WO2022160830A1 - 一种起重机多模式插电作业的控制系统及控制方法 - Google Patents
一种起重机多模式插电作业的控制系统及控制方法 Download PDFInfo
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- WO2022160830A1 WO2022160830A1 PCT/CN2021/127432 CN2021127432W WO2022160830A1 WO 2022160830 A1 WO2022160830 A1 WO 2022160830A1 CN 2021127432 W CN2021127432 W CN 2021127432W WO 2022160830 A1 WO2022160830 A1 WO 2022160830A1
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- charging
- battery
- integrated
- discharging
- discharging machine
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- 238000004891 communication Methods 0.000 claims abstract description 5
- 238000007599 discharging Methods 0.000 claims description 186
- 230000005540 biological transmission Effects 0.000 claims description 47
- 230000002457 bidirectional effect Effects 0.000 claims description 20
- 230000002452 interceptive effect Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/12—Arrangements of means for transmitting pneumatic, hydraulic, or electric power to movable parts of devices
Definitions
- the invention relates to the technical field of crane control, in particular to a control system and a control method for a multi-mode plug-in operation of a crane.
- the problem solved by the present invention is how to realize the cruising range of the crane under continuous working conditions.
- the present invention provides a control system for a multi-mode plug-in operation of a crane, which is applied to the plug-in operation mode of a crane, including a charging and discharging integrated machine, a vehicle controller, a battery management system, a motor controller, and a chassis power distribution.
- box and battery distribution box, the integrated charging and discharging machine, vehicle controller, battery management system and motor controller are connected through CAN bus communication, and the chassis distribution box is respectively connected with the integrated charging and discharging machine, the motor
- the controller is connected to the battery, and the battery distribution box is respectively connected to the chassis distribution box and the battery.
- the control system of the multi-mode plug-in operation of the crane controls the charging and discharging integrated machine, the battery management system and the motor controller interactively by the vehicle controller, and performs the plug-in operation process according to the battery state and the charging and discharging environment.
- Real-time self-adaptive adjustment realizes switching between various charging and discharging modes of the integrated charging and discharging machine, battery and motor, so as to meet the charging requirements of the battery, and realize the crane's battery life under continuous working conditions on the premise of ensuring charging safety and operating performance. .
- the current transmission mode between the integrated charging and discharging machine and the chassis power distribution box is a one-way high-voltage direct current from the integrated charging and discharging machine to the chassis power distribution box, and the motor controller is connected to the power distribution box.
- the current transmission mode between the chassis distribution boxes is bidirectional high-voltage direct current.
- the control system for the multi-mode plug-in operation of the crane according to the present invention, by setting the current transmission mode between the charging and discharging integrated machine and the chassis distribution box to be unidirectional high-voltage direct current from the charging and discharging integrated machine to the chassis distribution box, preventing the current
- the reverse transmission causes damage to the charging and discharging integrated machine and the AC power distribution cabinet; by setting the current transmission mode between the motor controller and the chassis power distribution box to be bidirectional high-voltage DC, the recovery of braking energy is realized.
- the current transmission mode between the battery distribution box and the chassis distribution box is bidirectional high voltage direct current
- the current transmission mode between the battery distribution box and the battery is bidirectional high voltage direct current
- the control system for the multi-mode plug-in operation of the crane sets the current transmission mode between the battery distribution box and the chassis distribution box to be bidirectional high-voltage direct current, and the current transmission mode between the battery distribution box and the battery is as follows:
- the bidirectional high voltage DC realizes the mutual conversion between the charging mode and the discharging mode of the battery, thereby ensuring the stable power supply of the battery when the crane is running, and improving the endurance of the crane under continuous working conditions.
- control system for the multi-mode plug-in operation of the crane further includes an AC charging socket, and the AC charging socket is respectively connected with the AC power distribution cabinet and the integrated charging and discharging machine.
- the control system for the multi-mode plug-in operation of the crane described in the present invention transmits the alternating current to the integrated charging and discharging machine through the AC charging socket, which effectively ensures the current transmission safety of the integrated charging and discharging machine, thereby meeting the battery charging time requirement, and ensuring the safety of the charging and discharging integrated machine.
- the crane can achieve continuous battery life under continuous working conditions.
- the current transmission mode between the AC charging socket and the AC power distribution cabinet is unidirectional high-voltage AC from the AC power distribution cabinet to the AC charging socket, and the AC charging socket and the charging
- the current transmission mode between the integrated charging and discharging machines is a one-way high-voltage alternating current from the AC charging socket to the all-in-one charging and discharging machine.
- the control system for the multi-mode plug-in operation of the crane according to the present invention by setting the current transmission mode between the AC charging socket and the AC power distribution cabinet is one-way high-voltage AC from the AC power distribution cabinet to the AC charging socket, and the AC charging socket is connected to the AC power distribution cabinet.
- the current transmission method between the charging and discharging unit is one-way high-voltage AC from the AC charging socket to the charging and discharging unit, which prevents the reverse transmission of current from causing damage to the charging and discharging unit and the AC power distribution cabinet.
- the vehicle controller includes a judging unit, and the judging unit is used for judging the required power of the motor controller and the output power of the integrated charging and discharging machine, as well as judging the battery SOC and overcharge protection.
- the size of the threshold is used for judging the required power of the motor controller and the output power of the integrated charging and discharging machine, as well as judging the battery SOC and overcharge protection.
- the control system for the multi-mode plug-in operation of the crane judges the required power of the motor controller and the output power of the integrated charging and discharging machine, and judges the size of the battery SOC and the overcharge protection threshold through the judgment unit, thereby according to The judgment result controls the charging and discharging status of the integrated charging and discharging machine, the battery and the motor, and realizes various charging and discharging modes of the integrated charging and discharging machine, the battery and the motor, so as to meet the charging time requirements of the battery, and realize the realization under the premise of ensuring the charging safety and operation performance.
- the endurance of the crane under continuous working conditions.
- the battery management system includes a charging enable shutdown instruction generation module, the charging enable shutdown instruction generation module is configured to send a charging enable shutdown instruction to the integrated charging and discharging machine when the external power supply is disconnected.
- the control system for the multi-mode plug-in operation of the crane sends the charging enable and close command to the integrated charging and discharging machine through the charging enable and close command generation module when the external power supply is disconnected, and controls the charging in an orderly manner through the vehicle controller. End, to ensure the safety and service life of the battery, thereby improving the crane's endurance under continuous working conditions.
- the present invention also provides a method for controlling the multi-mode plug-in operation of a crane, which is applied to the above-mentioned control system for the multi-mode plug-in operation of the crane.
