CN214456302U - Multi-motor distribution framework sharing direct current bus and electric automobile crane - Google Patents
Multi-motor distribution framework sharing direct current bus and electric automobile crane Download PDFInfo
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- CN214456302U CN214456302U CN202022747928.XU CN202022747928U CN214456302U CN 214456302 U CN214456302 U CN 214456302U CN 202022747928 U CN202022747928 U CN 202022747928U CN 214456302 U CN214456302 U CN 214456302U
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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Abstract
The utility model relates to an electric automobile hoist technical field discloses a many motors of total direct current generating line distribute framework and electric automobile hoist, has solved the problem that utilizes the unable performance of engine power under pollutant discharge, the big, the partial operating condition of noise that the engine brought among the prior art. The architecture comprises: the system comprises a power battery, a chassis driving system, a hydraulic system, a rotary system, a main hoisting system and an auxiliary hoisting system, wherein the power battery, the chassis driving system, the hydraulic system, the rotary system, the main hoisting system and the auxiliary hoisting system are connected with a direct current bus; the rotary system, the main hoisting system and the auxiliary hoisting system respectively comprise corresponding motor devices for driving the corresponding systems. The utility model is suitable for an electric automobile crane's mechanism framework.
Description
Technical Field
The utility model relates to an electric automobile hoist technical field specifically relates to a many motors of sharing direct current generating line distribute framework and electric automobile hoist.
Background
The holding capacity of the truck crane is the largest among cranes worldwide, wherein the oil hydraulic truck crane is the main force of the truck crane. However, the oil consumption and pollution of the oil-hydraulic automobile crane are serious while the performance and the reliability are satisfied. Therefore, the automobile crane for partial electric operation has been greatly developed, and the transmitter is connected with the chassis motor to generate power, so as to provide energy for the crane operation or charge the storage battery.
However, in both the conventional engine-driven and hybrid-driven automobile cranes, the engine is used as a power source, and although the working efficiency of the engine is improved as much as possible, the problems of pollutant emission, high noise and incapability of exerting engine power under partial working conditions caused by the engine cannot be avoided. In addition, in the motorization operation of the automobile crane in the prior art, a set of electric drive system and a set of fuel drive system are required to be equipped at the same time, so that the generation cost of the crane is high.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a many motors of total direct current generating line distribute framework and electric automobile crane, utilize power battery as the power supply through the form of total direct current generating line, eliminated the pollutant discharge that utilizes the engine to bring among the prior art, the noise is big, the problem of the unable performance of engine power under the part operating condition, simultaneously according to the function with the mobile crane split into a plurality of subsystems, be equipped with the motor device that corresponds to every subsystem, ensure the power matching of each subsystem, the problem of power system matching surplus has been solved.
In order to achieve the above object, the utility model provides a many motors of total direct current generating line distribute framework, the framework is applied to electric automobile crane, include: the system comprises a power battery, a chassis driving system, a hydraulic system, a rotary system, a main hoisting system and an auxiliary hoisting system, wherein the power battery, the chassis driving system, the hydraulic system, the rotary system, the main hoisting system and the auxiliary hoisting system are connected with a direct current bus; the rotary system, the main hoisting system and the auxiliary hoisting system respectively comprise corresponding motor devices for driving the corresponding systems.
Further, the chassis motor device comprises a chassis motor control unit, a chassis motor and a gearbox which are sequentially connected, wherein the chassis motor control unit is connected with the direct current bus, and the gearbox is respectively connected with the chassis driving system and the hydraulic system.
The hydraulic system comprises a hydraulic pump, a support leg hydraulic cylinder, a support leg mechanism, a variable amplitude hydraulic cylinder, a boom variable amplitude mechanism, a telescopic hydraulic cylinder and a boom telescopic mechanism, wherein the hydraulic pump is connected with the gearbox, the hydraulic pump is respectively connected with the support leg mechanism through the support leg hydraulic cylinder, the boom variable amplitude mechanism through the variable amplitude hydraulic cylinder, and the boom telescopic mechanism through the telescopic hydraulic cylinder.
