WO2024037509A1 - 旋挖钻机动力系统、旋挖钻机控制方法及旋挖钻机 - Google Patents

旋挖钻机动力系统、旋挖钻机控制方法及旋挖钻机 Download PDF

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Publication number
WO2024037509A1
WO2024037509A1 PCT/CN2023/112987 CN2023112987W WO2024037509A1 WO 2024037509 A1 WO2024037509 A1 WO 2024037509A1 CN 2023112987 W CN2023112987 W CN 2023112987W WO 2024037509 A1 WO2024037509 A1 WO 2024037509A1
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Prior art keywords
power
drilling rig
rotary drilling
external
interface
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PCT/CN2023/112987
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English (en)
French (fr)
Inventor
方明祥
王一骏
陈玉磊
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上海中联重科桩工机械有限公司
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Publication of WO2024037509A1 publication Critical patent/WO2024037509A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B3/00—Rotary drilling
    • E21B3/02—Surface drives for rotary drilling

Definitions

  • the invention relates to the field of mechanical control, and in particular to a rotary drilling rig power system, a rotary drilling rig control method and a rotary drilling rig.
  • Rotary drilling rig is a commonly used engineering machinery.
  • the following power system structure is usually adopted: a fuel engine is used as the power source, the output flywheel of the fuel engine is transmission connected to the input end of the transfer case, and the first end of the transfer case is connected.
  • the output shaft is transmission connected to the input end of the hydraulic main pump, and the second output shaft of the transfer case is transmission connected to the input end of the hydraulic auxiliary pump.
  • the hydraulic main pump and the hydraulic auxiliary pump are connected to the corresponding hydraulic valves and hydraulic cylinders through hydraulic pipelines. Connected to the hydraulic motor, the hydraulic pump controller and the hydraulic valve controller are connected through hydraulic pipelines or circuits.
  • the control method of the above-mentioned power system is usually as follows: after the driver inputs instructions containing his needs, the hydraulic valve controller adjusts the switches of each hydraulic valve and the flow rate of each hydraulic pump according to the instructions, and changes the flow direction and flow rate of the hydraulic oil circuit according to the needs.
  • the oil pressure required for the hydraulic oil can be determined based on the load size, and the required oil pressure can be fed back to the hydraulic pump; based on the required oil pressure, the flow and pressure required by the hydraulic pump can be determined, and then Determine the torque and power required by the power system; feedback the required torque and power to the transfer case, and then from the transfer case to the engine to control the engine to inject fuel according to the required torque and power. Adjust to achieve proper energy output.
  • the purpose of the present invention is to provide a rotary drilling rig power system, a rotary drilling rig control method and a rotary drilling rig that have a higher energy utilization rate, are safer and more environmentally friendly than the existing technology.
  • a preferred embodiment of the present invention provides a rotary drilling rig power system.
  • the rotary drilling rig power system includes an execution part, a fuel power part, a battery power part and an external power interface.
  • the fuel power part, the battery power part The external power supply interface is electrically connected to the execution part and is used to selectively provide power to the execution part.
  • the external power interface is used to use the external power supply to provide power for the execution part when the external power supply is connected;
  • the battery power part includes a power battery pack, used to connect the external power supply interface to the external power supply interface.
  • the execution part is provided with power;
  • the fuel power part is used to provide power to the execution part when the external power supply interface is not connected to the external power supply and the power is not connected to the external power supply interface.
  • the power of the battery pack is lower than the power supply threshold, the execution part is provided with power.
  • the fuel power part includes a fuel tank, an engine range extender and a generator, the engine range extender is connected to the fuel tank, and the generator is drivingly connected to the engine range extender;
  • the engine range extender is used to obtain fuel from the fuel tank when the external power interface is not connected to an external power supply and the power of the power battery pack is lower than the power supply threshold, and burn the fuel to generate power to drive the generator to generate electricity, Provide power to the execution part.
  • Another preferred mode of the present application provides a rotary drilling rig, which includes the rotary drilling rig power system described in the previous embodiment.
  • the rotary drilling rig control method includes the following steps: S1, start the rotary drilling rig. Power system; S2, determine the power source of the execution part of the rotary drilling rig power system from the fuel power part, battery power part and external power interface of the rotary drilling rig power system; S3, control the determined power source to the The execution part of the rotary drilling rig power system provides power.
  • the battery power part includes a power battery pack
  • the fuel power part includes an engine range extender
  • the step S2 includes: if it is determined that the external power interface is connected to an external power supply, then determining that the external The power interface is a power source; if it is determined that the external power interface is not connected to an external power supply, the power of the power battery pack is detected, and if the power of the power battery pack is not lower than the preset power supply threshold, then the power of the power battery pack is determined to be The power battery pack is the power source; if the power of the power battery pack is lower than the preset power supply threshold, it is determined that the engine range extender is the power source.
  • step S2 further includes: when determining that the external power interface is a power source, further determining whether the power provided by the external power source through the external power interface is greater than the required power of the execution part. ; If so, use the remaining power part of the power provided by the external power supply through the external power interface that is greater than the required power of the execution part to charge the power battery pack.