- the vehicle controller controls the charging and discharging states of the integrated charging and discharging machine, the battery and the motor according to the required power of the motor controller and the output power of the integrated charging and discharging machine, as well as the size of the battery SOC and the overcharge protection threshold;
- the plug-in operation is controlled by the vehicle controller to end.
- the control method of the multi-mode plug-in operation of the crane according to the present invention realizes various charging and discharging functions of the integrated charging and discharging machine, the battery and the motor through the interactive control of the integrated charging and discharging machine, the battery management system and the motor controller by the vehicle controller. Discharge mode, so as to meet the battery charging time requirements, and realize the crane's battery life under continuous working conditions on the premise of ensuring charging safety and operating performance.
- the vehicle controller controls the power of the integrated charging and discharging machine, the battery and the motor according to the required power of the motor controller, the output power of the integrated charging and discharging machine, and the size of the battery SOC and the overcharge protection threshold.
- the charging and discharging state includes: when the required power of the motor controller is greater than or equal to the output power of the integrated charging and discharging machine, the vehicle controller controls the integrated charging and discharging machine and the battery for the Motor power supply; when the required power of the motor controller is less than the output power of the integrated charging and discharging machine, determine the size of the battery SOC and the overcharge protection threshold; if the battery SOC is less than the overcharge protection When the threshold is reached, the integrated charging and discharging machine is controlled by the vehicle controller to supply power to the motor and charge the battery; if the SOC of the battery is greater than or equal to the overcharge protection threshold, the integrated charging and discharging machine is The vehicle controller controls the integrated charging and discharging machine to supply power to the motor and stops charging the battery.
- the control method for the multi-mode plug-in operation of the crane controls the charging and discharging operation by the vehicle controller according to the required power of the motor controller, the output power of the integrated charging and discharging machine, and the size of the battery SOC and the overcharge protection threshold.
- the controlling the end of charging through the vehicle controller includes: sending a charging enable and close instruction to the integrated charging and discharging machine through the battery management system; and the integrated charging and discharging machine receives the charging enable and closes.
- sending a charging end request to the vehicle controller After receiving the charging end request, the vehicle controller controls the chassis distribution box slow charging relay to disconnect to control the charging end.
- the control method for the multi-mode plug-in operation of the crane according to the present invention controls the end of charging in an orderly manner through the vehicle controller, so as to ensure the safety and service life of the battery, thereby improving the cruising ability of the crane under continuous working conditions.
- FIG. 1 is a schematic diagram of a control system for a multi-mode plug-in operation of a crane according to an embodiment of the present invention
- FIG. 2 is a schematic diagram of a control method for a multi-mode plug-in operation of a crane according to an embodiment of the present invention
- FIG. 3 is a specific flow chart 1 of a control method for a multi-mode plug-in operation of a crane according to an embodiment of the present invention
- FIG. 4 is a second specific flowchart of a method for controlling a multi-mode plug-in operation of a crane according to an embodiment of the present invention.
- an embodiment of the present invention provides a control system for a multi-mode plug-in operation of a crane, which is applied to the plug-in operation mode of a crane, including a charging and discharging integrated machine, a vehicle controller, a battery management system, a motor controller, Chassis power distribution box and battery power distribution box, the charging and discharging integrated machine, vehicle controller, battery management system and motor controller are connected through CAN bus communication, and the chassis power distribution box is respectively connected with the charging and discharging integrated machine, The motor controller is connected to the battery, and the battery distribution box is connected to the chassis distribution box and the battery respectively.
- the control system for the multi-mode plug-in operation of the crane includes an integrated charging and discharging machine (OBC, full name On Board Charger), a vehicle controller (VCU, full name Vehicle Control Unit) connected through CAN bus communication.
- OBC integrated charging and discharging machine
- VCU vehicle controller
- VCU full name Vehicle Control Unit
- BMS battery management system
- MCU full name Microcontroller Unit
- chassis distribution box PDU, full name Power Distribution Unit
- BDU full name Battery Disconnect Unit
- the chassis distribution box is used to receive the current transmitted by the charging and discharging machine, and according to the selection and control of the charging and discharging mode by the vehicle controller, the The current is transmitted to the motor controller or the battery to supply power to the motor or charge the battery.
- the battery distribution box is connected to the chassis distribution box and the battery respectively.
- the battery distribution box is used to protect the battery charging and discharging safety, and integrates various protection systems. , to prevent the damage to the battery caused by the impact of the power surge.
- the battery distribution box is equipped with a protection system to control the connection and disconnection of energy to protect the battery safety caused by excessive circuit.
- the integrated charging and discharging machine can supply power to the motor through the motor controller when connected to an external power supply, and can also charge the battery in the charging state, so that the battery can supply power to the motor in the discharging state;
- the vehicle controller is used to control the charging and discharging process. , including controlling the charging and discharging integrated machine to supply power to the motor through the chassis distribution box and the motor controller, controlling the charging and discharging integrated machine to charge the battery through the chassis distribution box and the battery distribution box, and controlling the battery through the battery distribution box and the chassis distribution box.
- the electric box and the motor controller supply power to the motor, that is, under the control of the vehicle controller, the charging and discharging machine, battery and motor have various charging and discharging modes, such as the following three situations: the charging and discharging machine and the battery supply power to the motor at the same time ;
- the all-in-one charging and discharging machine supplies power to the motor and charges the battery;
- the all-in-one charging and discharging machine supplies power to the motor and stops charging the battery.
- the plug-in operation mode is disclosed in the prior art, it only realizes the simple and single control of the charging and discharging process through the on-board charger, and does not have the feedback function, so that the plug-in operation process cannot be automatically and automatically performed in real time according to the battery state and the charging and discharging environment. Therefore, in this embodiment, the charging and discharging integrated machine, the battery management system and the motor controller are interactively controlled by the vehicle controller, and the plug-in operation process is adjusted in real time according to the battery state and the charging and discharging environment. It can switch between various charging and discharging modes of the integrated machine, battery and motor, so as to meet the charging requirements of the battery, and realize the battery life of the crane under continuous working conditions on the premise of ensuring charging safety and operating performance.
- the charging and discharging integrated machine, the battery management system and the motor controller are interactively controlled by the vehicle controller, and the plug-in operation process is adjusted in real time according to the battery state and the charging and discharging environment, so as to realize the charging and discharging.
- the current transmission mode between the integrated charging and discharging machine and the chassis power distribution box is a one-way high-voltage direct current from the integrated charging and discharging machine to the chassis power distribution box, and the motor controller is connected to the power distribution box.
