CN215009723U - Energy recovery system sharing direct current bus and electric automobile crane - Google Patents
Energy recovery system sharing direct current bus and electric automobile crane Download PDFInfo
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- CN215009723U CN215009723U CN202022736388.5U CN202022736388U CN215009723U CN 215009723 U CN215009723 U CN 215009723U CN 202022736388 U CN202022736388 U CN 202022736388U CN 215009723 U CN215009723 U CN 215009723U
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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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
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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
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Abstract
The utility model relates to an electric automobile hoist technical field discloses an energy recovery system and electric automobile hoist of total direct current generating line. The method comprises the following steps: the power battery, the energy recovery system and the power execution system are connected with the direct current bus, and the upper controller is in communication connection with the power battery, the energy recovery system and the power execution system; the energy recovery system comprises an interception element, a bidirectional DC/DC module and an energy storage element, wherein the interception element is installed on the positive pole of a direct-current bus, the positive pole of the interception element is connected with a power battery, the positive pole of the power execution system is connected with the negative pole of the interception element, the energy storage element is connected to one side of the negative pole of the interception element on the direct-current bus through the bidirectional DC/DC module, and the upper controller is in communication connection with the bidirectional DC/DC module and the energy storage element and used for receiving the actual measurement voltage on the direct-current bus detected by the bidirectional DC/DC module and controlling the charging and discharging process of the energy storage element.
Description
Technical Field
The utility model relates to an electric automobile hoist technical field specifically, relates to an energy recovery system and electric automobile hoist of total direct current generating line.
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.
In the conventional motor-driven vehicle crane, when the power generation amount of the engine is larger than the energy required for the mechanism operation in the engine operating state, the excess energy is charged to the power battery for storage. However, the energy recovery system in the truck crane for electric operation in the prior art can only recover part of kinetic energy, and the power battery is adopted to directly recover energy, so that the damage to the power battery is large.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a be total to energy recuperation system and electric automobile hoist of direct current generating line, power execution system repays to the energy of direct current generating line among the recoverable electric automobile hoist of form through total to direct current generating line, utilizes the unnecessary energy on the dedicated energy recuperation system recovery direct current generating line moreover, has avoided the harm to power battery to when direct current generating line energy is not enough to maintain power execution system during operation, energy recuperation system to direct current generating line discharges.
In order to achieve the above object, the utility model provides a be total to energy recuperation system of direct current generating line, electric automobile hoist is applied to the system, include: the energy recovery system comprises a cut-off element, a bidirectional DC/DC module and an energy storage element, the cut-off element is mounted on the positive pole of the direct current bus, the positive pole of the cut-off element is connected with the power battery, the positive pole of the power execution system is connected with the negative pole of the cut-off element, the energy storage element is connected to one side of the negative pole of the cut-off element on the direct current bus through the bidirectional DC/DC module, the upper controller is in communication connection with the bidirectional DC/DC module and the energy storage element and used for receiving the measured voltage on the direct current bus detected by the bidirectional DC/DC module, and controlling the charging and discharging process of the energy storage element.
Further, 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 energy storage element for charging; when the energy recovery system is in a discharging stage, the current released by the energy storage element is subjected to voltage conversion through the DC-DC module and then is transmitted to the direct current bus.
Further, the upper controller includes: a strategy storage unit for storing an energy recovery strategy and an energy release strategy; the voltage receiving unit is in communication connection with the bidirectional DC/DC module and is used for receiving the measured voltage on the direct current bus detected by the bidirectional DC/DC module; the charge state detection unit is in communication connection with the energy storage element and is used for detecting the actually measured charge state of the energy storage element; the strategy judgment unit is connected with the voltage receiving unit, the charge state detection unit and the strategy storage unit and is used for carrying out strategy judgment according to the actual measurement voltage received by the voltage receiving unit, the actual measurement charge state detected by the charge state detection unit and the energy recovery strategy and the energy release strategy stored by the strategy storage unit and sending a judgment result to the energy execution unit; the energy execution unit is connected with the strategy judgment unit and the bidirectional DC/DC module, and is used for receiving the judgment result and controlling the bidirectional DC/DC module to execute voltage conversion between the direct current bus and the energy storage element.