Further, the motor device in the slewing system comprises a slewing motor control unit, a slewing motor and a slewing reducer which are sequentially connected, wherein the slewing motor control unit is connected with the direct-current bus, and the slewing reducer is connected with a slewing mechanism in the slewing system; the motor device in the main hoisting system comprises a main hoisting motor control unit, a main hoisting motor and a main hoisting speed reducer which are sequentially connected, wherein the main hoisting motor control unit is connected with the direct current bus, and the main hoisting speed reducer is connected with a main hoisting mechanism in the main hoisting system; the motor device in the auxiliary hoisting system comprises an auxiliary hoisting motor control unit, an auxiliary hoisting motor and an auxiliary hoisting speed reducer which are sequentially connected, wherein the auxiliary hoisting motor control unit is connected with the direct current bus, and the auxiliary hoisting speed reducer is connected with an auxiliary hoisting mechanism in the auxiliary hoisting system.
Further, the motor control unit is a motor controller or a frequency converter.
Furthermore, the framework also comprises an energy recovery system connected with the direct current bus and used for recovering the power generation energy fed back to the direct current bus by the motor devices in the rotary system, the main hoisting system and the auxiliary hoisting system and the chassis motor device.
Further, the framework further comprises a brake protection system connected with the tail end of the direct current bus and used for consuming redundant electric quantity on the direct current bus.
Further, the framework further comprises an upper controller connected with the energy recovery system, the brake protection system and the power battery through a CAN bus.
Further, the framework further comprises a chassis controller, an operating handle, a moment limiter and an operating panel which are connected with the upper-mounted controller through a CAN bus.
Further, the framework further comprises a direct current air conditioner connected with the direct current bus.
Correspondingly, the utility model also provides an electric automobile crane, electric automobile crane includes as above many motors of total direct current bus distribute the framework.
Through the utility model provides a many motors of total DC bus distribute the framework, utilize power battery to provide the power supply for mobile crane work, compare with the mobile crane who adopts diesel power, simple structure, the noise is low, safe and reliable, it is convenient to maintain, uses under the same power, and the cost of motor power consumption is far less than the fuel expense of internal-combustion engine, greatly reduced the construction cost, realized the zero release of tail gas, more green. The crane can work in the occasions with thin and closed air, the performance is not affected, and the application field of the electric automobile crane is widened. And is in the utility model discloses one set of motor system of chassis actuating system and hydraulic system sharing, sharing chassis motor device promptly compares current electric operation mobile crane and more saves space, has reduced manufacturing cost. In addition, the utility model discloses well main hoist mechanism, vice hoist mechanism and rotation mechanism all adopt single motor independent drive, adopt the structure of motor control unit-motor-speed reducer-mechanism, the characteristics that the speed governing range of full play motor is wide, response speed is fast, control accuracy is high.
Other features and advantages of the present invention will be described in detail in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of a common dc bus multi-motor distribution architecture according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a multi-motor distribution architecture of a common dc bus according to another embodiment of the present invention;
fig. 3 is a schematic view illustrating a driving principle and an installation of a hoisting mechanism according to an embodiment of the present invention;
fig. 4 is a schematic view illustrating a driving principle and an installation of a swing mechanism according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a multi-motor distribution architecture of a common dc bus according to another embodiment of the present invention;
fig. 6 is a schematic view illustrating control of a CAN bus of the upper controller according to an embodiment of the present invention;
fig. 7 is a schematic view illustrating a charging and discharging process of a super capacitor module according to an embodiment of the present invention;
fig. 8 is a schematic control flow chart of the brake on and off according to an embodiment of the present invention;
fig. 9 is a block diagram of a control system of an upper controller according to an embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings. It is to be understood that the description of the embodiments herein is for purposes of illustration and explanation only and is not intended to limit the invention.
In the present invention, in the case where no description is made on the contrary, the use of the directional words such as "upper, lower, left, right", "inside, and outside" generally indicates the directional information in the drawings, and it is not intended to limit the scope of the present invention, and it may also be other directional information than the directional information shown in the drawings.