- the current transmission mode between the chassis distribution boxes is bidirectional high-voltage direct current.
- the current transmission method between the integrated charging and discharging machine and the chassis power distribution box is a one-way high-voltage DC from the integrated charging and discharging machine to the chassis power distribution box, and the integrated charging and discharging machine is receiving an external power supply, namely 380V.
- the one-way high-voltage AC of the /220V AC power distribution cabinet is converted into one-way high-voltage DC and transmitted to the chassis power distribution box, it can prevent damage to the charging and discharging machine and the AC power distribution cabinet caused by the reverse transmission of the current.
- the current transmission method between the motor controller and the chassis distribution box is bidirectional high-voltage DC.
- the chassis distribution box transmits the current to the motor controller and then to the motor, so as to control the crane operating system electrically, but in special cases
- the chassis distribution box can recover the current on the side of the motor controller. For example, when the crane decelerates, the motor becomes a generator to generate current, and the motor controller converts alternating current into direct current and transmits it to the chassis distribution box.
- the battery is charged for braking energy recovery.
- the current transmission mode between the charging and discharging integrated machine and the chassis distribution box by setting the current transmission mode between the charging and discharging integrated machine and the chassis distribution box to be a one-way high-voltage direct current from the charging and discharging integrated machine to the chassis distribution box, it is possible to prevent the reverse transmission of current from causing the charging and discharging integrated machine and the The AC power distribution cabinet is damaged; by setting the current transmission mode between the motor controller and the chassis power distribution box to be bidirectional high-voltage DC, the recovery of braking energy is realized.
- the current transmission mode between the battery distribution box and the chassis distribution box is bidirectional high voltage direct current
- the current transmission mode between the battery distribution box and the battery is bidirectional high voltage direct current
- the current transmission mode between the battery distribution box and the chassis distribution box is bidirectional high voltage DC
- the current transmission mode between the battery distribution box and the battery is bidirectional high voltage DC.
- the battery can be connected between the charging mode and the discharging mode. Mutual conversion, thereby ensuring the stable power supply of the battery when the crane is running, and improving the endurance of the crane under continuous working conditions.
- the battery is in the charging mode.
- the mutual conversion between the battery and the discharge mode ensures the stable power supply of the battery when the crane is running, and improves the endurance of the crane under continuous working conditions.
- control system for the multi-mode plug-in operation of the crane further includes an AC charging socket, and the AC charging socket is respectively connected with the AC power distribution cabinet and the integrated charging and discharging machine.
- the control system for the multi-mode plug-in operation of the crane further includes an AC charging socket, the AC charging socket is respectively connected with the AC power distribution cabinet and the integrated charging and discharging machine, and the AC power distribution cabinet transmits current to the AC charging socket. Then to the all-in-one charging and discharging machine, since the AC power distribution cabinet transmits AC power, the AC power is transmitted to the all-in-one charging and discharging machine through the AC charging socket, which effectively ensures the current transmission safety of the all-in-one charging and discharging machine, thus meeting the battery charging time requirement. , Under the premise of ensuring charging safety and operating performance, the crane can achieve continuous battery life under continuous working conditions.
- the AC power is transmitted to the all-in-one charging and discharging machine through the AC charging socket, which effectively ensures the current transmission safety of the all-in-one charging and discharging machine, thereby meeting the battery charging time requirement, and realizing the realization on the premise of ensuring charging safety and operation performance.
- the current transmission mode between the AC charging socket and the AC power distribution cabinet is unidirectional high-voltage AC from the AC power distribution cabinet to the AC charging socket, and the AC charging socket and the charging
- the current transmission mode between the integrated charging and discharging machines is a one-way high-voltage alternating current from the AC charging socket to the all-in-one charging and discharging machine.
- the current transmission mode between the AC charging socket and the AC power distribution cabinet is unidirectional high-voltage AC from the AC power distribution cabinet to the AC charging socket, and the current between the AC charging socket and the integrated charging and discharging machine
- the transmission method is one-way high-voltage AC from the AC charging socket to the integrated charging and discharging machine, to prevent the reverse transmission of the current from causing damage to the charging and discharging integrated machine and the AC power distribution cabinet.
- the current transmission mode between the AC charging socket and the AC power distribution cabinet by setting the current transmission mode between the AC charging socket and the AC power distribution cabinet to be unidirectional high-voltage AC from the AC power distribution cabinet to the AC charging socket, the current transmission between the AC charging socket and the integrated charging and discharging machine
- the method is a one-way high-voltage AC from the AC charging socket to the charging and discharging machine, to prevent the reverse transmission of the current from causing damage to the charging and discharging machine and the AC power distribution cabinet.
- the vehicle controller includes a judging unit, and the judging unit is used for judging the required power of the motor controller and the output power of the integrated charging and discharging machine, as well as judging the battery SOC and overcharge protection.
- the size of the threshold is used for judging the required power of the motor controller and the output power of the integrated charging and discharging machine, as well as judging the battery SOC and overcharge protection.
- the vehicle controller includes a judging unit, which is used for judging the required power of the motor controller and the output power of the integrated charging and discharging machine, as well as judging the size of the battery SOC and the overcharge protection threshold. , so as to control the charging and discharging state of the integrated charging and discharging machine, the battery and the motor according to the judgment result, and realize various charging and discharging modes of the integrated charging and discharging machine, the battery and the motor, so as to meet the charging time requirements of the battery and ensure the safety of charging and operation performance. Under the premise, the cruising range of the crane can be realized under continuous working conditions.
- the judging unit judges the required power of the motor controller and the output power of the integrated charging and discharging machine, as well as the size of the battery SOC and the overcharge protection threshold, so as to control the integrated charging and discharging machine and the battery according to the judgment result.
- the charging and discharging integrated machine, the battery and the motor can be charged and discharged in various modes, so as to meet the charging time requirements of the battery, and realize the crane's continuous life under the premise of ensuring charging safety and operating performance.
- the battery management system includes a charging enable shutdown instruction generation module, the charging enable shutdown instruction generation module is configured to send a charging enable shutdown instruction to the integrated charging and discharging machine when the external power supply is disconnected.
- the battery management system includes a charging enable shutdown instruction generation module, and the charging enable shutdown instruction generation module is used to send a charging enable shutdown instruction to the integrated charging and discharging machine when the external power supply is disconnected.
- the car controller controls the end of charging in an orderly manner to ensure the safety and service life of the battery, thereby improving the endurance of the crane under continuous working conditions.
