CN117895858A - Mining vehicle driving system, method, device, equipment and storage medium - Google Patents

Mining vehicle driving system, method, device, equipment and storage medium Download PDF

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Publication number
CN117895858A
CN117895858A CN202211222511.9A CN202211222511A CN117895858A CN 117895858 A CN117895858 A CN 117895858A CN 202211222511 A CN202211222511 A CN 202211222511A CN 117895858 A CN117895858 A CN 117895858A
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China
Prior art keywords
power
output power
voltage
output
power source
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Pending
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CN202211222511.9A
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Chinese (zh)
Inventor
梅文庆
刘辉荣
周志宇
胡家喜
刘海涛
付如愿
邱欣
唐勋路
申杰
韩志成
秦灿华
张文进
闫小宇
艾伍轶
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Zhuzhou National Engineering Research Center of Converters Co Ltd
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Zhuzhou National Engineering Research Center of Converters Co Ltd
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Application filed by Zhuzhou National Engineering Research Center of Converters Co Ltd filed Critical Zhuzhou National Engineering Research Center of Converters Co Ltd
Priority to CN202211222511.9A priority Critical patent/CN117895858A/en
Publication of CN117895858A publication Critical patent/CN117895858A/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02B—INTERNAL-COMBUSTION PISTON ENGINES; COMBUSTION ENGINES IN GENERAL
    • F02B63/00—Adaptations of engines for driving pumps, hand-held tools or electric generators; Portable combinations of engines with engine-driven devices
    • F02B63/04—Adaptations of engines for driving pumps, hand-held tools or electric generators; Portable combinations of engines with engine-driven devices for electric generators

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention belongs to the technical field of engineering machinery driving, and particularly relates to a mining truck driving system, a mining truck driving method, a mining truck driving device, a mining truck driving equipment and a mining truck storage medium. A mining truck drive system, comprising a drive motor, further comprising: at least two power sources; the plurality of power sources are the same type of power source or different types of power sources; the plurality of power sources at least comprise one fuel power source; and the electric energy output by the power sources supplies power to the driving motor through a common direct current bus. The application is realized by passing at least two different kinds of power sources; the power source at least comprises a fuel power source; each power source comprises at least two power sources; the electric energy output by the power sources supplies power to the driving motor through the common direct current bus to drive the mining vehicle to move. Solves the problems of high price and difficult maintenance of a large diesel engine.

Description

Mining vehicle driving system, method, device, equipment and storage medium
Technical Field
The invention belongs to the technical field of engineering machinery driving, and particularly relates to a mining truck driving system, a mining truck driving method, a mining truck driving device, a mining truck driving equipment and a mining truck storage medium.
Background
The application scenes of large mining vehicles and the like are generally closed and fixed scenes such as ports, mines and construction sites, the working condition and road condition of each day of operation are relatively fixed, and the vehicle is generally in a circulating operation mode, so that the vehicle is large in general carrying capacity, severe in application environment and common in ice, snow, muddy and wet road surfaces. Meanwhile, at present, heavy vehicles are mainly driven by an electric transmission system, and the electric transmission system has accurate vehicle driving output control performance; the main city of the electric drive system comprises: an engine, a generator, a traction converter and a wheel motor.
The mining truck with the load of more than 100t grade has the advantages that the engine power is 1200-3500 HP, the imported Kangming S and MTU engines are mostly adopted, the one-time purchase cost is high, the product supply period is long, the spare parts are high in price, and the product is limited by large-scale manufacturers abroad.
Disclosure of Invention
Aiming at the technical problems, the invention provides a mining truck driving system, a mining truck driving method, a mining truck driving device, a mining truck driving equipment and a mining truck storage medium. The application is realized by at least two power sources; the plurality of power sources are the same type of power source or different types of power sources; the plurality of power sources at least comprise one fuel power source; the electric energy output by the power sources supplies power to the driving motor through the common direct current bus to drive the mining vehicle to move. Solves the problems of high price and difficult maintenance of a large diesel engine.
In order to solve the technical problems, the technical scheme adopted by the invention comprises five aspects.