Fig. 1 is a schematic structural diagram of a common dc bus multi-motor distribution architecture according to an embodiment of the present invention. The framework is applied to an electric automobile crane, and as shown in fig. 1, the framework 10 comprises: the system comprises a power battery 12, a chassis driving system 13, a hydraulic system 14, a rotation system 15, a main hoisting system 16 and an auxiliary hoisting system 17 which are connected with a direct current bus 11, wherein the chassis driving system 13 and the hydraulic system 14 are connected with the direct current bus 11 through a chassis motor device 18, and the chassis motor device 18 is used for driving the chassis driving system and the hydraulic system simultaneously; the rotary system 15, the main hoisting system 16 and the auxiliary hoisting system 17 each include a corresponding motor device 19 for driving the corresponding system.
The embodiment of the utility model provides an in, cancelled the engine as the power supply, adopted single power battery to supply power for a plurality of subsystems in the mobile crane through the form of sharing DC bus. Wherein the direct current bus can be arranged in a high-voltage distribution box.
In addition, because mobile crane's operating characteristic, the requirement that chassis walking and facial make-up operation can not go on simultaneously promptly, the embodiment of the utility model provides an in be used for the drive with chassis motor device simultaneously chassis actuating system with hydraulic system has reduced the actuating system cost. As shown in fig. 2, the chassis motor device 18 includes a chassis motor control unit 181, a chassis motor 182, and a transmission case 183, which are connected in sequence, the chassis motor control unit is connected to the dc bus, and the transmission case is connected to the chassis driving system and the hydraulic system, respectively.
In addition, the hydraulic system 14 includes a hydraulic pump 141, a leg hydraulic cylinder 142, a leg mechanism 143, a luffing hydraulic cylinder 144, an arm frame luffing mechanism 145, a telescopic hydraulic cylinder 146, and an arm frame telescoping mechanism 147, and the hydraulic pump is connected to the transmission case, wherein the hydraulic pump is connected to the leg mechanism through the leg hydraulic cylinder, and the hydraulic pump drives the leg hydraulic cylinder to realize leg telescoping operation; the hydraulic pump is connected with the boom luffing mechanism through the luffing hydraulic cylinder, and realizes the luffing operation of the boom by driving the luffing hydraulic cylinder; the hydraulic pump is connected with the boom telescoping mechanism through the telescopic hydraulic oil cylinder, and the hydraulic pump drives the telescopic hydraulic oil cylinder to realize boom telescoping operation.
Therefore, when the automobile crane runs, the gearbox can be controlled to be switched to a chassis running gear, the power of the chassis motor is transmitted to the chassis driving system, and the upper assembly is not allowed to work at the moment. When the upper loader works, the gearbox can be controlled to be switched to an upper loader working gear, the power of the chassis motor is transmitted to the hydraulic pump to drive the support leg mechanism, the arm frame luffing mechanism and the arm frame telescopic mechanism in the hydraulic system to work, and at the moment, the chassis driving system is not allowed to work.
In addition, as shown in fig. 2, the motor device in the slewing system 15 includes a slewing motor control unit 151, a slewing motor 152, and a slewing reducer 153 connected in sequence, the slewing motor control unit is connected to the dc bus, and the slewing reducer is connected to a slewing mechanism 154 in the slewing system; the motor device in the main winding system 16 comprises a main winding motor control unit 161, a main winding motor 162 and a main winding speed reducer 163 which are sequentially connected, wherein the main winding motor control unit is connected with the direct current bus, and the main winding speed reducer is connected with a main winding mechanism 164 in the main winding system; the motor device in the auxiliary hoisting system 17 comprises an auxiliary hoisting motor control unit 171, an auxiliary hoisting motor 172 and an auxiliary hoisting speed reducer 173 which are connected in sequence, the auxiliary hoisting motor control unit is connected with the direct current bus, and the auxiliary hoisting speed reducer is connected with an auxiliary hoisting mechanism 174 in the auxiliary hoisting system.