- the charging enable and close command generation module sends a charging enable and close command to the integrated charging and discharging machine when the external power supply is disconnected, and the vehicle controller controls the end of charging in an orderly manner to ensure the safety and service life of the battery , thereby improving the endurance of the crane under continuous working conditions.
- another embodiment of the present invention provides a control method for a multi-mode plug-in operation of a crane, which is applied to the control system for the above-mentioned multi-mode plug-in operation of a crane, including: when the integrated charging and discharging machine is connected to an external power supply, The start of the plug-in operation is controlled by the vehicle controller; the vehicle controller controls the integrated charging and discharging machine according to the required power of the motor controller and the output power of the integrated charging and discharging machine, as well as the size of the battery SOC and the overcharge protection threshold. , the charging and discharging state of the battery and the motor; when the external power supply is disconnected, the plug-in operation is controlled by the vehicle controller to end.
- control method for the multi-mode plug-in operation of the crane includes:
- the vehicle controller controls the chassis distribution box to close the slow charging relay, and the high-voltage circuit of the integrated charging and discharging machine is connected;
- the vehicle controller confirms that the power take-off is connected to gear
- the vehicle controller sends a closing command to the main drive relay of the chassis distribution box according to the power take-off state of the motor, the main drive relay is closed, the high-voltage circuit of the motor controller is connected, and charging starts;
- the vehicle controller controls the charging and discharging states of the integrated charging and discharging machine, the battery and the motor according to the required power of the motor controller and the output power of the integrated charging and discharging machine, as well as the size of the battery SOC and the overcharge protection threshold;
- the external power supply is disconnected, and the charging enable and close command is sent to the integrated charging and discharging machine through the battery management system. Disconnect to end charging.
- control method of the multi-mode plug-in operation of the crane can also be applied to the multi-mode power supply of the cooling and hydraulic systems.
- the integrated charging and discharging machine, the battery management system and the motor controller are interactively controlled by the vehicle controller to realize various charging and discharging modes of the integrated charging and discharging machine, the battery and the motor, so as to meet the battery charging time requirement.
- the crane Under the premise of ensuring charging safety and operating performance, the crane can achieve continuous battery life under continuous working conditions.
- the vehicle controller controls the power of the integrated charging and discharging machine, the battery and the motor according to the required power of the motor controller, the output power of the integrated charging and discharging machine, and the size of the battery SOC and the overcharge protection threshold.
- the charging and discharging state includes: when the required power of the motor controller is greater than or equal to the output power of the integrated charging and discharging machine, the vehicle controller controls the integrated charging and discharging machine and the battery for the Motor power supply; when the required power of the motor controller is less than the output power of the integrated charging and discharging machine, determine the size of the battery SOC and the overcharge protection threshold; if the battery SOC is less than the overcharge protection When the threshold is reached, the integrated charging and discharging machine is controlled by the vehicle controller to supply power to the motor and charge the battery; if the SOC of the battery is greater than or equal to the overcharge protection threshold, the integrated charging and discharging machine is The vehicle controller controls the integrated charging and discharging machine to supply power to the motor and stops charging the battery.
- controlling the integrated charging and discharging machine, the battery management system, and the motor controller through the vehicle controller includes: the vehicle controller is based on the required power of the motor controller and the output power of the integrated charging and discharging machine. As well as the size of the battery SOC and overcharge protection threshold, the charging and discharging state of the integrated charging and discharging machine, the battery and the motor are controlled.
- the required power of the motor controller and the output power of the integrated charging and discharging machine are judged.
- the controller controls the charging and discharging unit and the battery to supply power to the motor at the same time. If the required power of the motor controller is less than the output power of the charging and discharging unit, the battery SOC and the overcharge protection threshold are judged.
- the purpose is to determine the power demand of the operating motor, corresponding to the different working modes of the crane, including but not limited to slewing, main coil lifting, sub-coil lifting, slewing With the combined action of the main and auxiliary coils, different working modes correspond to different motor powers.
- the required power is large, the charging and discharging machine and the battery need to supply power to the motor at the same time, and vice versa.
- the vehicle controller controls the integrated charging and discharging machine to supply power to the motor and charges the battery; if the battery SOC is greater than or equal to the overcharging protection threshold, the vehicle controller controls the charging and discharging integration The machine powers the motor and stops charging the battery.
- the purpose of judging the battery SOC and the overcharge protection threshold is to determine that the battery SOC is within the recharge current range allowed by the battery management system to avoid battery overcharging.
- the full name of SOC is State of charge, that is, the state of charge, which is used to reflect the remaining capacity of the battery, and its value is defined as the ratio of the remaining capacity to the battery capacity.
- the vehicle controller controls the charging and discharging of the integrated charging and discharging machine, the battery and the motor according to the required power of the motor controller, the output power of the integrated charging and discharging machine, and the size of the battery SOC and the overcharge protection threshold.
- the discharge state a variety of charging and discharging modes of the integrated charging and discharging machine, the battery and the motor can be realized, so as to meet the charging time requirements of the battery, and realize the battery life of the crane under continuous working conditions on the premise of ensuring charging safety and operating performance.
- the controlling the end of charging through the vehicle controller includes: sending a charging enable and close instruction to the integrated charging and discharging machine through the battery management system; and the integrated charging and discharging machine receives the charging enable and closes.
- sending a charging end request to the vehicle controller After receiving the charging end request, the vehicle controller controls the chassis distribution box slow charging relay to disconnect to control the charging end.
- controlling the end of charging through the vehicle controller includes: sending a charging enabling and closing instruction to the integrated charging and discharging machine through the battery management system; after receiving the charging enabling and closing instruction, the integrated charging and discharging machine sends a The vehicle controller sends a charging end request; after the vehicle controller receives the charging end request, it controls the chassis distribution box slow charging relay to disconnect to control the charging end.
- the end of charging is controlled in an orderly manner by the vehicle controller to ensure the safety and service life of the battery, thereby improving the endurance of the crane under continuous working conditions.
- the complete vehicle controller controls the end of charging in an orderly manner to ensure the safety and service life of the battery, thereby improving the cruising ability of the crane under continuous working conditions.