In a first aspect, a mining vehicle driving system is provided, including a driving motor, further including: at least two power sources; the plurality of power sources are the same type of power source or different types of power sources; the plurality of power sources at least comprise one fuel power source; and the electric energy output by the power sources supplies power to the driving motor through a common direct current bus.
In some embodiments, a mining vehicle driving method, adapted for use in a mining vehicle driving system as set forth in the first aspect, comprises: acquiring a target voltage for driving the driving motor; acquiring the actual voltage of the common direct current bus; and adjusting the actual output power of the driving motor to be a target output power according to the actual voltage and the target voltage.
In a second aspect, the present application proposes a mining vehicle driving method, which is applicable to the mining vehicle driving system according to the first aspect, and includes: acquiring a target voltage for driving the driving motor; acquiring the actual voltage of the common direct current bus; and adjusting the actual output power of the driving motor to be a target output power according to the actual voltage and the target voltage.
In some embodiments, the adjusting the actual output power of the drive motor to a target output power according to the actual voltage and the target voltage includes: acquiring a first preset relationship; determining a ratio of the actual voltage to the target voltage; determining an adjustment strategy for the actual output power according to the ratio and a first preset relation; determining target output power of the driving motor according to the adjustment strategy, and adjusting the actual output power to the target output power; the first preset relation comprises a corresponding relation between the ratio and the adjustment strategy.
In some embodiments, the method further comprises: acquiring a first output voltage of the fuel power source; and determining second output voltages of other power sources according to the target voltage and the first output voltage.
In some embodiments, the obtaining the first output voltage of the fuel power source includes: acquiring the current rotation speed of each fuel power source; determining the current output voltage of each fuel power source according to the current rotation speed; the first output voltage is determined from a plurality of the current output voltages.
In some embodiments, the determining the target output power of the drive motor according to the adjustment strategy includes: acquiring the total output power of all the power sources; and determining the target output power according to the adjustment strategy and the total output power.
In some embodiments, the total output power comprises: the first output power of the fuel power source and the rated output power of other power sources; the obtaining the total output power of all the power sources comprises the following steps: determining the current output power of each fuel power source according to the current output voltage of each fuel power source; determining the first output power of the fuel power source according to a plurality of the current output powers; the total output power is determined from the first output power and the rated output power.
In a third aspect, the present application proposes a mining truck driving device comprising: a first acquisition module for acquiring a target voltage for driving the driving motor; the second acquisition module is used for acquiring the actual voltage of the common direct current bus; and the first execution module is used for adjusting the actual output power of the driving motor to be the target output power according to the actual voltage and the target voltage.
A fourth aspect provides an electronic device comprising a memory storing a computer program and a processor implementing the steps of a mining vehicle driving method of any of the second aspects when the computer program is executed.
A fifth aspect provides a storage medium storing a computer program executable by one or more processors, the computer program operable to implement the steps of a mining truck driving method of any of the second aspects.
The invention has the beneficial effects that: the invention is realized by passing at least two different kinds of power sources; the power source at least comprises a fuel power source; each power source comprises at least two power sources; the electric energy output by the power sources supplies power to the driving motor through the common direct current bus to drive the mining vehicle to move. Solves the problems of high price and difficult maintenance of a large diesel engine.
Drawings
The scope of the present disclosure may be better understood by reading the following detailed description of exemplary embodiments in conjunction with the accompanying drawings. The drawings included herein are:
fig. 1 is a schematic structural diagram of a mining truck driving system according to an embodiment of the present disclosure;
fig. 2 is a flowchart of a mining vehicle driving method according to an embodiment of the present application;
fig. 3 is a schematic block diagram of a mining truck driving device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail with reference to the accompanying drawings, and the described embodiments should not be construed as limiting the present application, and all other embodiments obtained by those skilled in the art without making any inventive effort are within the scope of the present application.
In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is to be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments and can be combined with one another without conflict.
If a similar description of "first\second\third" appears in the application document, the following description is added, in which the terms "first\second\third" are merely distinguishing between similar objects and do not represent a particular ordering of the objects, it being understood that the "first\second\third" may be interchanged in a particular order or precedence, where allowed, so that the embodiments of the application described herein can be implemented in an order other than that illustrated or described herein.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the present application.