Furthermore, the system also comprises a brake protection system connected with the tail end of the direct current bus, the brake protection system comprises a brake and an energy consumption resistor which are connected with each other, the brake is connected with the direct current bus, and the upper controller is in communication connection with the brake.
Furthermore, the strategy storage unit is also used for storing an energy consumption starting strategy and an energy consumption closing strategy; the strategy judgment unit is also used for carrying out strategy judgment according to the measured voltage received by the voltage receiving unit and the energy consumption starting strategy and the energy consumption closing strategy stored by the strategy storage unit and sending the energy consumption strategy judgment result to the brake control unit; the upper controller also comprises a brake control unit which is connected with the strategy judgment unit and the brake and used for receiving the energy consumption strategy judgment result and controlling the brake to execute the connection and disconnection between the energy consumption resistor and the direct current bus.
Further, the power execution system comprises a chassis driving system, a hydraulic system, a rotation system, a main hoisting system and an auxiliary hoisting system, wherein 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.
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.
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.
Correspondingly, the utility model also provides an electric automobile crane, electric automobile crane includes as above the energy recovery system who shares DC bus.
Through the embodiment of the utility model provides a, adopt one set of energy recuperation system, realized the energy recuperation and the utilization of the power execution system among the mobile crane, have very high energy utilization. Meanwhile, a special energy recovery system is used for recovering redundant energy on the direct current bus, damage to the power battery is avoided, and when the energy of the direct current bus is not enough to maintain the subsystem to work, the energy recovery system discharges to the direct current bus.
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 an energy recovery system with a common dc bus according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an energy recovery system with a common dc bus according to another embodiment of the present invention;
fig. 3 is a schematic control diagram of an upper controller according to an embodiment of the present invention;
fig. 4 is a schematic view illustrating a charging and discharging process of an energy storage device according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating a control flow of opening and closing the brake according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an energy recovery system with a common dc bus according to another embodiment of the present invention;
fig. 7 is a schematic view illustrating a driving principle and an installation of a hoisting mechanism according to an embodiment of the present invention;
fig. 8 is a schematic view illustrating a driving principle and an installation of a swing mechanism 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 an energy recovery system with a common dc bus according to an embodiment of the present invention. The system is applied to an electric automobile crane, as shown in fig. 1, the system 10 includes: the energy recovery system comprises a cut-off element 131, a bidirectional DC/DC module 132 and an energy storage element 133, wherein the cut-off element is mounted on the positive pole of the direct current bus, the positive pole of the cut-off element is connected with the power battery, the positive pole of the power execution system is connected with the negative pole of the cut-off element, the energy storage element is connected to the negative pole side of the cut-off element on the direct current bus through the bidirectional DC/DC module, the upper controller is in communication connection with the bidirectional DC/DC module and the energy storage element and is used for receiving the measured voltage on the direct current bus detected by the bidirectional DC/DC module, and controlling the charging and discharging process of the energy storage element.
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), power execution system on the mobile crane connects in direct current generating line, so on power generation energy among the power execution system all can repay back to direct current generating line, energy recuperation system alright realize the power generation energy to power execution system repayment to direct current generating line. The flow-stopping element is arranged on the positive pole of the direct current bus, the positive pole of the flow-stopping element is connected with the power battery, and the positive pole of the power execution system is connected with the negative pole of the flow-stopping element, so that current flowing to the positive pole of the power battery when the potential on the direct current bus is higher is avoided, and the safety of the power battery is ensured. For example, the shut-off element of the present invention may be a shut-off diode, as shown in fig. 2, or other element with a shut-off function. And the energy storage element in the utility model can be other elements with energy storage function such as super capacitor or super capacitor module.