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Abstract
提供了一种起重机多模式插电作业的控制系统及控制方法,涉及起重机控制技术领域。起重机多模式插电作业的控制系统,应用于起重机插电作业模式,包括充放一体机、整车控制器、电池管理系统、电机控制器、底盘配电箱和电池配电箱,充放一体机、整车控制器、电池管理系统和电机控制器通过CAN总线通信连接,底盘配电箱分别与充放一体机、电机控制器及电池连接,电池配电箱分别与底盘配电箱及电池连接。通过整车控制器对充放一体机、电池管理系统和电机控制器的交互控制,在保证充电安全和作业性能的前提下实现起重机连续工况下的续航。
Description
本发明涉及起重机控制技术领域,具体而言,涉及一种起重机多模式插电作业的控制系统及控制方法。
目前,随着工程机械领域行业的大力发展和国家对新能源行业的全力推进,采用新能源作为动力的工程机械日益成为行业未来发展的趋势。起重机作为工程机械领域的工程设备,其工作工况较为恶劣,可能存在连续作业的工况,从而导致无法预留给动力电池充电的时间,因此起重机连续作业工况下的续航成为了目前研究改进的重点。
发明内容
本发明解决的问题是如何实现起重机连续工况下的续航。
为解决上述问题,本发明提供一种起重机多模式插电作业的控制系统,应用于起重机插电作业模式,包括充放一体机、整车控制器、电池管理系统、电机控制器、底盘配电箱和电池配电箱,所述充放一体机、整车控制器、电池管理系统和电机控制器通过CAN总线通信连接,所述底盘配电箱分别与所述充放一体机、所述电机控制器及电池连接,所述电池配电箱分别与所述底盘配电箱及所述电池连接。
本发明所述的起重机多模式插电作业的控制系统,通过整车控制器对充放一体机、电池管理系统和电机控制器的交互控制,根据电池状态和充放电环境对插电作业过程进行实时的自适应调整,实现充放一体机、电池和电机的多种充放电模式之间的切换,从而满足电池充电需求,在保证充电安全和作业性能的前提下实现起重机连续工况下的续航。
可选地,所述充放一体机和所述底盘配电箱之间的电流传输方式为所述充放一体机到所述底盘配电箱的单向高压直流,所述电机控制器与所述底盘配电箱之间的电流传输方式为双向高压直流。
本发明所述的起重机多模式插电作业的控制系统,通过设置充放一体机和底盘配电箱之间的电流传输方式为充放一体机到底盘配电箱的单向高压直流,防止电流反向传输造成充放一体机和交流配电柜等损坏;通过设置电机控制器与底盘配电箱之间的电流传输方式为双向高压直流,实现对制动能量的回收。
可选地,所述电池配电箱和所述底盘配电箱之间的电流传输方式为双向高压直流,所述电池配电箱和所述电池之间的电流传输方式为双向高压直流。
本发明所述的起重机多模式插电作业的控制系统,通过设置电池配电箱和底盘配电 箱之间的电流传输方式为双向高压直流,电池配电箱和电池之间的电流传输方式为双向高压直流,实现电池在充电模式和放电模式之间的相互转换,进而保证起重机运行时电池的稳定供电,提高了起重机在连续工况下的续航能力。
可选地,所述起重机多模式插电作业的控制系统还包括交流充电插座,所述交流充电插座分别与交流配电柜及所述充放一体机连接。
本发明所述的起重机多模式插电作业的控制系统,通过交流充电插座将交流电传输至充放一体机,有效保证了充放一体机的电流传输安全性,从而满足电池充电时间需求,在保证充电安全和作业性能的前提下实现起重机连续工况下的续航。
可选地,所述交流充电插座与所述交流配电柜之间的电流传输方式为所述交流配电柜到所述交流充电插座的单向高压交流,所述交流充电插座与所述充放一体机之间的电流传输方式为所述交流充电插座到所述充放一体机的单向高压交流。
本发明所述的起重机多模式插电作业的控制系统,通过设置交流充电插座与交流配电柜之间的电流传输方式为交流配电柜到交流充电插座的单向高压交流,交流充电插座与充放一体机之间的电流传输方式为交流充电插座到充放一体机的单向高压交流,防止电流反向传输造成充放一体机和交流配电柜等损坏。
可选地,所述整车控制器包括判断单元,所述判断单元用于判断所述电机控制器的需求功率和所述充放一体机的输出功率的大小,以及判断电池SOC和过充保护阈值的大小。
本发明所述的起重机多模式插电作业的控制系统,通过判断单元判断电机控制器的需求功率和充放一体机的输出功率的大小,以及判断电池SOC和过充保护阈值的大小,从而根据判断结果控制充放一体机、电池和电机的充放电状态,实现充放一体机、电池和电机的多种充放电模式,从而满足电池充电时间需求,在保证充电安全和作业性能的前提下实现起重机连续工况下的续航。
可选地,所述电池管理系统包括充电使能关闭指令生成模块,所述充电使能关闭指令生成模块用于在外部电源断开时向所述充放一体机发送充电使能关闭指令。
本发明所述的起重机多模式插电作业的控制系统,通过充电使能关闭指令生成模块在外部电源断开时向充放一体机发送充电使能关闭指令,通过整车控制器有序控制充电结束,保证电池安全性和使用寿命,进而提高了起重机在连续工况下的续航能力。
本发明还提供一种起重机多模式插电作业的控制方法,应用于上述起重机多模式插电作业的控制系统,包括:当充放一体机连接外部电源时,通过整车控制器控制插电作业开始;整车控制器根据电机控制器的需求功率和充放一体机的输出功率的大小以及电池SOC和过充保护阈值的大小,控制所述充放一体机、电池和电机的充放电状态;当外部电源断开时,通过整车控制器控制插电作业结束。
本发明所述的起重机多模式插电作业的控制方法,通过整车控制器对充放一体机、 电池管理系统和电机控制器的交互控制,实现充放一体机、电池和电机的多种充放电模式,从而满足电池充电时间需求,在保证充电安全和作业性能的前提下实现起重机连续工况下的续航。
可选地,所述整车控制器根据电机控制器的需求功率和充放一体机的输出功率的大小以及电池SOC和过充保护阈值的大小,控制所述充放一体机、电池和电机的充放电状态包括:当所述电机控制器的需求功率大于或等于所述充放一体机的输出功率时,通过所述整车控制器控制所述充放一体机和所述电池同时为所述电机供电;当所述电机控制器的需求功率小于所述充放一体机的输出功率时,判断所述电池SOC和所述过充保护阈值的大小;若所述电池SOC小于所述过充保护阈值时,通过所述整车控制器控制所述充放一体机为所述电机供电,并对所述电池充电;若所述电池SOC大于或等于所述过充保护阈值时,通过所述整车控制器控制所述充放一体机为所述电机供电,并停止对所述电池充电。