The embodiment of the utility model provides an in, every subsystem all is equipped with corresponding motor device, can realize the driving system to every subsystem and match, ensures that the driving parameter of each subsystem is the best system parameter, prevents that the driving system from matching excessively. The power state detection can be realized by detecting the voltage and current states of the direct current bus by each subsystem, and interaction among the subsystems is not needed.
As shown in fig. 2, the swing mechanism, the main hoisting mechanism and the auxiliary hoisting mechanism are directly driven in a form of a motor control unit-motor-speed reducer-mechanism, and the swing motor, the main hoisting motor and the auxiliary hoisting motor are respectively provided with an independent motor control unit to convert direct current into three-phase alternating current. According to the action requirement of the mechanism, the motor control unit respectively controls the frequency and the current of the alternating current of each subsystem to realize the control of the rotating speed and the torque of the motor. As shown in fig. 3 and 4, the driving principle and the installation schematic diagram of the hoisting mechanism (including the main hoisting mechanism and the auxiliary hoisting mechanism) and the swing mechanism are respectively shown.
In addition, the embodiment of the present invention provides a motor control unit (including chassis motor control unit, rotary motor control unit, main hoist motor control unit, auxiliary hoist motor control unit) which can be a motor controller or a frequency converter.
The utility model provides a many motors of total direct current generating line distribute the framework, utilize power battery to provide the power supply for mobile crane work, compare with the mobile crane who adopts diesel power, promoted its work efficiency by a wide margin (the efficiency of motor can reach more than 90%, the efficiency of engine is less than 50%). And simple structure, the noise is low, safe and reliable, and it is convenient to maintain, uses under the same power, and the cost of motor power consumption is far less than the expense of internal-combustion engine fuel, greatly reduced the operating cost, realized the zero release of tail gas, more green. The crane can work in the occasions with thin and closed air, the performance is not affected, and the application field of the electric automobile crane is widened. And is in the utility model discloses one set of motor system of chassis actuating system and hydraulic system sharing, sharing chassis motor device promptly compares current electric operation mobile crane and more saves space, has reduced manufacturing cost. In addition, the utility model discloses well main hoist mechanism, vice hoist mechanism and rotation mechanism all adopt single motor independent drive, adopt the structure of motor control unit-motor-speed reducer-mechanism, the characteristics that the speed governing range of full play motor is wide, response speed is fast, control accuracy is high. In addition, the structure is simple, the control is convenient, and the low-speed performance is improved (compared with the current hydraulic-driven automobile crane, the hoisting low-speed stable range and the rotation low-speed stable range can be doubled). And moreover, a common direct-current bus multi-motor distributed driving system structure is adopted, so that the speed regulation performance of the motors can be fully exerted, each motor can work in an efficient interval, and the operation time of the automobile crane is prolonged.
In addition, as shown in fig. 5, the framework further includes an energy recovery system 20 connected to the dc bus, and configured to recover power generated by the motor devices in the slewing system, the main hoisting system, and the auxiliary hoisting system and the chassis motor device fed back to the dc bus. The energy recovery system comprises a cut-off diode 21, a bidirectional DC/DC module 22 and a super capacitor module 23, wherein the cut-off diode is installed on the positive electrode of the direct current bus, the positive electrode of the cut-off diode is connected with the power battery, the positive electrodes of the corresponding motor devices in the hydraulic rotary system, the main hoisting system and the auxiliary hoisting system and the chassis motor device are connected with the negative electrode of the cut-off diode, and the super capacitor module is connected to one side of the negative electrode of the cut-off diode on the direct current bus through the bidirectional DC/DC module.
Wherein, because the utility model discloses in adopt the form of sharing direct current generating line (for example, direct current generating line can set up in high-voltage distribution box), the motor device and the simultaneous drive that every subsystem on the mobile crane corresponds chassis actuating system with hydraulic system's chassis motor device all connects in direct current generating line, on the generating energy in so each motor device all can repay back to direct current generating line, energy recuperation system alright realization was repayed the generating energy to direct current generating line to motor device. The cut-off diode is arranged on the anode of the direct current bus, the anode of the cut-off diode is connected with the power battery, and the anodes of the motor devices corresponding to other subsystems are connected with the cathode of the cut-off diode, so that the current is prevented from flowing to the anode of the power battery when the potential on the direct current bus is higher, and the safety of the power battery is ensured.
