A second operation mode is selected S23 from a plurality of operation modes, such as the modes disclosed above, based on the obtained input, wherein the second operation mode is an operation mode different from the first operation mode. The method further comprises activating S24 a transition mode in the inverter, followed by activating S25 a second operation mode of the inverter. Activating the second operating mode includes operating the inverter with a parameter set associated with the second operating mode, such as a preconfigured parameter set.
In some examples, the operator may select the second mode of operation, such as any of a battery traction mode of operation, a battery charging mode, an energy dump mode, a no battery mode of operation, and a battery drilling mode, although automatic mode selection may also be enabled. Automatic mode selection may be based on an assigned mode priority level, as discussed further below. In some examples, manual mode selection may override automatic mode selection.
In some examples, the plurality of operating modes further includes a transition mode, wherein selecting the second operating mode may include selecting the transition mode. The transition mode may also be an intermediate security mode which is automatically activated before the selected second operation mode is activated, i.e. bridges the transition from the first operation mode to the selected second operation mode. In some cases, when the operator manually activates the second operating mode, the automatic activation of the transition mode will precede the manually-induced activation of the second operating mode. In some examples, the transition mode is associated with a set of parameters of a non-operational connected state of the inverter, i.e., with one or more parameters of a safe mode operation of the inverter. Thus, the introduction of such a transition mode may provide increased safety in operating the mining machine.
Thus, the inverter 108 may be configured to operate in the transition mode, for example, a few milliseconds before activating the second operating mode. The following sequence of operations may be performed to activate the transition mode from the battery charging mode.
In some examples, the input obtained from the inverter includes information reflecting a first mode of operation of the inverter. The first operating mode may be any one of a battery traction operating mode, a battery charging mode, a battery-less operating mode, a battery high power operating mode, an on-board grid mode, and an energy dump mode. In some examples, the battery charging mode is a default operating mode of the inverter; the default operating mode is the first operating mode. As mentioned, the inverter may be configured to store a plurality of predefined parameter sets corresponding to various operating modes of the inverter. Thus, each operating mode may be associated with a predefined set of parameters. For example, a default operating mode, such as a battery charging mode, is associated with a default set of parameters. The default parameter set may include minimum predetermined settings for voltage and time interval. For example, the predetermined voltage setting in the battery charging mode is a charging voltage of 23V, the lowest voltage setting may be 0V, the resolution is set to 0.1V, and the highest allowable voltage is set to 30V.
The default parameter settings may include voltage settings. Example parameter settings including predetermined values for voltage and/or time intervals for each mode of operation may be used, as shown in the following table.
In some examples, the method further comprises selecting the first operation mode of the inverter, i.e. re-selecting the first operation mode, or selecting another operation mode from a plurality of operation modes, and activating S24 the transition mode before re-activating the selected first operation mode or activating the selected another operation mode.
In some examples, the operating mode of the inverter may be selected and/or activated based on a priority level assigned to each of the plurality of operating modes. The priority levels enable the power system to prioritize and control operational mode transitions. The control system may be configured to automatically select and/or activate an operating mode, such as the second operating mode, based on the assigned priority level. For example, a battery charging mode may be assigned a first priority level, an energy dump mode may be assigned a second priority level, a no battery operation may be assigned a third priority level, and a battery high power driven operation mode may be assigned a fourth priority level, etc. When inverter 108 is operating in a first mode of operation, such as a battery charging mode, the power system may be allowed to automatically activate a second priority level mode of operation in response to receiving a request to deactivate the battery charging mode.
In some examples, the operating modes of the inverters may be prioritized according to prevailing conditions of the mining machine. For example, during a start-up operation of the mining machine, the power system may activate a default mode of the inverter.