本发明所述的起重机多模式插电作业的控制方法,通过整车控制器根据电机控制器的需求功率和充放一体机的输出功率的大小以及电池SOC和过充保护阈值的大小,控制充放一体机、电池和电机的充放电状态,实现充放一体机、电池和电机的多种充放电模式,从而满足电池充电时间需求,在保证充电安全和作业性能的前提下实现起重机连续工况下的续航。
可选地,所述通过整车控制器控制充电结束包括:通过所述电池管理系统向所述充放一体机发送充电使能关闭指令;所述充放一体机收到所述充电使能关闭指令后,向所述整车控制器发送充电结束请求;所述整车控制器收到所述充电结束请求后,控制底盘配电箱慢充继电器断开以控制充电结束。
本发明所述的起重机多模式插电作业的控制方法,通过整车控制器有序控制充电结束,保证电池安全性和使用寿命,进而提高了起重机在连续工况下的续航能力。
图1为本发明实施例的起重机多模式插电作业的控制系统的示意图;
图2为本发明实施例的起重机多模式插电作业的控制方法的示意图;
图3为本发明实施例的起重机多模式插电作业的控制方法的具体流程图一;
图4为本发明实施例的起重机多模式插电作业的控制方法的具体流程图二。
为使本发明的上述目的、特征和优点能够更为明显易懂,下面结合附图对本发明的具体实施例做详细的说明。
如图1所示,本发明实施例提供一种起重机多模式插电作业的控制系统,应用于起 重机插电作业模式,包括充放一体机、整车控制器、电池管理系统、电机控制器、底盘配电箱和电池配电箱,所述充放一体机、整车控制器、电池管理系统和电机控制器通过CAN总线通信连接,所述底盘配电箱分别与所述充放一体机、所述电机控制器及电池连接,所述电池配电箱分别与所述底盘配电箱及所述电池连接。
具体地,在本实施例中,起重机多模式插电作业的控制系统包括通过CAN总线通信连接的充放一体机(OBC,全称On Board Charger)、整车控制器(VCU,全称Vehicle Control Unit)、电池管理系统(BMS,全称Battery Management System)和电机控制器(MCU,全称Microcontroller Unit),还包括底盘配电箱(PDU,全称Power Distribution Unit)和电池配电箱(BDU,全称Battery Disconnect Unit),底盘配电箱分别与充放一体机、电机控制器及电池连接,底盘配电箱用于接收充放一体机传输的电流,并根据整车控制器对于充放电模式的选择控制,将电流传输至电机控制器或者电池,实现对电机供电或对电池充电,电池配电箱分别与底盘配电箱及电池连接,电池配电箱用于保护电池充放电安全,集成多种保护系统一体,防止电涌电浪带来的冲击对电池的伤害。电池配电箱具备控制能源连接与断开保护系统,保护电路过量带来的电池安全。
其中,充放一体机在连接外部电源时能够通过电机控制器对电机供电,同时能够对充电状态下的电池充电,使得电池在放电状态下能对电机供电;整车控制器用于控制充放电过程,包括控制充放一体机通过底盘配电箱和电机控制器对电机供电,控制充放一体机通过底盘配电箱和电池配电箱对电池充电,以及控制电池通过电池配电箱、底盘配电箱和电机控制器对电机供电,即在整车控制器控制下,充放一体机、电池和电机有多种充放电模式,例如如下三种情况:充放一体机和电池同时为电机供电;充放一体机为电机供电,并对电池充电;充放一体机为电机供电,并停止对电池充电。
在现有技术中虽然公开了插电作业模式,但只是通过车载充电器实现充放电过程的简单单一控制,不具备反馈功能,无法根据电池状态和充放电环境对插电作业过程进行实时的自适应调整,因此本实施例通过整车控制器对充放一体机、电池管理系统和电机控制器的交互控制,根据电池状态和充放电环境对插电作业过程进行实时的自适应调整,实现充放一体机、电池和电机的多种充放电模式之间的切换,从而满足电池充电需求,在保证充电安全和作业性能的前提下实现起重机连续工况下的续航。
在本实施例中,通过整车控制器对充放一体机、电池管理系统和电机控制器的交互控制,根据电池状态和充放电环境对插电作业过程进行实时的自适应调整,实现充放一体机、电池和电机的多种充放电模式之间的切换,从而满足电池充电需求,在保证充电安全和作业性能的前提下实现起重机连续工况下的续航。
可选地,所述充放一体机和所述底盘配电箱之间的电流传输方式为所述充放一体机到所述底盘配电箱的单向高压直流,所述电机控制器与所述底盘配电箱之间的电流传输方式为双向高压直流。
具体地,在本实施例中,充放一体机和底盘配电箱之间的电流传输方式为充放一体机到底盘配电箱的单向高压直流,充放一体机在接收外部电源即380V/220V交流配电柜的单向高压交流后,转换为单向高压直流并传输至底盘配电箱,防止电流反向传输造成充放一体机和交流配电柜等损坏。
电机控制器与底盘配电箱之间的电流传输方式为双向高压直流,一般情况下,底盘配电箱将电流传输至电机控制器再到电机,从而通过电操控起重机作业系统,但在特殊情况下,底盘配电箱能够对电机控制器一侧的电流进行回收,例如在起重机减速情况下,电机成为发电机产生电流,通过电机控制器将交流电转换为直流电传输至底盘配电箱,并可对电池充电,从而实现制动能量回收。
在本实施例中,通过设置充放一体机和底盘配电箱之间的电流传输方式为充放一体机到底盘配电箱的单向高压直流,防止电流反向传输造成充放一体机和交流配电柜等损坏;通过设置电机控制器与底盘配电箱之间的电流传输方式为双向高压直流,实现对制动能量的回收。
可选地,所述电池配电箱和所述底盘配电箱之间的电流传输方式为双向高压直流,所述电池配电箱和所述电池之间的电流传输方式为双向高压直流。
具体地,在本实施例中,电池配电箱和底盘配电箱之间的电流传输方式为双向高压直流,电池配电箱和电池之间的电流传输方式为双向高压直流,当电池处于充电状态时,底盘配电箱传输充放一体机输入或电机制动产生的高压直流至电池配电箱再到电池,而当电池处于放电状态时,电池传输高压直流至电池配电箱再到底盘配电箱,进而实现对电机的驱动。通过设置电池配电箱和底盘配电箱之间的电流传输方式为双向高压直流,电池配电箱和电池之间的电流传输方式为双向高压直流,实现电池在充电模式和放电模式之间的相互转换,进而保证起重机运行时电池的稳定供电,提高了起重机在连续工况下的续航能力。