Additionally, in the embodiment of the utility model provides an in, because liquid rotary system, main hoist system, vice hoist system are by the direct drive of the motor device that corresponds, do not carry out the transmission through hydraulic system, realized that energy recuperation system can directly generate electricity through driving motor device and realize, need not to be equipped with another set of solitary energy recuperation system again. And the corresponding motor devices in the liquid rotation system, the main hoisting system and the auxiliary hoisting system and the current in the power generation process of the chassis motor device all flow to the direct current bus, and the energy recovery system is arranged on the direct current bus to realize that a single energy recovery system can absorb the power generation amount of a plurality of motor devices.
When the main hoisting mechanism and the auxiliary hoisting mechanism in the main hoisting system and the auxiliary hoisting system are lowered or the slewing mechanism in the slewing system is braked in a slewing manner, the corresponding motor devices are in a power generation state, the power generation current of each motor device can be fed back to the direct-current bus, the current on the direct-current bus cannot flow to the power battery due to the action of the cutoff diode, and the voltage on the direct-current bus can be increased, so that a charge-discharge strategy of the super capacitor module is formulated based on the characteristic, namely when the energy recovery system is in a charging stage, the current of the direct-current bus is subjected to voltage conversion through the DC-DC module and then is output to the super capacitor module for charging; when the energy recovery system is in a discharging stage, the current released by the super capacitor module is subjected to voltage conversion through the DC-DC module and then is transmitted to the direct current bus.
In addition, considering that the storage energy of the super capacitor module is limited and the charging rate is limited, in order to guarantee the circuit safety, a braking protection system can be arranged at the tail end of the direct current bus. As shown in fig. 5, the architecture further includes a brake protection system 30 connected to an end of the dc bus for consuming excess power on the dc bus. The brake protection system comprises a brake 311 and an energy consumption resistor 312 which are connected with each other, the brake is connected with the direct current bus, and the energy consumption resistor is controlled to consume redundant electric quantity on the direct current bus by starting the brake.
As shown in fig. 6, the architecture further includes an upper controller 40 connected to the energy recovery system, the brake protection system, and the power battery through a CAN bus.
The upper controller is combined with the energy recovery system and the brake protection system to jointly realize a charge-discharge strategy of the super capacitor module and a strategy of connection and disconnection between the energy consumption resistor and the direct current bus.
The DC-DC module 22 includes a voltage detection unit 221, connected to the upper-mounted controller through a CAN bus, and configured to detect an actually measured voltage on the DC bus and send the detected voltage to the upper-mounted controller;
and the upper controller 40 includes:
a voltage receiving unit 41, configured to receive the measured voltage;
a voltage threshold determination unit 42, configured to compare the actually measured voltage with a charging start voltage threshold, a charging stop voltage threshold, a discharging start voltage threshold, and a discharging stop voltage threshold, where the magnitudes of the charging start voltage threshold, the charging stop voltage threshold, the discharging stop voltage threshold, and the discharging start voltage threshold decrease sequentially;
the charge state acquisition unit 43 is configured to acquire an actually measured charge state of the super capacitor module;
a state of charge determination unit 44, configured to compare the actual state of charge with a maximum state of charge and a minimum state of charge;
the charge notification unit 45 is configured to:
when the voltage threshold judging unit judges that the measured voltage is greater than the charging starting voltage threshold and the state of charge judging unit judges that the measured state of charge is less than the maximum state of charge, a charging starting instruction is sent to the DC-DC module;
if the super capacitor module is in a charging state, when the voltage threshold judgment unit judges that the actual measurement voltage is smaller than the charging closing voltage threshold or the charge state judgment unit judges that the actual measurement charge state is larger than the maximum charge state, a charging closing instruction is sent to the DC-DC module;
the discharge notification unit 46 is configured to:
when the voltage threshold judging unit judges that the actual measurement voltage is smaller than the discharge starting voltage threshold and the charge state judging unit judges that the actual measurement charge state is larger than the minimum charge state, a discharge starting instruction is sent to the DC-DC module;
if the super capacitor module is in a discharging state, when the voltage threshold judgment unit judges that the actually measured voltage is greater than the discharging closing voltage threshold or the charge state judgment unit judges that the actually measured charge state is less than the minimum charge state, a discharging closing instruction is sent to the DC-DC module;
the DC-DC module 22 further includes a voltage conversion module 222 for:
when the charging starting instruction is received, the current of the direct current bus is subjected to voltage conversion and then is output to the super capacitor module for charging;
when the charging closing instruction is received, stopping voltage conversion of the current of the direct current bus;
when the discharging starting instruction is received, the current released by the super capacitor is subjected to voltage conversion and then is transmitted to the direct current bus for discharging;
and when the discharging closing instruction is received, stopping performing voltage conversion on the current released by the super capacitor.