In some examples, the operator or user may select and/or activate the second mode of operation. For example, a machine control system of the mining machine may include a Graphical User Interface (GUI) to receive user input from an operator selecting and/or activating the second operating mode. When the operational mode is enabled by manual selection through the GUI, the remaining modes may then be disabled. For example, when the operator enables the battery charging mode using the GUI, other modes may be disabled, such as the energy dump mode, the no battery operating mode, and the battery drilling mode.
| Mode(s) | Activation of | Disable |
| Battery charging | X | |
| Energy dump | X | |
| Battery-less operation | X | |
| High power operation of battery | X |
In some examples, all operating modes are disabled when transitioning between modes. When the operating mode is disabled, the inverter may be configured for a transition mode, such as an intermediate safe mode. The current active mode is disabled and the machine control system may be configured to select a default mode, such as a battery charging mode. When the default mode is disabled, the inverter control device may be configured to reset the inverter to the transition mode, i.e., to the safe mode with the random value parameter set.
Turning to fig. 3, an example implementation of the inverter control device 30 and associated mode selection 30a functionality is disclosed. In an example implementation, the inverter is connected to the grid through a grid connection module 32, for example by means of contactors, and to one or more battery packs through a battery connection module 33. Contactors 34 may also be provided to interconnect the inverter 31 with the charger module 35 and the motor module 36. In the disclosed example, the inverter 31 may be used in applications that are, for example, as a charger inverter during the first inverter mode 31a, and is reconfigurable for applications that are, for example, as a motor inverter during the second inverter mode 31 b. Accordingly, the disclosed inverter 31 can be reconfigured to operate in multiple operating modes 31a,31b \8230;, 31n to enable charging, energy dumping, battery power drilling, and battery-less operation. The purpose of mode selection is to prioritize, select and enable secure transitions between modes of operation. While the mode selection may be a fully automatic process performed by the inverter control device, the selection process may also involve, at least in part, operator control. In an example implementation, the operating modes include a battery traction operating mode, a battery charging mode, an energy dump mode, a battery-less operating mode, an on-board grid mode, and a battery high power operating mode. A transition mode may also be foreseen, which represents an operation mode when none of the above mentioned operation modes is selected and/or activated.
Example 1-automatic mode selection for Default Battery charging mode
The inverter control device may be configured to automatically select the battery charging mode when connecting the mining machine to the AC power grid. Selecting the charging mode includes changing the inverter settings according to a predetermined set of parameters, for example, via direct drive parameter access. The inverter control device may verify that the parameter set selection has been completed, i.e. that the parameters corresponding to the selected parameter set have been introduced for further inverter operation; when the verification is over, the inverter is now configured to operate in the battery charging mode. However, if any conditions required to activate the battery charging mode are not complete, the current active mode should be maintained, preferably keeping the inverter in the transition mode. After the battery charging mode is selected, a set of contactors 34 may be activated to enable the on-board battery charger function, and the calculated charging power setpoint may be passed to the inverter.
The transition mode may be activated to the intermediate safe mode when the inverter is operating in a battery charging mode (i.e. representing the first operating mode) and the energy dump mode needs to be activated as the second operating mode of the inverter 31. The following sequence of operations may be performed to activate the transition mode from the battery charging mode:
In another example, when the mode selection 30a has been activated in the inverter control device 30 and the inverter 31 is transitioned from the transition mode to the energy dump mode, the inverter control device 30 may perform the following sequence of operations:
Therefore, inverter control device 30 activates the energy dump mode in inverter 31 from the transition mode by performing the steps as mentioned above. In case, when inverter 31 operates in energy dump mode and transitions to battery charging mode, the transition mode may be activated to intermediate mode. The inverter control device may perform the following sequence of operations to activate the transition mode from the energy dump mode:
Fig. 4 discloses a block diagram illustrating an example inverter control device 40 for controlling inverter mode selection and activation in a power system of a mining machine. The inverter control unit comprises processing circuitry 41 configured to obtain an input from the inverter, wherein the input comprises a first operation mode of a plurality of operation modes of the inverter, and wherein the first operation mode is one of a battery traction operation mode, a battery charging mode, an energy dump mode, a no battery traction operation mode, and a battery high power drive operation mode. The processing circuitry is further configured to: selecting a second operation mode from the plurality of operation modes based on the obtained input, wherein the second operation mode is an operation mode different from the first operation mode; and activating a second operating mode of the inverter, wherein activating the second operating mode comprises operating the inverter with a set of parameters associated with the second operating mode.