Example 1:
the mining truck with the load of more than 100t grade has the advantages that the engine power is 1200-3500 HP, the imported Kangming S and MTU engines are mostly adopted, the one-time purchase cost is high, the product supply period is long, the spare parts are high in price, and the product is limited by large-scale manufacturers abroad.
In view of the determination of the existence of the prior art, as shown in fig. 1, the present application provides a mining vehicle drive system. The driving system is suitable for mining vehicles.
A mining vehicle drive system comprising a drive motor 300, further comprising: at least two power sources 100; the plurality of power sources 100 are the same type of power source 100 or different types of power sources 100; at least one fuel power source 100 is included in the plurality of power sources 100; the electric power output by the power sources 100 supplies power to the driving motor through a common dc bus.
In order to overcome the defects of high one-time purchase cost, long product supply period, high spare part price, product limitation to large-scale manufacturers abroad and the like in the prior art. The drive system of the present application employs a variety of different types of power sources 100 to drive mining vehicles. With multiple power sources 100 of each type. And further includes a fuel power source 100. Wherein the fuel power source 100 includes: fuel engines and generators. Each fuel engine has a matched generator. The fuel engine herein refers to a diesel engine, a gasoline engine, or the like. Other power sources 100 may employ hydrogen fuel cells, power cells, supercapacitors, and the like.
In this application, the electric power output from each power source 100 is distributed to the driving motor 300 through the traction converter 200, so that the mining vehicle is driven. Wherein a common dc bus 400 is provided in the traction converter 200. The power output from each power source 100 is converted into dc power and output to the driving motor 300 together through the common dc bus 400. And further solves the problems of high price and difficult maintenance of the large diesel engine. The input modularization and miniaturization of different power units are realized.
Example 2:
in the mining vehicle driving system in embodiment 1, the input voltages of different power sources are changed along with the output of the fuel power source at the front end, and the output power of the driving motor at the rear end is related to conditions such as road conditions, so that under the condition that the driving motor encounters abrupt change of abrupt load power, the excessive pressure and the excessive current in the middle direct current link are easily caused, and potential safety hazards exist.
In view of the above problems, as shown in fig. 2, the present application provides a mining truck driving method, where the method is applied to an electronic device, and the electronic device may be a server, a mobile terminal, a computer, a cloud platform, or the like. The functions realized by the device data processing provided by the embodiment of the application can be realized by calling program codes by a processor of electronic equipment, wherein the program codes can be stored in a computer storage medium, and the mining truck driving method comprises the following steps:
step S1: and obtaining a target voltage for driving the driving motor.
When the mining vehicle is driven, the output power of the driving motor, namely the total output power of the combined output of the power sources, needs to be adjusted according to the power required to be output by the driving motor. The power is output to the common direct current bus, and a target voltage is required to be set for power supply safety because of the current upper limit of the cable.
Step S2: and acquiring the actual voltage of the common direct current bus.
However, in the running process of the mining vehicle, the actual output power is affected by the load, that is, the actual output power is affected by the external environment, for example, when stones or slopes are encountered, the driving motor of the mining vehicle is required to be driven continuously to increase the output torque, and at the moment, the corresponding rotation speed of the driving motor is reduced, so that the current is increased. In the case of a constant input power of the driving load, an increase in the output power will result in a decrease of the actual voltage on the common dc bus.
Step S3: and adjusting the actual output power of the driving motor to be a target output power according to the actual voltage and the target voltage.
Because the response speed of the fuel power source is slower, the output power of the fuel power source cannot follow the output power of the driving motor, and the condition of overcurrent of the common direct current bus can occur. Therefore, in order to ensure the stability and safety of the driving system, the actual output power of the driving motor needs to be adjusted according to the actual voltage and the target voltage, and the actual output power is adjusted to the target output power so as to ensure that the burning condition caused by overcurrent does not occur.
So in some embodiments, step S3 "adjust the actual output power of the driving motor to the target output power according to the actual voltage and the target voltage" includes:
step S31: and acquiring a first preset relation.
Step S32: a ratio of the actual voltage to the target voltage is determined.