In order to facilitate understanding of the charging and discharging strategy of the super capacitor module, fig. 7 provides a schematic diagram of a charging and discharging flow of the super capacitor module:
u in the flowdcRepresenting the measured voltage on the DC bus, U1 being a charge-on voltage threshold, U2 being a charge-off voltage threshold, U3 being a discharge-on voltage threshold, U4 being a discharge-off voltage threshold, and U1>U2>U4>U3. SOC represents the actual measured state of charge of the supercapacitor module, SOCmaxIs the maximum charge state, SOC, allowed by the super capacitor moduleminAnd the minimum charge state allowed by the super capacitor module.
Specifically, when the super capacitor module is in a non-charging state, the voltage threshold judgment unit in the upper controller judges Udc>U1, and the SOC judging unit judges SOC<SOCmaxAnd when the charging is started, the charging notification unit in the upper controller sends a charging start instruction to the DC-DC module, and the voltage conversion module in the DC-DC module converts the voltage of the current of the direct current bus and outputs the converted current to the super capacitor module for charging, namely, charging start.
When the super capacitor module is in a charging state, the voltage threshold judgment unit in the upper controller judges Udc<U2, or state of charge determining unit determining SOC>SOCmaxAnd when the direct current bus is charged, the charging notification unit in the upper-mounted controller sends a charging closing instruction to the DC-DC module, and the voltage conversion module in the DC-DC module stops performing voltage conversion on the current of the direct current bus, namely, the charging is closed.
When the super capacitor module is in a non-discharge state, the voltage threshold judgment unit in the upper controller judges Udc<U3, and state of charge determining unit determinesSOC>SOCminAnd then, a discharge notification unit in the upper controller sends a discharge starting instruction to the DC-DC module, and a voltage conversion module in the DC-DC module performs voltage conversion on the current released by the super capacitor and then transmits the current to the direct current bus for discharging, namely, discharging starting.
When the super capacitor module is in a discharging state, the voltage threshold judgment unit in the upper controller judges Udc>U4, or state of charge determining unit determining SOC<SOCminAnd when the current is discharged, the discharge notification unit in the upper controller sends a discharge closing instruction to the DC-DC module, and the voltage conversion module in the DC-DC module stops performing voltage conversion on the current released by the super capacitor, namely, the discharge is closed.
In addition, as shown in fig. 6, the brake in the brake protection system is connected with the upper controller through a CAN bus,
wherein, the upper-mounted controller 40 further includes:
a braking threshold value determining unit 47, configured to compare the actually measured voltage with a resistance turn-on threshold value and a resistance turn-off threshold value, where the resistance turn-on threshold value is greater than the resistance turn-off threshold value, and the resistance turn-off threshold value is greater than the charging turn-on voltage threshold value;
the brake notification unit 48 is configured to:
when the brake threshold judging unit judges that the actually measured voltage is larger than the resistor opening threshold, an energy consumption opening instruction is sent to the brake;
if the energy consumption resistor is in an energy consumption state, when the brake threshold value judging unit judges that the actually measured voltage is smaller than the resistor closing threshold value, an energy consumption closing instruction is sent to the brake;
the brake 311 is used for:
when the energy consumption starting instruction is received, the energy consumption resistor is communicated with the direct current bus;
and when the energy consumption closing instruction is received, the energy consumption resistor and the direct current bus are switched off.