在本实施例中,通过设置电池配电箱和底盘配电箱之间的电流传输方式为双向高压直流,电池配电箱和电池之间的电流传输方式为双向高压直流,实现电池在充电模式和放电模式之间的相互转换,进而保证起重机运行时电池的稳定供电,提高了起重机在连续工况下的续航能力。
可选地,所述起重机多模式插电作业的控制系统还包括交流充电插座,所述交流充电插座分别与交流配电柜及所述充放一体机连接。
具体地,在本实施例中,起重机多模式插电作业的控制系统还包括交流充电插座,交流充电插座分别与交流配电柜及充放一体机连接,交流配电柜传输电流至交流充电插座再到充放一体机,由于交流配电柜传输的是交流电,因此通过交流充电插座将交流电传输至充放一体机,有效保证了充放一体机的电流传输安全性,从而满足电池充电时间需求,在保证充电安全和作业性能的前提下实现起重机连续工况下的续航。
在本实施例中,通过交流充电插座将交流电传输至充放一体机,有效保证了充放一体机的电流传输安全性,从而满足电池充电时间需求,在保证充电安全和作业性能的前提下实现起重机连续工况下的续航。
可选地,所述交流充电插座与所述交流配电柜之间的电流传输方式为所述交流配电柜到所述交流充电插座的单向高压交流,所述交流充电插座与所述充放一体机之间的电流传输方式为所述交流充电插座到所述充放一体机的单向高压交流。
具体地,在本实施例中,交流充电插座与交流配电柜之间的电流传输方式为交流配电柜到交流充电插座的单向高压交流,交流充电插座与充放一体机之间的电流传输方式为交流充电插座到充放一体机的单向高压交流,防止电流反向传输造成充放一体机和交流配电柜等损坏。
在本实施例中,通过设置交流充电插座与交流配电柜之间的电流传输方式为交流配电柜到交流充电插座的单向高压交流,交流充电插座与充放一体机之间的电流传输方式为交流充电插座到充放一体机的单向高压交流,防止电流反向传输造成充放一体机和交流配电柜等损坏。
可选地,所述整车控制器包括判断单元,所述判断单元用于判断所述电机控制器的需求功率和所述充放一体机的输出功率的大小,以及判断电池SOC和过充保护阈值的大小。
具体地,在本实施例中,整车控制器包括判断单元,判断单元用于判断电机控制器的需求功率和充放一体机的输出功率的大小,以及判断电池SOC和过充保护阈值的大小,从而根据判断结果控制充放一体机、电池和电机的充放电状态,实现充放一体机、电池和电机的多种充放电模式,从而满足电池充电时间需求,在保证充电安全和作业性能的前提下实现起重机连续工况下的续航。
在本实施例中,通过判断单元判断电机控制器的需求功率和充放一体机的输出功率的大小,以及判断电池SOC和过充保护阈值的大小,从而根据判断结果控制充放一体机、电池和电机的充放电状态,实现充放一体机、电池和电机的多种充放电模式,从而满足电池充电时间需求,在保证充电安全和作业性能的前提下实现起重机连续工况下的续航。
可选地,所述电池管理系统包括充电使能关闭指令生成模块,所述充电使能关闭指令生成模块用于在外部电源断开时向所述充放一体机发送充电使能关闭指令。
具体地,在本实施例中,电池管理系统包括充电使能关闭指令生成模块,充电使能关闭指令生成模块用于在外部电源断开时向充放一体机发送充电使能关闭指令,通过整车控制器有序控制充电结束,保证电池安全性和使用寿命,进而提高了起重机在连续工况下的续航能力。
在本实施例中,通过充电使能关闭指令生成模块在外部电源断开时向充放一体机发 送充电使能关闭指令,通过整车控制器有序控制充电结束,保证电池安全性和使用寿命,进而提高了起重机在连续工况下的续航能力。
如图2所示,本发明另一实施例提供一种起重机多模式插电作业的控制方法,应用于上述起重机多模式插电作业的控制系统,包括:当充放一体机连接外部电源时,通过整车控制器控制插电作业开始;整车控制器根据电机控制器的需求功率和充放一体机的输出功率的大小以及电池SOC和过充保护阈值的大小,控制所述充放一体机、电池和电机的充放电状态;当外部电源断开时,通过整车控制器控制插电作业结束。
具体地,在本实施例中,起重机多模式插电作业的控制方法包括:
结合图3所示,通过交流充电插座连接交流配电柜,接入380V/220V交流电源,充放一体机完成低压上电,电池管理系统和底盘配电箱完成高压上电;
当充放一体机状态正常时,整车控制器控制底盘配电箱慢充继电器闭合,充放一体机高压回路连通;
整车控制器确认取力器完成挂挡连接;
整车控制器根据电机的取力状态,向底盘配电箱主驱继电器发送闭合指令,主驱继电器完成闭合,电机控制器高压回路连通,开始充电;
整车控制器根据电机控制器的需求功率和充放一体机的输出功率的大小以及电池SOC和过充保护阈值的大小,控制充放一体机、电池和电机的充放电状态;
完成充电后外部电源断开,通过电池管理系统向充放一体机发送充电使能关闭指令,充放一体机向整车控制器发送充电结束请求,整车控制器控制底盘配电箱慢充继电器断开,结束充电。
同时,起重机多模式插电作业的控制方法也可应用在冷却、液压系统的多模式供电上。
在本实施例中,通过整车控制器对充放一体机、电池管理系统和电机控制器的交互控制,实现充放一体机、电池和电机的多种充放电模式,从而满足电池充电时间需求,在保证充电安全和作业性能的前提下实现起重机连续工况下的续航。
可选地,所述整车控制器根据电机控制器的需求功率和充放一体机的输出功率的大小以及电池SOC和过充保护阈值的大小,控制所述充放一体机、电池和电机的充放电状态包括:当所述电机控制器的需求功率大于或等于所述充放一体机的输出功率时,通过所述整车控制器控制所述充放一体机和所述电池同时为所述电机供电;当所述电机控制器的需求功率小于所述充放一体机的输出功率时,判断所述电池SOC和所述过充保护阈值的大小;若所述电池SOC小于所述过充保护阈值时,通过所述整车控制器控制所述充放一体机为所述电机供电,并对所述电池充电;若所述电池SOC大于或等于所述过充保护阈值时,通过所述整车控制器控制所述充放一体机为所述电机供电,并停止对所述电池充电。
具体地,在本实施例中,通过整车控制器控制充放一体机、电池管理系统和电机控制器包括:整车控制器根据电机控制器的需求功率和充放一体机的输出功率的大小以及电池SOC和过充保护阈值的大小,控制充放一体机、电池和电机的充放电状态。