In addition, as shown in fig. 2, the power execution system includes a chassis driving system 141, a hydraulic system 142, a swing system 143, a main hoisting system 144, and an auxiliary hoisting system 145, where the chassis driving system and the hydraulic system are both connected to the dc bus through a chassis motor device 146, and the chassis motor device is configured to drive 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 147 for driving the corresponding systems.
Wherein, in the embodiment of the utility model provides an in, because rotary system, main hoist system, vice hoist system are by the motor device direct drive 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 currents of the corresponding motor devices in the rotary system, the main hoisting system and the auxiliary hoisting system and the chassis motor device in the power generation process 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 capacity 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 effect of the cut-off element, and the voltage on the direct-current bus can be increased, so that an energy recovery strategy and an energy release strategy of an energy storage element are formulated based on the characteristics, 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 bidirectional DC/DC module and then is output to the energy storage element for charging; when the energy recovery system is in a discharging stage, the current released by the energy storage element is subjected to voltage conversion through the bidirectional DC/DC module and then is transmitted to the direct current bus.
Specifically, as shown in fig. 3, the upper controller 15 includes:
a strategy storage unit 151 for storing an energy recovery strategy and an energy release strategy;
a voltage receiving unit 152, communicatively connected to the bidirectional DC/DC module, for receiving the measured voltage on the DC bus detected by the bidirectional DC/DC module;
the state of charge detection unit 153 is in communication connection with the energy storage element and is used for detecting the actually measured state of charge of the energy storage element;
the strategy judgment unit 154 is connected with the voltage receiving unit, the state of charge detection unit and the strategy storage unit, and is used for performing strategy judgment according to the actual measurement voltage received by the voltage receiving unit, the actual measurement state of charge detected by the state of charge detection unit and the energy recovery strategy and the energy release strategy stored by the strategy storage unit, and sending a judgment result to the energy execution unit;
the energy execution unit 155 is connected to the policy determination unit and the bidirectional DC/DC module, and configured to receive the determination result and control the bidirectional DC/DC module to execute voltage conversion between the DC bus and the energy storage element.
Specifically, the energy recovery strategy and the energy release strategy stored in the strategy storage unit relate to a charging start voltage threshold, a charging stop voltage threshold, a discharging start voltage threshold, a discharging stop voltage threshold, a maximum state of charge and a minimum state of charge, wherein the charging start voltage threshold, the charging stop voltage threshold, the discharging stop voltage threshold and the discharging start voltage threshold are sequentially decreased in size.
Thus, the energy recovery strategy includes energy recovery on and energy recovery off. If the energy recovery is started, that is, the measured voltage is greater than the charging starting voltage threshold value, and the measured charge state is less than the maximum charge state, if the strategy judgment unit judges that the energy recovery is currently satisfied, the judgment result is that the bidirectional DC/DC module is controlled to perform voltage conversion on the current of the direct current bus and then output the current to the energy storage element for charging, and then the energy execution unit executes a corresponding judgment result. And for the energy recovery shutdown, if the energy storage element is in a charging state, the actual measurement voltage is smaller than the charging shutdown voltage threshold, or the actual measurement state of charge is larger than the maximum state of charge. If the strategy judgment unit judges that the energy recovery is closed at present, the judgment result is that the bidirectional DC/DC module is controlled to stop converting the voltage of the current of the direct current bus and then output the current to the energy storage element for charging, and then the energy execution unit executes the corresponding judgment result.
The same applies to the energy release strategy including energy release on and energy release off. For energy release on, the measured voltage is less than the discharge on voltage threshold and the measured state of charge is greater than the minimum state of charge. If the strategy judgment unit judges that the energy release starting is met currently, the judgment result is that the DC-DC module is controlled to carry out voltage conversion on the current released by the energy storage element and then the converted current is transmitted to the direct current bus, and then the energy execution unit executes a corresponding judgment result. For the energy release off, if the energy storage element is in the discharge state, the measured voltage is greater than the discharge off voltage threshold, or the measured state of charge is less than the minimum state of charge. If the strategy judgment unit judges that the energy release closing is met currently, the judgment result is that the DC-DC module is controlled to stop carrying out voltage conversion on the current released by the energy storage element and then transmitting the current to the direct current bus, and then the energy execution unit executes a corresponding judgment result.
