Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
  • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
  • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
  • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
  • B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
  • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
  • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
  • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
  • B60L58/15—Preventing overcharging
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
  • B60L7/00—Electrodynamic brake systems for vehicles in general
  • B60L7/22—Dynamic electric resistor braking, combined with dynamic electric regenerative braking
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
  • B60L2200/00—Type of vehicles
  • B60L2200/36—Vehicles designed to transport cargo, e.g. trucks
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
  • B60L2240/00—Control parameters of input or output; Target parameters
  • B60L2240/40—Drive Train control parameters
  • B60L2240/42—Drive Train control parameters related to electric machines
  • B60L2240/421—Speed
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
  • B60L2240/00—Control parameters of input or output; Target parameters
  • B60L2240/40—Drive Train control parameters
  • B60L2240/54—Drive Train control parameters related to batteries
  • B60L2240/545—Temperature
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
  • B60L2240/00—Control parameters of input or output; Target parameters
  • B60L2240/60—Navigation input
  • B60L2240/62—Vehicle position
  • B60L2240/622—Vehicle position by satellite navigation
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
  • B60L2240/00—Control parameters of input or output; Target parameters
  • B60L2240/60—Navigation input
  • B60L2240/64—Road conditions
  • B60L2240/642—Slope of road

Definitions

• the electrical motor When an electrically powered vehicle moves downhill, the electrical motor functions as a generator, converting kinetic energy from the vehicle into electric energy while slowing down the vehicle.
• the electric energy can be used to charge a battery of the vehicle. This is known as regenerative braking.
• Regenerative braking is thus a form of motor braking which is unique to electrically powered vehicles.
• Overspeed is a condition where the motor rotation speed of the vehicle is forced to a state beyond a design limit of the vehicle, which may cause damage to the vehicle.
• the risk of entering into an overspeed condition increases.
• An object of the present disclosure is to overcome at least some of the problems outlined above and to provide a solution for controlling the speed of a mining vehicle in order to sustain regenerative braking.
• a computer-implemented method for controlling a traction speed of a mining vehicle during downhill driving comprises a traction control system, an electrical drive system comprising a traction motor and at least one inverter, and an electric energy storage.
• the method comprises setting a braking torque of the traction motor and determining an available charge power of the electric energy storage; when the available charge power is below a first predetermined value: calculating a reference rotation speed of the traction motor based on the available charge power and the set braking torque; and controlling the traction speed of the mining vehicle by controlling the rotation speed of the traction motor toward the reference rotation speed.
• Controlling the traction speed toward a reference rotation speed allows the vehicle to be slowed down during downhill driving without exceeding the available power of the battery, that is, the power the battery can receive before it is fully charged.
• a set level of motor braking is always available, without exceeding the available power of the batter and overspeed can be avoided.
• the reference rotation speed is a calculated rotation speed.
• the reference rotation speed is specifically calculated such that, if the rotation speed of the traction motor is controlled towards the reference rotation speed, the set motor brake is maintained, and the battery is not charged to an undesired level.
• the undesired level relates to the battery being fully charged, or close to fully charged.
• the rotation speed of the traction motor is not allowed to exceed the reference rotation speed.
• rotation speed is maintained at a level whereby a set motor brake is maintained and whereby available charge power is maintained below a predetermined value.
• the method may comprise determining an inclination of the ground at a position of the mining vehicle; and calculating the braking torque based on the determined inclination of the ground. This allows the reference rotation speed to be adapted depending on where the vehicle is and depending on characteristics of a surrounding environment of the vehicle. This provides a higher level of control and a more efficient use of energy.
• the position of the mining vehicle is one of a current position and an expected, future position along a travel route of the mining vehicle. This allows the reference rotation speed to not only be adapted depending on the current position, but also be adapted such that a suitable reference rotation speed to be set is already determined when the vehicle arrives at a downhill slope.
• Positioning systems in mining environment are commonly able to determine the position of objects in the mining environment with high precision. As such, these systems may be utilized to provide information related to the position of the vehicle. Information may be provided both to the vehicle from a remote system, or from the vehicle to a remote system.
• the mining vehicle comprises at least two gears, and the method may comprise: determining which of the at least two gears is engaged; and setting the braking torque based on the determination.
• the method may comprise, when the available charge power is below a second predetermined value being lower than the first predetermined value: preventing shifting to a higher gear.
• Preventing shifting to a higher gear could for example comprise mechanically preventing shifting or communicating an alarm to a driver that shifting is not recommended.
• a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method according to the first aspect.
• a computer-readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method according to the first aspect.