Fig. 4 also illustrates an example computer program product 42 having a computer program comprising instructions thereon. The computer program product includes a computer readable medium, such as a Universal Serial Bus (USB) memory, a plug-in card, an embedded drive, or a Read Only Memory (ROM). The computer readable medium has stored thereon a computer program comprising program instructions. The computer program may be loaded into processing circuitry 41 comprised in the inverter control unit 40. When loaded into the processing circuitry 41, the computer program may be stored in a memory 41b associated with or included in the processing circuitry and executed by the processor 41 a. According to some embodiments, the computer program may perform method steps according to a method, for example as shown in fig. 3 or otherwise described herein, when the computer program is loaded into and executed by processing circuitry.
Thus, the computer program may be loaded into data processing circuitry, for example into processing circuitry 41 of fig. 4, and configured to cause implementation of inverter control in the power system of the mining machine to be performed.
The description of the example embodiments provided herein has been presented for purposes of illustration. It is not intended to be exhaustive or to limit example embodiments to the precise form disclosed; modifications and variations are possible in light of the above teachings or may be acquired from practice of various alternatives to the provided embodiments. The examples discussed herein were chosen and described to explain the principles and the nature of various example embodiments and its practical application to enable one skilled in the art to utilize the example embodiments in various ways and with various modifications as are suited to the particular use contemplated. The features of the embodiments described herein may be combined in all possible combinations for the source node, the target node, the corresponding methods and the computer program product. It should be understood that the example embodiments presented herein may be practiced in combination with each other.
The described embodiments and their equivalents may be implemented in software or hardware or a combination thereof. These embodiments may be performed by general purpose circuitry. Examples of general purpose circuitry include Digital Signal Processors (DSPs), central Processing Units (CPUs), co-processor units, field Programmable Gate Arrays (FPGAs), and other programmable hardware. Alternatively or additionally, embodiments may be performed by application specific circuitry (e.g., an Application Specific Integrated Circuit (ASIC)). For example, the general circuitry and/or the specific circuitry may be associated with or included in an apparatus, such as a wireless communication device or a network node.
Implementations may occur within an electronic device that includes apparatus, circuitry, and/or logic according to any of the implementations described herein. Alternatively or additionally, the electronic device may be configured to perform a method according to any embodiment described herein.
In general, all terms used herein should be interpreted according to their ordinary meaning in the relevant art, unless explicitly given and/or implied by the context in which the term is used.
Reference has been made herein to various embodiments. However, those skilled in the art will recognize many variations to the described embodiments that will still fall within the scope of the claims.
For example, the method embodiments described herein disclose example methods by performing the steps in a particular order. However, it should be appreciated that these sequences of events may occur in other orders without departing from the scope of the claims. Furthermore, even though some method steps have been described as being performed in sequence, the method steps may be performed in parallel. Thus, the steps of any method disclosed herein do not have to be performed in the exact order disclosed, unless one step is explicitly described as following or preceding another step and/or it is implied that one step must follow or precede another step.
In the same way, it should be noted that in the description of the embodiments, the division of the functional blocks into specific units is by no means intended to be limiting. Rather, these divisions are merely examples. A functional block described herein as a unit may be divided into two or more units. Moreover, functional blocks described herein as being implemented as two or more units may be combined into fewer (e.g., a single) unit.
Any feature of any embodiment disclosed herein may be applied to any other embodiment, where appropriate. Likewise, any advantage of any embodiment may be applied to any other embodiment, and vice versa.
In the drawings and specification, there have been disclosed exemplary aspects of the disclosure. However, many variations and modifications may be made to these aspects without substantially departing from the principles of the present disclosure. Accordingly, the present disclosure should be considered as illustrative and not restrictive, and should not be considered limited to the particular aspects discussed above. Accordingly, although specific terms are employed, they are used in a generic and descriptive sense only and not for purposes of limitation.
It is therefore to be understood that the details of the described embodiments are given by way of example only for the purpose of illustration and that all variations coming within the scope of the claims are intended to be embraced therein.