In order to facilitate understanding of the energy recovery strategy and the energy release strategy, fig. 4 provides a schematic diagram of the charging and discharging flow of the energy storage element:
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 measured state of charge, SOC, of the energy storage elementmaxMaximum state of charge, SOC, allowed for the energy storage elementminIs the minimum state of charge allowed for the energy storage element.
Specifically, when the energy storage element is in a non-charging state, it is determined that U is presentdc>U1, and SOC<SOCmaxWhen the energy recovery starting strategy is met, the bidirectional DC/DC module carries out voltage conversion on the current of the direct current bus and then outputs the converted currentAnd discharging to the energy storage element for charging, namely starting charging.
When the energy storage element is in a charging state, judging Udc<U2, or determining SOC>SOCmaxAnd when the energy recovery shutdown strategy is met, the bidirectional DC/DC module stops voltage conversion of the current of the direct current bus, namely, the charging is shut down.
When the energy storage element is in a non-discharge state, judging Udc<U3, and determining SOC>SOCminAnd when the energy release starting strategy is met, the bidirectional 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 energy storage element is in a discharge state, judging Udc>U4, or determining SOC<SOCminAnd when the energy release closing strategy is met, the bidirectional DC/DC module stops voltage conversion of the current released by the super capacitor, namely, the discharge is closed.
In addition, considering that the energy storage element has limited stored energy and limited charging rate, in order to ensure the circuit safety, a braking protection system can be arranged at the tail end of the direct current bus. As shown in fig. 1, the system further includes a brake protection system 22 connected to the end of the dc bus, the brake protection system includes a brake 221 and a dissipation resistor 222 connected to each other, the brake is connected to the dc bus, and the on-board controller is connected to the brake in communication.
Specifically, as shown in fig. 3, the policy storage unit is further configured to store an energy consumption opening policy and an energy consumption closing policy; the strategy judgment unit is also used for carrying out strategy judgment according to the measured voltage received by the voltage receiving unit and the energy consumption starting strategy and the energy consumption closing strategy stored by the strategy storage unit and sending the energy consumption strategy judgment result to the brake control unit;
the upper-mounted controller further includes the brake control unit 156, connected to the policy determination unit and the brake, and configured to receive the energy consumption policy determination result and control the brake to perform connection and disconnection between the energy consumption resistor and the dc bus.
Specifically, the energy consumption turning-on strategy and the energy consumption turning-off strategy stored in the strategy storage unit relate to a resistance turning-on threshold and a resistance turning-off threshold, the resistance turning-on threshold is greater than the resistance turning-off threshold, and the resistance turning-off threshold is greater than the charging turning-on voltage threshold.
And if the energy consumption starting strategy is that the actually measured voltage is greater than the resistance starting threshold value, the energy consumption starting strategy is met, and the corresponding energy consumption strategy judgment result is that the brake is controlled to communicate the energy consumption resistor with the direct current bus. And if the energy consumption resistance is in an energy consumption state, when the actually measured voltage is smaller than the resistance closing threshold value, the energy consumption closing strategy is met, and the corresponding energy consumption strategy judgment result is that the brake is controlled to turn off the energy consumption resistance and the direct current bus.
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. 5:
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 dissipation resistor and the direct current bus are in an off state, the U is judgeddc>And when the current is U5, an energy consumption starting strategy is met, and the brake is used for communicating the energy consumption resistor with the direct current bus.
If the energy consumption resistor is in a power consumption state, judging Udc<And U6, meeting an energy consumption closing strategy, and the brake turns off the energy consumption resistor and the direct current bus.