• a traction control system for controlling a traction speed of a mining vehicle during downhill driving.
• the mining vehicle comprises: an electrical drive system comprising a traction motor, and at least one inverter, and an electric energy storage.
• the traction control system comprises means for communicating with the electrical drive system, processing circuitry; and a memory, wherein said memory contains instructions executable by said processing circuitry.
• the traction control system is operative for setting a braking torque of the traction motor and determining an available charge power of the electric energy storage.
• the traction control system is further operative for calculating a reference rotation speed of the traction motor based on the available charge power and the set braking torque and controlling the traction speed of the mining vehicle by controlling the rotation speed of the traction motor toward the reference rotation speed.
• a mining vehicle comprising: a traction control system according to the fourth aspect, an electrical drive system comprising a traction motor, and at least one inverter, and an electric energy storage.
• Fig. 2 displays an example electrical drive system and vehicle components.
• the mining vehicle 10 is driven by means of an electrical drive system 20.
• the electrical drive system 20 generally comprises a traction motor 21 and an inverter 22.
• the electrical drive system 20 is connected to the battery 30 via the inverter 22 at one end, and to a gear box 40 at another end.
• Motor braking by means of regenerative braking brings about a charging operation performed by the electrical drive system, i.e., charging a battery 30 connected to the electrical drive system 20.
• the electrical drive system 20 functions as a generator and generated electric power can be used to charge the vehicle battery.
• An important aspect to consider in relation to regenerative braking is that it is only available as long as the battery is not fully charged.
• the ability of the vehicle 10 to motor brake is dependent on a braking torque.
• a theoretical braking torque required for holding the vehicle 10 in standstill stands in relation to an inclination a of the downhill slope.
• a greater inclination a implies a greater gravitational vector component and thus a greater gravitational force acting on the vehicle 10 and thereby a greater torque.
• a lesser inclination a implies a lesser torque.
• the battery 30 is arranged to store electrical energy to drive the vehicle 10.
• the output electricity from the battery 30 is direct current (DC).
• the inverter 22 converts the DC to alternating current (AC) which drives the traction motor 21.
• the inverter 22 also controls the output frequency of the AC.
• a high output frequency leads to a high rotation speed of the traction motor 21.
• the rotation speed is the speed at which a rotor of the traction motor rotates.
• the rotation speed may be measured in revolutions per minute (rpm).
• rpm revolutions per minute
• the traction speed is defined as the speed at which the mining vehicle travels, for example on a road of the mining environment.
• the traction speed may be measured in for example kilometers per hour (km/h) or miles per hour.
• a traction control system 60 is displayed with reference to Fig. 3.
• the traction control system 60 generally comprises communication means 61, processing circuitry 62 and a memory 63.
• a computer program 70 comprising instructions which, when executed by a computer, cause a computer to carry out a method 80 according to the disclosure.
• the traction control system 60 communicates with the electrical drive system 20.
• the traction control system 60 communicates with the inverter 22 to control the inverter 22.
• the traction control system 60 may control an output of the inverter 22.
• the traction control system 60 may control the output DC from the inverter 22 to the battery 30.
• the traction control system 60 may control the output frequency from the inverter 22 to the traction motor 21.
• the traction control system 60 furthermore communicates with a battery management system (BMS) of the vehicle 10.
• BMS battery management system
• information relating to the battery 30 is obtainable by the traction control system 60.
• the available charge power is defined as the ability of the battery 30 to receive charge power and depends both on a state of charge (SoC) of the battery 30 and a temperature of the battery 30.
• SoC state of charge
• a higher SoC implies a lower available charge power.
• SoC state of charge
• the battery 30 has a temperature within an optimal temperature interval, a high available charge power is implied.
• the temperature is outside the optimal temperature interval, a low available charge power is implied.
• the available charge power is lower the further the temperature of the battery is from the optimal temperature interval.
• the optimal temperature interval may be between 20°C and 40°C.
• the optimal temperature interval may be between 25°C and 35°C.
• the optimal temperature interval may be between 27°C and 35°C.
• the method 80 comprises a step of determining 82 an available charge power of the battery 30. Determining the available charge power may comprise obtaining the available charge power. Determining the available charge power may comprise obtaining information relating to the available charge power. The information may be the SoC of the battery 30 and/or the temperature of the battery 30. Determining the available charge power may comprise calculating the available charge power based on the obtained information.
• the available charge power and/or related information may be obtained from the BMS.
• the available charge power and/or related information may be obtained by the traction control system 60 from the BMS.
• the available charge power and/or related information may be obtained by requesting it from the BMS.
• the available charge power and/or related information may be obtained from the BMS at scheduled and/or regular intervals.
• the method 80 comprises a step of calculating 83 a reference rotation speed of the traction motor 21.
• Calculating 83 a reference rotation speed may be performed by the traction control system 60.
• Calculating 83 a reference rotation speed may comprise obtaining the set braking torque.
• Calculating 83 a reference rotation speed may comprise obtaining the determined available charge power.