Step S33: and determining an adjustment strategy for the actual output power according to the ratio and a first preset relation.
Step S34: and determining target output power of the driving motor according to the adjustment strategy, and adjusting the actual output power to the target output power.
When the mining vehicle is in operation, the actual voltage fluctuates due to the change of the road surface condition, wherein the actual output power of the driving motor is only selected to be regulated when the fluctuation condition exceeds a certain degree. Wherein the determination of the ripple condition is determined by the ratio of the actual voltage to the target voltage. And under the condition that the edges in the first preset relation comprise various ratios, the corresponding regulation strategy for the actual output power of the driving motor is adopted. When the ratio of the actual power supply to the target voltage is greater than or equal to 0.9, the actual output power of the driving motor does not need to be regulated, and the driving motor belongs to a normal fluctuation range. When the ratio of the actual voltage to the target voltage is less than or equal to 0.9, the actual output power of the driving motor needs to be adjusted.
In some embodiments, the mining vehicle driving method further comprises:
step S4: and acquiring a first output voltage of the fuel power source.
Step S5: and determining second output voltages of other power sources according to the target voltage and the first output voltage.
Since the target voltage in the present application is commonly supplied by a plurality of power sources. Wherein the voltage provided by the fuel power source is mainly used. In this application, it is therefore desirable to determine the second output voltage of the overall output of the other power source from the first output voltage of the fuel power source. Wherein the first output voltage refers to the sum of the output voltages of all the fuel power sources.
So in some embodiments, step S4 "obtain the first output voltage of the fuel power source" includes:
step S41: and acquiring the current rotation speed of each fuel power source.
Step S42: and determining the current output voltage of each fuel power source according to the current rotation speed.
Step S43: the first output voltage is determined from a plurality of the current output voltages.
Due to the power supply principle of the fuel power source, the fuel engine drives the generator to generate electric energy. So we need to determine the first output voltage and first determine the current output voltage of each fuel power source. And the current output voltage of the fuel power source is related to the rotational speed of each fuel engine. It is desirable in this application to obtain the current rotational speed of each of the fuel engines. When the fuel engine generates electricity, the generated voltage and power are related to the rotating speed of the fuel engine. Under the condition of determining the rotation speed of the fuel engine, the current output voltage of the generator corresponding to the fuel engine can be obtained. Therefore, in the application, the current output voltage of the generator corresponding to each fuel engine can be obtained according to the rotating speed of each fuel engine. The sum of the current output voltages of all the generators is the first output voltage of the fuel power source.
When the ratio of the obtained actual voltage to the target voltage is smaller than 0.9, the actual output power of the driving motor needs to be adjusted. So in some embodiments, step S34 "determining the target output power of the drive motor according to the adjustment strategy" includes:
step S341: and obtaining the total output power of all the power sources.
Step S342: and determining the target output power according to the adjustment strategy and the total output power.
When the ratio of the actual voltage to the target voltage is smaller than 0.9, the actual output power of the driving motor exceeds the normal range, and the actual output power belongs to the abrupt increase of the load, so that the overcurrent condition is serious. The actual output power of the driving motor at this time far exceeds the total output power of the driving motor supplied by each power source. It is necessary to acquire the total output power of the power source when determining the target output power.
In the first preset relationship, when the ratio is greater than or equal to 0.8 and less than 0.9, the target output power is 0.9 times the total output power. When the ratio is greater than or equal to 0.7 and less than 0.8, the target output power is 0.5 times the total output power. When the ratio is greater than or equal to 0.6 and less than 0.7, the operation of the driving motor is immediately stopped to protect the driving system.
Since the input power of the driving motor is supplied by the fuel power source and other power sources together. The total output power includes: the first output power of the fuel power source and the rated output power of other power sources. So in some embodiments, step S341 "obtains the total output power of all the power sources", including:
step S3411: and determining the current output power of each fuel power source according to the current output voltage of each fuel power source.
Step S3412: the first output power of the fuel power source is determined according to a plurality of the current output powers.
Step S3413: the total output power is determined from the first output power and the rated output power.