In order to facilitate understanding of the above strategy of connection and disconnection between the energy consumption resistor and the dc bus, a strategy schematic diagram of connection and disconnection between the energy consumption resistor and the dc bus is provided as shown in fig. 8:
in the process, U5 is a resistor turn-on threshold, U6 is a resistor turn-off threshold, and U5> U6> U1.
Specifically, when the energy consumption resistor and the direct current bus are in an off state, the braking threshold judgment unit in the upper controller judges Udc>And when the current is U5, the brake notification unit sends an energy consumption opening instruction to the brake, and the brake communicates the energy consumption resistor with the direct current bus.
If the energy consumption resistor is in a power consumption state, when the braking threshold judgment unit judges Udc<U6, the braking notification unit sends a power consumption closing instruction to the brake, and the brake turns off the power consumption resistor and the direct current bus.
Through the embodiment of the utility model provides a, adopt one set of energy recuperation system, realized that main, vice winding mechanism's gravitational potential energy, rotation mechanism kinetic energy, vehicle travel kinetic energy retrieve and utilize, have very high energy utilization. Meanwhile, a brake protection system is adopted, and overvoltage protection is performed by using a brake and an energy consumption resistor, so that the reliability of the energy recovery system is ensured.
As shown in fig. 6, the architecture further includes a chassis controller 50, an operation handle 60, a torque limiter 70, and an operation panel 80, which are connected to the upper controller via a CAN bus.
The upper controller contains the relationship mapping between the displacement of the operating handle and the target speed, and the target speed definition of the handle is realized. And after receiving the displacement signal of the operating handle, the upper controller searches a target speed under the current handle displacement according to the relationship between the handle displacement and the target speed, and sends the target speed to the motor control unit, and the motor control unit regulates the speed according to the target speed. In addition, the upper controller monitors signals of the power battery, the chassis controller, the torque limiter and the operation panel, and if faults or instructions that the corresponding mechanism is not allowed to move and the mechanism stops exist, the upper controller requests the motor control unit to stop and sends a motor target speed of 0 rpm. As shown in fig. 9, the embodiment of the present invention provides a realization of the target rotation speed of the handle, which is realized by controlling the motor control unit, the motor control unit receives the signal of the meter encoder installed at the output end of the motor, and converts the signal into the actual rotation speed signal of the current motor. And calculating the difference value between the current actual rotating speed of the motor and the requested speed of the upper controller, and then carrying out speed loop control to output a current signal. The current detection device can detect the actual current input into the motor in real time, the actual current and the actual current are subjected to difference and then transmitted to the power amplifier for processing, so that the motor firstly gives a current output matched with the target speed output through current inner ring adjustment, and finally the motor outputs the target rotating speed.
In addition, as shown in fig. 2, the architecture further includes a dc air conditioner 90 connected to the dc bus.
Correspondingly, the utility model also provides an electric automobile crane, electric automobile crane includes above-mentioned embodiment many motors of total direct current bus distribute the framework.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the details of the above embodiments, and the technical concept of the present invention can be within the scope of the present invention to perform various simple modifications to the technical solution of the present invention, and these simple modifications all belong to the protection scope of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the present invention does not separately describe various possible combinations.
In addition, various embodiments of the present invention can be combined arbitrarily, and the disclosed content should be regarded as the present invention as long as it does not violate the idea of the present invention.
Claims (11)
1. A multi-motor distribution framework with common direct current buses is characterized in that the framework is applied to an electric automobile crane and comprises:
a power battery connected with the DC bus, a chassis driving system, a hydraulic system, a rotary system, a main hoisting system and an auxiliary hoisting system,
the chassis driving system and the hydraulic system are both connected with the direct current bus through a chassis motor device, and the chassis motor device is used for driving the chassis driving system and the hydraulic system simultaneously;
the rotary system, the main hoisting system and the auxiliary hoisting system respectively comprise corresponding motor devices for driving the corresponding systems.