The utility model discloses in, communication connection between its and each other unit, component is realized to the facial make-up controller accessible CAN 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.
Additionally, in an embodiment of the present invention, as shown in fig. 6, the cut-off element is a cut-off diode, the energy storage element is a super capacitor module, the chassis motor device 146 includes a chassis motor control unit 461, a chassis motor 462 and a gearbox 463 which are connected in sequence, the chassis motor control unit is connected to the dc bus, and the gearbox is connected to the chassis driving system and the hydraulic system respectively.
In addition, the hydraulic system comprises a hydraulic pump, a support leg hydraulic cylinder, a support leg mechanism, a variable amplitude hydraulic cylinder, an arm frame variable amplitude mechanism, a telescopic hydraulic cylinder and an arm frame telescopic mechanism, wherein the hydraulic pump is connected with the gearbox, the hydraulic pump is connected with the support leg mechanism through the support leg hydraulic cylinder, and the hydraulic pump drives the support leg hydraulic cylinder to realize support leg telescopic 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 walking 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.
As shown in fig. 6, the motor device in the slewing system 143 includes a slewing motor control unit 431, a slewing motor 432, and a slewing reducer 433, which are connected in this order, the slewing motor control unit is connected to the dc bus, and the slewing reducer is connected to a slewing mechanism 434 in the slewing system; the motor device in the main winding system 144 comprises a main winding motor control unit 441, a main winding motor 442 and a main winding speed reducer 443 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 444 in the main winding system; the motor device in the auxiliary hoisting system 145 includes an auxiliary hoisting motor control unit 451, an auxiliary hoisting motor 452, and an auxiliary hoisting speed reducer 453, which are connected in sequence, the auxiliary hoisting motor control unit is connected with the dc bus, and the auxiliary hoisting speed reducer is connected with an auxiliary hoisting mechanism 454 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. 6, 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. 7 and 8, 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 embodiment of the utility model provides an in adopt the form of sharing DC bus, realized through one set of energy recuperation system via DC bus that the gravitational potential energy of main, vice winding mechanism, slewing mechanism kinetic energy, vehicle travel kinetic energy retrieve and utilize, have very high energy utilization. And current in the energy recovery stage is prevented from flowing to the power battery through the cut-off element, so that the safety of the power battery is ensured, and the brake and the energy consumption resistor are utilized to perform overvoltage protection, so that the reliability of an energy recovery system is ensured. Compared with the automobile crane adopting diesel power, the power battery provides a power source for the automobile crane to work, and the working efficiency of the automobile crane is greatly improved (the efficiency of the motor can reach more than 90 percent, and the efficiency of the engine is lower than 50 percent). 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. Simple structure, convenient control, low-speed performance improvement (compare present hydraulic drive's mobile crane, hoist low-speed stable range and gyration low-speed stable range all can improve one time). 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, optionally, the upper controller can be also in communication connection with the chassis controller, the operating handle, the moment limiter and the operating panel.
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.
Correspondingly, the utility model also provides an electric automobile crane, electric automobile crane includes above-mentioned embodiment the energy recovery system who shares DC bus.
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 (10)
1. A common direct current bus energy recovery system is characterized in that the system is applied to an electric automobile crane and comprises:
a power battery, an energy recovery system and a power execution system which are connected with the direct current bus, and an upper controller which is connected with the power battery, the energy recovery system and the power execution system in a communication way,
wherein, the energy recovery system comprises a cut-off element, a bidirectional DC/DC module and an energy storage element, the cut-off element is arranged on the anode of the direct current bus, the anode of the cut-off element is connected with the power battery, the anode of the power execution system is connected with the cathode of the cut-off element, the energy storage element is connected with one side of the cathode of the cut-off element on the direct current bus through the bidirectional DC/DC module,
the upper controller is in communication connection with the bidirectional DC/DC module and the energy storage element and is used for receiving the measured voltage on the direct current bus detected by the bidirectional DC/DC module and controlling the charging and discharging process of the energy storage element.