The corresponding relation exists between the rotating speed of the fuel power source and the current output power. Therefore, under the condition that the rotation speed of the fuel engine is determined, the output power of the corresponding generator can be removed. The first output power is here the sum of the current output powers of the individual fuel power sources. Other power sources are fast-reacting power sources, and rated output power exists in all the power sources. When the total output power of the power sources is smaller than the actual output power of the driving motor, the output power of other power sources reaches the rated output power. The total output power here is the sum of the first output power of the fuel power source and the rated output power of the other power sources.
According to the embodiment, the actual output power of the driving motor is controlled, the overcurrent and overvoltage condition is avoided, and the output stability and reliability of the mining vehicle driving system with multiple power units are improved to the maximum extent.
The invention adopts different modularized power sources to be connected in parallel to replace a large power source, solves the problem that the output voltage of different power sources is difficult to control by controlling the output voltage of different power sources, and rapidly responds to the change of the power and the load of the driving motor by controlling the direct current voltage based on the condition that the voltage fluctuation is caused by the speed regulation control of the fuel power source, thereby improving the response instantaneity and the protection capability of the whole vehicle driving system.
Example 3:
based on the foregoing embodiments, the embodiments of the present application provide a mining vehicle driving apparatus, where each module included in the apparatus, and each unit included in each module may be implemented by a processor in a computer device; of course, the method can also be realized by a specific logic circuit; in practice, the processor may be a central processing unit (CPU, central Processing Unit), a microprocessor (MPU, microprocessor Unit), a digital signal processor (DSP, digital Signal Processing), or a field programmable gate array (FPGA, field Programmable Gate Array), or the like.
As shown in fig. 3, a third aspect provides a mining vehicle driving apparatus, comprising: a first acquisition module 1, a second acquisition module 2 and a first execution module 3.
The first acquisition module 1 is used for acquiring a target voltage for driving the driving motor. The second acquisition module 2 is used for acquiring the actual voltage of the common direct current bus. The first execution module 3 is configured to adjust the actual output power of the driving motor to a target output power according to the actual voltage and the target voltage.
In some embodiments, the first execution module 3 includes: the device comprises a third acquisition module, a first determination module, a second determination module and a third determination module.
The third acquisition module is used for acquiring the first preset relationship. The first determination module is used for determining the ratio of the actual voltage to the target voltage. And the second determining module is used for determining an adjustment strategy for the actual output power according to the ratio and the first preset relation. And the third determining module is used for determining the target output power of the driving motor according to the adjustment strategy and adjusting the actual output power to the target output power.
In some embodiments, the mining vehicle driving device includes: a fourth acquisition module and a fourth determination module.
The fourth acquisition module is used for acquiring the first output voltage of the fuel power source. The fourth determining module is used for determining second output voltages of other power sources according to the target voltage and the first output voltage.
In some embodiments, the fourth acquisition module comprises: the device comprises a fifth acquisition module, a fifth determination module and a sixth determination module.
And the fifth acquisition module is used for acquiring the current rotation speed of each fuel power source. And a fifth determining module is used for determining the current output voltage of each fuel power source according to the current rotating speed. The sixth determining module is used for determining the first output voltage according to a plurality of the current output voltages.
In some embodiments, the third determination module includes: a sixth acquisition module and a seventh determination module.
And the sixth acquisition module is used for acquiring the total output power of all the power sources. A seventh determination module is configured to determine the target output power based on the adjustment strategy and the total output power.
In some embodiments, the sixth acquisition module comprises: an eighth determination module, a ninth determination module, and a tenth determination module.
And the eighth determining module is used for determining the current output power of each fuel power source according to the current output voltage of each fuel power source. The ninth determination module is used for determining the first output power of the fuel power source according to a plurality of the current output powers. The tenth determination module is used for determining the total output power according to the first output power and the rated output power.
Each module in the mining vehicle driving device can be fully or partially realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the device, or may be stored in software in a memory in the processing apparatus, so that the processor may call and execute operations corresponding to the above modules. It should be noted that, in the embodiment of the present application, the division of the modules is schematic, which is merely a logic function division, and other division manners may be implemented in actual implementation.
Example 4:
a fourth aspect provides an electronic device comprising a memory storing a computer program and a processor implementing steps of a mining truck driving method when the processor executes the computer program.