2. The multi-motor distribution architecture of a common dc bus according to claim 1, wherein the chassis motor arrangement comprises a chassis motor control unit, a chassis motor and a gearbox connected in sequence, the chassis motor control unit is connected with the dc bus, and the gearbox is connected with the chassis drive system and the hydraulic system, respectively.
3. The multi-motor distribution architecture of the common direct current bus according to claim 2, wherein the hydraulic system comprises a hydraulic pump, a leg hydraulic cylinder, a leg mechanism, a variable amplitude hydraulic cylinder, a boom variable amplitude mechanism, a telescopic hydraulic cylinder and a boom telescopic mechanism, the hydraulic pump is connected with the gearbox,
the hydraulic pump is connected with the supporting leg mechanism through the supporting leg hydraulic oil cylinder, connected with the boom amplitude variation mechanism through the amplitude variation hydraulic oil cylinder and connected with the boom telescopic mechanism through the telescopic hydraulic oil cylinder.
4. The multi-motor distribution architecture for a common DC bus of claim 1,
the motor device in the rotary system comprises a rotary motor control unit, a rotary motor and a rotary speed reducer which are sequentially connected, wherein the rotary motor control unit is connected with the direct-current bus, and the rotary speed reducer is connected with a rotary mechanism in the rotary system;
the motor device in the main hoisting system comprises a main hoisting motor control unit, a main hoisting motor and a main hoisting speed reducer which are sequentially connected, wherein the main hoisting motor control unit is connected with the direct current bus, and the main hoisting speed reducer is connected with a main hoisting mechanism in the main hoisting system;
the motor device in the auxiliary hoisting system comprises an auxiliary hoisting motor control unit, an auxiliary hoisting motor and an auxiliary hoisting speed reducer which are sequentially connected, wherein the auxiliary hoisting motor control unit is connected with the direct current bus, and the auxiliary hoisting speed reducer is connected with an auxiliary hoisting mechanism in the auxiliary hoisting system.
5. A multi-motor distribution architecture for a common DC bus according to claim 2 or 4, wherein the motor control unit is a motor controller or a frequency converter.
6. The multi-motor distribution architecture for a common dc bus of claim 1, further comprising an energy recovery system connected to the dc bus for recovering the generated energy fed back to the dc bus by the motor devices of the swing system, the main hoist system and the auxiliary hoist system and the chassis motor device.
7. The multi-motor distributed architecture for a common dc bus of claim 6, further comprising a brake protection system connected to an end of the dc bus for consuming excess power on the dc bus.
8. The multi-motor distributed architecture for a common dc bus of claim 7, further comprising an on-board controller connected to the energy recovery system, the brake protection system, and the power cells via CAN buses.
9. The multi-motor distribution architecture of a common dc bus of claim 8, further comprising a chassis controller, an operating handle, a torque limiter and an operating panel connected to the upper mounted controller via a CAN bus.
10. The multi-motor distribution architecture for a common dc bus of claim 1, further comprising a dc air conditioner connected to the dc bus.
11. An electric vehicle crane, characterized in that it comprises a multi-motor distribution architecture of common direct current buses according to any of claims 1-10.
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| CN202022747928.XU CN214456302U (en) | 2020-11-23 | 2020-11-23 | Multi-motor distribution framework sharing direct current bus and electric automobile crane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114772493A (en) * | 2022-03-15 | 2022-07-22 | 浙江三一装备有限公司 | Control method and system of winch system and operation machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114772493A (en) * | 2022-03-15 | 2022-07-22 | 浙江三一装备有限公司 | Control method and system of winch system and operation machine |
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Denomination of utility model: Multi motor distribution architecture with common DC bus and electric vehicle crane Effective date of registration: 20231205 Granted publication date: 20211022 Pledgee: ZOOMLION Group Finance Co.,Ltd. Pledgor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Registration number: Y2023980069645 |
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