结合图4所示,首先对电机控制器的需求功率和充放一体机的输出功率的大小进行判断,若电机控制器的需求功率大于或等于充放一体机的输出功率,则通过整车控制器控制充放一体机和电池同时为电机供电,若电机控制器的需求功率小于充放一体机的输出功率时,判断电池SOC和过充保护阈值的大小。其中,判断电机控制器的需求功率和充放一体机的输出功率的大小,目的是确定作业电机功率需求,对应起重机上车不同工作模式,包括不限于回转、主卷升降、副卷升降、回转加主副卷复合动作,不同的工作模式对应不同电机功率,当需求功率较大时,需要充放一体机和电池同时为电机供电,反之则不需要。
若电池SOC小于过充保护阈值时,通过整车控制器控制充放一体机为电机供电,并对电池充电;若电池SOC大于或等于过充保护阈值时,通过整车控制器控制充放一体机为电机供电,并停止对电池充电。判断电池SOC和过充保护阈值的大小,目的是确定电池SOC在电池管理系统允许的回充电流范围内,避免电池过充。其中,SOC全称为State of charge,即荷电状态,用来反映电池的剩余容量,其数值上定义为剩余容量占电池容量的比值。
在本实施例中,通过整车控制器根据电机控制器的需求功率和充放一体机的输出功率的大小以及电池SOC和过充保护阈值的大小,控制充放一体机、电池和电机的充放电状态,实现充放一体机、电池和电机的多种充放电模式,从而满足电池充电时间需求,在保证充电安全和作业性能的前提下实现起重机连续工况下的续航。
可选地,所述通过整车控制器控制充电结束包括:通过所述电池管理系统向所述充放一体机发送充电使能关闭指令;所述充放一体机收到所述充电使能关闭指令后,向所述整车控制器发送充电结束请求;所述整车控制器收到所述充电结束请求后,控制底盘配电箱慢充继电器断开以控制充电结束。
具体地,在本实施例中,通过整车控制器控制充电结束包括:通过电池管理系统向充放一体机发送充电使能关闭指令;充放一体机收到充电使能关闭指令后,向整车控制器发送充电结束请求;整车控制器收到充电结束请求后,控制底盘配电箱慢充继电器断开以控制充电结束。通过整车控制器有序控制充电结束,保证电池安全性和使用寿命,进而提高了起重机在连续工况下的续航能力。
在本实施例中,通过整车控制器有序控制充电结束,保证电池安全性和使用寿命,进而提高了起重机在连续工况下的续航能力。
虽然本发明公开披露如上,但本发明公开的保护范围并非仅限于此。本领域技术人员在不脱离本发明公开的精神和范围的前提下,可进行各种变更与修改,这些变更与修 改均将落入本发明的保护范围。
Claims (10)
- 一种起重机多模式插电作业的控制系统,应用于起重机插电作业模式,其特征在于,包括充放一体机、整车控制器、电池管理系统、电机控制器、底盘配电箱和电池配电箱,所述充放一体机、整车控制器、电池管理系统和电机控制器通过CAN总线通信连接,所述底盘配电箱分别与所述充放一体机、所述电机控制器及电池连接,所述电池配电箱分别与所述底盘配电箱及所述电池连接。
- 根据权利要求1所述的起重机多模式插电作业的控制系统,其特征在于,所述充放一体机和所述底盘配电箱之间的电流传输方式为所述充放一体机到所述底盘配电箱的单向高压直流,所述电机控制器与所述底盘配电箱之间的电流传输方式为双向高压直流。
- 根据权利要求1所述的起重机多模式插电作业的控制系统,其特征在于,所述电池配电箱和所述底盘配电箱之间的电流传输方式为双向高压直流,所述电池配电箱和所述电池之间的电流传输方式为双向高压直流。
- 根据权利要求1所述的起重机多模式插电作业的控制系统,其特征在于,还包括交流充电插座,所述交流充电插座分别与交流配电柜及所述充放一体机连接。
- 根据权利要求4所述的起重机多模式插电作业的控制系统,其特征在于,所述交流充电插座与所述交流配电柜之间的电流传输方式为所述交流配电柜到所述交流充电插座的单向高压交流,所述交流充电插座与所述充放一体机之间的电流传输方式为所述交流充电插座到所述充放一体机的单向高压交流。
- 根据权利要求1所述的起重机多模式插电作业的控制系统,其特征在于,所述整车控制器包括判断单元,所述判断单元用于判断所述电机控制器的需求功率和所述充放一体机的输出功率的大小,以及判断电池SOC和过充保护阈值的大小。
- 根据权利要求1所述的起重机多模式插电作业的控制系统,其特征在于,所述电池管理系统包括充电使能关闭指令生成模块,所述充电使能关闭指令生成模块用于在外部电源断开时向所述充放一体机发送充电使能关闭指令。
- 一种起重机多模式插电作业的控制方法,应用于权利要求1至7任一项所述的起重机多模式插电作业的控制系统,其特征在于,包括:当充放一体机连接外部电源时,通过整车控制器控制插电作业开始;整车控制器根据电机控制器的需求功率和充放一体机的输出功率的大小以及电池SOC和过充保护阈值的大小,控制所述充放一体机、电池和电机的充放电状态;当外部电源断开时,通过整车控制器控制插电作业结束。
- 根据权利要求8所述的起重机多模式插电作业的控制方法,其特征在于,所述整车控制器根据电机控制器的需求功率和充放一体机的输出功率的大小以及电池SOC和 过充保护阈值的大小,控制所述充放一体机、电池和电机的充放电状态包括:当所述电机控制器的需求功率大于或等于所述充放一体机的输出功率时,通过所述整车控制器控制所述充放一体机和所述电池同时为所述电机供电;当所述电机控制器的需求功率小于所述充放一体机的输出功率时,判断所述电池SOC和所述过充保护阈值的大小;若所述电池SOC小于所述过充保护阈值时,通过所述整车控制器控制所述充放一体机为所述电机供电,并对所述电池充电;若所述电池SOC大于或等于所述过充保护阈值时,通过所述整车控制器控制所述充放一体机为所述电机供电,并停止对所述电池充电。
- 根据权利要求8所述的起重机多模式插电作业的控制方法,其特征在于,所述通过整车控制器控制充电结束包括:通过所述电池管理系统向所述充放一体机发送充电使能关闭指令;所述充放一体机收到所述充电使能关闭指令后,向所述整车控制器发送充电结束请求;所述整车控制器收到所述充电结束请求后,控制底盘配电箱慢充继电器断开以控制充电结束。
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