Example 5:
a fifth aspect provides a storage medium storing a computer program executable by one or more processors, the computer program being operable to implement the steps of any one of the mining truck driving methods of the first aspect.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in various embodiments of the present application, the sequence numbers of the foregoing processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application. The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of the units is only one logical function division, and there may be other divisions in practice, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units; can be located in one place or distributed to a plurality of network units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read Only Memory (ROM), a magnetic disk or an optical disk, or the like, which can store program codes.
Alternatively, the integrated units described above may be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially or partly contributing to the prior art, embodied in the form of a software product stored in a storage medium, comprising several instructions for causing a controller to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a removable storage device, a ROM, a magnetic disk, or an optical disk.
The foregoing is merely an embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. A mining truck drive system, including driving motor, characterized in that still includes: at least two power sources;
the plurality of power sources are the same type of power source or different types of power sources;
the plurality of power sources at least comprise one fuel power source;
and the electric energy output by the power sources supplies power to the driving motor through a common direct current bus.
2. A mining vehicle driving method, adapted for use in a mining vehicle driving system as claimed in claim 1, comprising:
acquiring a target voltage for driving the driving motor;
acquiring the actual voltage of the common direct current bus;
and adjusting the actual output power of the driving motor to be a target output power according to the actual voltage and the target voltage.
3. The mining vehicle driving method according to claim 2, wherein the adjusting the actual output power of the driving motor to a target output power according to the actual voltage and the target voltage includes:
acquiring a first preset relationship;
determining a ratio of the actual voltage to the target voltage;
determining an adjustment strategy for the actual output power according to the ratio and a first preset relation;
determining target output power of the driving motor according to the adjustment strategy, and adjusting the actual output power to the target output power;
the first preset relation comprises a corresponding relation between the ratio and the adjustment strategy.
4. A mining truck driving method according to claim 3, characterized in that the method further comprises:
acquiring a first output voltage of the fuel power source;
and determining second output voltages of other power sources according to the target voltage and the first output voltage.
5. The mining vehicle driving method according to claim 4, wherein the obtaining the first output voltage of the fuel power source includes:
acquiring the current rotation speed of each fuel power source;
determining the current output voltage of each fuel power source according to the current rotation speed;
the first output voltage is determined from a plurality of the current output voltages.
6. The mining vehicle driving method according to claim 5, wherein the determining the target output power of the driving motor according to the adjustment strategy includes:
acquiring the total output power of all the power sources;
and determining the target output power according to the adjustment strategy and the total output power.
7. The mining truck driving method according to claim 6, characterized in that the total output power includes: the first output power of the fuel power source and the rated output power of other power sources; the obtaining the total output power of all the power sources comprises the following steps:
determining the current output power of each fuel power source according to the current output voltage of each fuel power source;
determining the first output power of the fuel power source according to a plurality of the current output powers;
the total output power is determined from the first output power and the rated output power.
8. A mining truck driving device, comprising:
a first acquisition module for acquiring a target voltage for driving the driving motor;
the second acquisition module is used for acquiring the actual voltage of the common direct current bus;
and the first execution module is used for adjusting the actual output power of the driving motor to be the target output power according to the actual voltage and the target voltage.
9. An electronic device, comprising:
a memory and a processor, said memory having stored thereon a computer program which, when executed by said processor, performs a mining truck driving method as claimed in any one of claims 2 to 7.
10. A storage medium storing a computer program executable by one or more processors, the computer program operable to implement the steps of a mining truck driving method as claimed in any one of claims 2 to 7.
CN202211222511.9A 2022-10-08 2022-10-08 Mining vehicle driving system, method, device, equipment and storage medium Pending CN117895858A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211222511.9A CN117895858A (en) 2022-10-08 2022-10-08 Mining vehicle driving system, method, device, equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211222511.9A CN117895858A (en) 2022-10-08 2022-10-08 Mining vehicle driving system, method, device, equipment and storage medium

Publications (1)

Publication Number Publication Date
CN117895858A true CN117895858A (en) 2024-04-16

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
CN (1) CN117895858A (en)

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