• Calculating 83 a reference rotation speed may be based on the available charge power and the set braking torque.
• Calculating 83 a reference rotation speed may comprise calculating which rotation speed of the traction motor is required to maintain the available charge power and maintain the set braking torque.
• Calculating 83 a reference rotation speed may comprise calculating which rotation speed of the traction motor is required to maintain the available charge power above the predetermined value and maintain.
• Calculating 83 a reference rotation speed may be performed when the available charge power is determined 82.
• Calculating 83 a reference rotation speed may be performed when the available charge power has changed more than a predetermined value.
• calculating 83 a reference rotation speed may comprise determining a change in the determined available charge power.
• Calculating 83 a reference rotation speed may be performed when setting 81 the braking torque.
• Calculating 83 a reference rotation speed may be performed when the set braking torque has changed.
• the reference rotation speed may be calculated by means of the following equation:
• the power margin is a safety margin included in the equation to allow for uncertainties in the obtained available charge power.
• the power margin may be 10 kW.
• the power margin may be 20 kW.
• the power margin may be set depending on which gear is connected.
• the equation may furthermore be used without entering a power margin, that is setting the power margin to zero.
• the method 80 comprises a step of controlling 84 the traction speed of the mining vehicle 10 by controlling the rotation speed of the traction motor 21 toward the reference rotation speed.
• Controlling the rotation speed of the traction motor 21 may comprise controlling the inverter 22.
• Controlling 84 the traction speed may comprise controlling the rotation speed of the traction motor 21 to not exceed the reference rotation speed.
• controlling 84 the traction speed of the mining vehicle 10 by controlling the rotation speed of the traction motor 21 may comprise controlling the output DC from the inverter 22 to the battery.
• Controlling the rotation speed of the traction motor 21 may comprise controlling the output DC from the inverter 22 to the battery which in turn controls the input AC to the inverter 22 from the traction motor 21 and which thereby controls the rotation speed of the traction motor 21.
• Controlling the rotation speed of the traction motor 21 may comprise limiting the output DC from the inverter 22 to the battery to limit the input AC to the inverter 22 from the traction motor 21 and thereby limit the rotation speed of the traction motor 21.
• controlling 84 the traction speed of the mining vehicle 10 by controlling the rotation speed of the traction motor 21 may comprise controlling the output frequency from the inverter to the traction motor 21.
• Controlling the rotation speed of the traction motor 21 may comprise limiting the output frequency from the inverter to the traction motor 21 and thereby limit the rotation speed of the traction motor 21.
• Setting 81 the braking torque may comprise determining the inclination of the ground below the vehicle 10 or an inclination of a road segment lying ahead of the vehicle 10.
• Setting the braking torque may comprise determining that the inclination is above a predetermined inclination value.
• Setting the braking torque may comprise determining that the inclination is below a predetermined inclination value.
• Setting the braking torque may comprise setting a higher value of the braking torque if the inclination is above the predetermined inclination value and a lower braking torque is the inclination is below the predetermined inclination value.
• Determining the inclination may comprise a step of communicating with a means for determining the inclination arranged on the vehicle 10.
• the braking torque may be set to 500 Nm when the vehicle 10 is in second gear 42.
• the braking torque may be set to 200 Nm when the vehicle 10 is in first gear 41.
• the method may also comprise determining if the available charge power is below a second predetermined value, being lower than the first predetermined value. When it is determined that the available charge power is below the second predetermined value, the method may comprise at least one of mechanically and/or electrically preventing shifting to a higher gear, communicating with a driver of the vehicle that shifting to a higher gear is not recommended, bringing the vehicle to a full stop, and communicating to a driver that motor brake is unavailable.
• the method comprises setting the braking torque to 500 Nm, obtaining an available charge power, wherein the obtained available charge power is 130 kW, calculating the reference rotation speed according to the equation with a power margin of 20 kW, wherein the resulting reference rotation speed is 2102 rpm, and controlling the rotation speed of the traction motor towards the reference rotation speed.
• the resulting traction speed of the mining vehicle 10 is 10.0 km/h.
• the method comprises setting the braking torque to 500 Nm, obtaining an available charge power, wherein the obtained available charge power is 100 kW, calculating the reference rotation speed according to the equation with a power margin of 20 kW, wherein the resulting reference rotation speed is 1529 rpm, and controlling the rotation speed of the traction motor towards the reference rotation speed.
• the resulting traction speed of the mining vehicle 10 is 7.3 km/h.

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• Engineering & Computer Science (AREA)
• Power Engineering (AREA)
• Transportation (AREA)
• Mechanical Engineering (AREA)
• Life Sciences & Earth Sciences (AREA)
• Sustainable Development (AREA)
• Sustainable Energy (AREA)
• Electric Propulsion And Braking For Vehicles (AREA)
• Hybrid Electric Vehicles (AREA)

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• 2022
  • 2022-10-10 EP EP22793894.1A patent/EP4601906A1/de active Pending
  • 2022-10-10 CN CN202280100934.5A patent/CN120265492A/zh active Pending
  • 2022-10-10 WO PCT/SE2022/050911 patent/WO2024080898A1/en not_active Ceased
  • 2022-10-10 AU AU2022481758A patent/AU2022481758A1/en active Pending
  • 2022-10-10 CA CA3263795A patent/CA3263795A1/en active Pending

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