2. A common DC bus energy recovery system as claimed in claim 1, wherein when the energy recovery system is in a charging phase, the current of the DC bus is converted in voltage by the DC-DC module and then output to the energy storage element for charging; when the energy recovery system is in a discharging stage, the current released by the energy storage element is subjected to voltage conversion through the DC-DC module and then is transmitted to the direct current bus.
3. A common dc bus energy recovery system as recited in claim 2, wherein the on-board controller comprises:
a strategy storage unit for storing an energy recovery strategy and an energy release strategy;
the voltage receiving unit is in communication connection with the bidirectional DC/DC module and is used for receiving the measured voltage on the direct current bus detected by the bidirectional DC/DC module;
the charge state detection unit is in communication connection with the energy storage element and is used for detecting the actually measured charge state of the energy storage element;
the strategy judgment unit is connected with the voltage receiving unit, the charge state detection unit and the strategy storage unit;
the energy execution unit is connected with the strategy judgment unit and the bidirectional DC/DC module.
4. A common dc bus energy recovery system as claimed in claim 3, further comprising a brake protection system connected to the end of the dc bus, said brake protection system comprising an interconnected brake and dissipation resistor, said brake being connected to said dc bus, said on-board controller being communicatively connected to said brake.
5. A common DC bus energy recovery system as defined in claim 4,
the strategy storage unit is also used for storing an energy consumption starting strategy and an energy consumption closing strategy;
the upper controller also comprises a brake control unit which is connected with the strategy judgment unit and the brake and is used for controlling the brake to execute the connection and disconnection between the energy consumption resistor and the direct current bus.
6. The energy recovery system of claim 1, wherein the power execution system comprises a chassis drive system, a hydraulic system, a swing system, a primary hoist system, and a secondary hoist 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.
7. A common DC bus energy recovery system as claimed in claim 6, 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.
8. A common DC bus energy recovery system as defined in claim 6,
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.
9. A common DC bus energy recovery system as claimed in claim 7 or 8, wherein the motor control unit is a motor controller or a frequency converter.
10. An electric vehicle crane, characterized in that it comprises an energy recovery system of a common dc bus according to any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022736388.5U CN215009723U (en) | 2020-11-23 | 2020-11-23 | Energy recovery system sharing direct current bus and electric automobile crane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022736388.5U CN215009723U (en) | 2020-11-23 | 2020-11-23 | Energy recovery system sharing direct current bus and electric automobile crane |
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| Publication Number | Publication Date |
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| CN215009723U true CN215009723U (en) | 2021-12-03 |
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| CN202022736388.5U Active CN215009723U (en) | 2020-11-23 | 2020-11-23 | Energy recovery system sharing direct current bus and electric automobile crane |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115782581A (en) * | 2022-12-20 | 2023-03-14 | 中国重汽集团济南动力有限公司 | Driving system for loading operation, working method and engineering vehicle |
| CN116081487A (en) * | 2023-04-10 | 2023-05-09 | 广东省特种设备检测研究院中山检测院 | Energy storage type energy saving control method and control system |
-
2020
- 2020-11-23 CN CN202022736388.5U patent/CN215009723U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115782581A (en) * | 2022-12-20 | 2023-03-14 | 中国重汽集团济南动力有限公司 | Driving system for loading operation, working method and engineering vehicle |
| CN116081487A (en) * | 2023-04-10 | 2023-05-09 | 广东省特种设备检测研究院中山检测院 | Energy storage type energy saving control method and control system |
| CN116081487B (en) * | 2023-04-10 | 2023-09-01 | 广东省特种设备检测研究院中山检测院 | Energy storage type energy saving control method and control system |
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Denomination of utility model: Energy recovery system for common DC bus and electric vehicle crane Effective date of registration: 20231205 Granted publication date: 20211203 Pledgee: ZOOMLION Group Finance Co.,Ltd. Pledgor: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. Registration number: Y2023980069645 |