Claims (15)
1. A method performed in an inverter control device (13, 30, 40), the inverter control device (13, 30, 40) being included in a power system of a mobile electric mining machine configured to perform high power operation driving one or more power tools; the power system comprising a grid connection, an optional battery, at least one electric traction motor, at least one electric drive motor configured to drive one or more power tools of the mining machine, the inverter control device, and an inverter (14, 31) configured to operate in one of a plurality of operating modes, each operating mode being associated with a set of parameters in the inverter, wherein the method comprises:
-obtaining (S21) an input from the inverter, wherein the input comprises a first operation mode of a plurality of operation modes of the inverter, and wherein the first operation mode is one of a battery traction operation mode, a battery charging mode, an energy dump mode, a non-battery traction operation mode and a battery high power driving operation mode;
-selecting (S23) a second operation mode from the plurality of operation modes based on the obtained input, wherein the second operation mode is a different operation mode than the first operation mode;
-activating (S24) a transition mode in the inverter before activating the second operation mode; and
-activating (S25) a second operation mode of the inverter, wherein activating the second operation mode comprises operating the inverter with a set of parameters associated with the second operation mode.
2. The method of claim 1, wherein the high power operation is an at least partially fixed drilling or bolting operation.
3. The method of claim 1 or 2, wherein the plurality of operating modes further comprises a transition mode, and wherein the transition mode is associated with one or more parameters of safe mode operation of the inverter.
4. The method of claim 3, further comprising:
-selecting a first or a further operating mode of the inverter from the plurality of operating modes; and
-activating (S24) the transition mode before reactivating the selected first operation mode or activating the selected further operation mode.
5. The method of claim 4 or 5, wherein the transition mode of the inverter is associated with a set of parameters of a non-operational connection state of the inverter.
6. The method of any of claims 3-6, wherein selecting a second operating mode from the plurality of operating modes comprises: selecting the transition mode when an abnormality in an input obtained from the inverter is determined (S22).
7. The method of any of claims 1-6, wherein the second operating mode is one of a battery traction operating mode, a battery charging mode, an energy dump mode, a no battery traction operating mode, an on-board grid mode, and a battery high power drive operating mode.
8. The method of any one of the preceding claims, further comprising pre-configuring one or more parameter sets in the inverter for various operating modes.
9. A computer program product (42) comprising a non-transitory computer readable medium, having thereon a computer program comprising program instructions, the computer program being loadable into processing circuitry and configured to cause execution of the method according to any of claims 1 to 9 when the computer program is run by the processing circuitry (41).
10. An inverter control device (13, 30, 40), the inverter control device (13, 30, 40) being included in a power system (12) of a mobile electric mining machine (10), the mobile electric mining machine (10) being configured to perform high power operations driving one or more electric tools (11); the power system comprises a grid connection (13), an optional battery (15), at least one electric traction motor (16), at least one electric drive motor (17) configured to drive one or more power tools of the mining machine, the inverter control device (13, 30, 40), and an inverter (14, 31) configured to operate in one of a plurality of operating modes (31a, 31b, \8230, 31 n), each operating mode being associated with a set of parameters in the inverter, wherein the inverter control device comprises processing circuitry (41), the processing circuitry (41) being configured to:
-obtaining (S21) an input from the inverter, wherein the input comprises a first operation mode of a plurality of operation modes of the inverter, and wherein the first operation mode is one of a battery traction operation mode, a battery charging mode, an energy dump mode, a battery-less traction operation mode, an on-board grid mode and a battery high power drive operation mode;
-selecting (S23) a second operation mode from the plurality of operation modes based on the obtained input, wherein the second operation mode is a different operation mode than the first operation mode;
-activating (S24) a transition mode in the inverter before activating the second operation mode; and
-activating (S25) a second operation mode of the inverter, wherein activating the second operation mode comprises operating the inverter with a set of parameters associated with the second operation mode.
11. An electrical power system (12) of a mobile electric mining machine (10), the mobile electric mining machine (10) being configured to perform high power operations that drive one or more power tools (11); the power system comprises a grid connection (13), an optional battery (14), at least one electric traction motor (16), at least one electric drive motor (17) configured to drive one or more power tools of the mining machine, an inverter control device (13, 30, 40) according to claim 10, and an inverter (14, 31) configured to operate in one of a plurality of operating modes (31a, 31b, \ 8230;, 31 n), each operating mode being associated with a set of parameters in the inverter.
12. The power system of claim 11, further comprising a battery charger configured to charge a battery when receiving power over the grid connection.
13. The power system of claim 11 or 12, wherein the at least one electric traction motor is an AC or DC motor and the at least one electric drive motor is an AC motor.
14. A mining machine (10), the mining machine (10) being configured to perform high power operations driving one or more power tools (11), the mining machine (10) comprising an electrical power system (12) according to any one of claims 11 to 13.
15. The mining machine (10) according to claim 14, wherein the high power operation is an at least partially stationary drilling or bolting operation, and wherein the mining machine is a drilling or bolting machine.
Applications Claiming Priority (3)
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| SE2050682-0 | 2020-06-10 | ||
| PCT/SE2021/050464 WO2021251864A1 (en) | 2020-06-10 | 2021-05-17 | Method and arrangements in an electric mining machine |
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| CN115697752A true CN115697752A (en) | 2023-02-03 |
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| EP (1) | EP4164912A1 (en) |
| CN (1) | CN115697752A (en) |
| AU (1) | AU2021287623A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11955782B1 (en) | 2022-11-01 | 2024-04-09 | Typhon Technology Solutions (U.S.), Llc | System and method for fracturing of underground formations using electric grid power |
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| US20170267108A1 (en) * | 2016-03-18 | 2017-09-21 | Electro-Motive Diesel, Inc. | Power system for a locomotive |
| WO2019088899A1 (en) * | 2017-11-06 | 2019-05-09 | Epiroc Rock Drills Aktiebolag | Power system in a mining machine |
| CN110741526A (en) * | 2017-06-13 | 2020-01-31 | 多伦多大学管理委员会 | System and method for on-board fast charger |
| EP3640073A1 (en) * | 2018-10-15 | 2020-04-22 | Sandvik Mining and Construction Oy | Mining vehicle, and method for starting an ac electric motor of a mining vehicle |
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| CN103660967A (en) * | 2012-09-24 | 2014-03-26 | 通用电气公司 | Mobile transportation equipment with improved energy supplying mechanism and mobile transportation method |
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- 2021-05-17 AU AU2021287623A patent/AU2021287623A1/en active Pending
- 2021-05-17 WO PCT/SE2021/050464 patent/WO2021251864A1/en unknown
- 2021-05-17 CA CA3176121A patent/CA3176121A1/en active Pending
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Patent Citations (5)
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| US20170267108A1 (en) * | 2016-03-18 | 2017-09-21 | Electro-Motive Diesel, Inc. | Power system for a locomotive |
| CN110741526A (en) * | 2017-06-13 | 2020-01-31 | 多伦多大学管理委员会 | System and method for on-board fast charger |
| WO2019088899A1 (en) * | 2017-11-06 | 2019-05-09 | Epiroc Rock Drills Aktiebolag | Power system in a mining machine |
| CA3073012A1 (en) * | 2017-11-06 | 2019-05-09 | Epiroc Rock Drills Aktiebolag | Power system in a mining machine |
| EP3640073A1 (en) * | 2018-10-15 | 2020-04-22 | Sandvik Mining and Construction Oy | Mining vehicle, and method for starting an ac electric motor of a mining vehicle |
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| US11955782B1 (en) | 2022-11-01 | 2024-04-09 | Typhon Technology Solutions (U.S.), Llc | System and method for fracturing of underground formations using electric grid power |
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| EP4164912A1 (en) | 2023-04-19 |
| WO2021251864A1 (en) | 2021-12-16 |
| AU2021287623A1 (en) | 2022-10-13 |
| CA3176121A1 (en) | 2021-12-16 |
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