  • the step S3 includes: defining four working conditions of traveling, rotating, pressurizing, and pulling out of the rotary drilling rig including the power system of the rotary drilling rig as representative working conditions, and dividing these four representative working conditions into The required power under the conditions are respectively defined as P walking , P rotation , P pressurizing , and P lifting ; when the engine range extender is determined to be the power source, the speed and power of the engine range extender are set to constant values, The engine range extender is maintained to operate stably at the operating point with the highest efficiency to drive the generator to generate electricity to provide power for the execution part, and the generated power of the generator at this time is defined as P generator ; by adjusting the According to the rotation speed and power of the engine range extender, the generated power P generator of the generator is adjusted to P rotation ⁇ P generator ⁇ P travel .
  • step S3 also includes: when the rotary drilling rig is in any one of the three working conditions of rotation, pressurization, and pull-out, converting the generated power P of the generator into the generator .
  • the excess power that is more than the power consumed by the rotary drilling rig is used to charge the power battery pack; when the rotary drilling rig is in walking mode, the power battery pack is used to provide power to supplement the power generation
  • the power generation power P of the machine is the difference between the power consumed by the generator and the rotary drilling rig.
  • the rotary drilling rig control method further includes the following steps: when the rotary drilling rig including the rotary drilling rig power system is braked or decelerated, stop providing power to the execution part, and utilize the The execution part charges the battery power part.
  • the rotary drilling rig control system and the corresponding rotary drilling rig control method provided by the above-mentioned preferred embodiments of the present invention can not only use the electricity provided by the external power supply directly as power, but also use its own power battery.
  • the group provides electric power, and can also use fuel-generated power as power through the engine range extender.
  • the engine does not need to work; and when fuel power is used as power, the engine can be maintained at the highest level through the corresponding operations in the above-mentioned rotary drilling rig control method. Work at the optimal working point for efficiency to supply power. In this way, the engine can be set to either not work or always work at high efficiency.
  • it can effectively improve fuel economy, reduce fuel consumption, and reduce emissions of pollutants such as carbon dioxide.
  • Figure 1 is a functional module block diagram of a rotary drilling rig power system according to a preferred embodiment of the present application.
  • Figure 2 is a flow chart of a rotary drilling rig control method provided in a preferred embodiment of the present application.
  • a preferred embodiment of the present application provides a rotary drilling rig power system.
  • the power system of the rotary drilling rig includes an execution part 10, a fuel power part 20, a battery power part 30 and an external power interface 40.
  • the fuel power part 20, the battery power part 30 and the external power interface 40 are all electrically connected to the execution part 10. Connection, used to respectively provide power to the execution part 10 to drive the execution part 10 to perform rotary drilling work.
  • the fuel power part 20 , the battery power part 30 , and the external power interface 40 are preferably configured to selectively provide power to the execution part 10 , that is, when any of the three of them is selected, When one provides power to the execution part 10, the other two will not be used to provide power to the execution part 10.
  • the execution part 10 may include a power distribution unit (Power Distribution Unit, PDU) 11 , a first power converter 12 , an electric motor 13 and an execution mechanism 14 .
  • the PDU 11 can be, for example, a vehicle power supply controller on an engineering vehicle. It is electrically connected to the fuel power unit 20 and the battery power unit 30 respectively, and can receive the power supply voltage from the fuel power unit 20 and the battery power unit 30 separately or simultaneously as a rotational speed.
  • the power source of the drilling rig is preferably a direct current/alternating current (DC/AC) controller, electrically connected to the PDU 11 , and used to convert the power supply voltage received by the PDU 11 from a direct current voltage to an alternating current voltage.
  • DC/AC direct current/alternating current
  • the motor 13 is preferably a permanent magnet synchronous motor and is electrically connected to the first power converter 12.
  • the AC voltage generated by the first power converter 12 can be provided to the motor 13 to drive it to operate.
  • the actuator 14 can be an existing rotary drilling rig actuator, such as a drill bit and its transmission mechanism. It is drivingly connected to the output shaft of the motor 13 and can perform rotary drilling work under the drive of the motor 13 .
  • the fuel power part 20 may include a fuel tank 21, an engine range extender 22, a generator 23, and a second power converter 24.
  • the fuel tank 21 is used to hold fuel.
  • the fuel inlet and return port of the engine range extender 22 are connected with the fuel tank 21 and are used to obtain fuel from the fuel tank 21 and burn the fuel to generate power.
  • the generator 23 is preferably a permanent magnet synchronous generator, which is drivingly connected to the output shaft of the engine range extender 22 and can generate electricity by obtaining power from the engine range extender 22 .
  • the second power converter 24 is preferably an AC/DC controller, electrically connected between the generator 23 and the PDU 11 , and used to convert the AC voltage generated by the generator 23 into a DC voltage. , as the power supply voltage provided by the fuel power unit 20, is provided to the PDU11.
  • the battery power part 30 may include a power battery pack 31 .
  • the power battery pack 31 is electrically connected to the PDU 11 and is used to provide DC voltage to the PDU 11 as the power supply voltage provided by the battery power unit 30 .
  • the battery power part 30 may also include a third power converter 32 and a battery 33.
  • the third power converter 32 is preferably a direct current/direct current (DC/DC) controller and is electrically connected to the power battery pack. Between 31 and the battery 33, it can be used to adjust the voltage of the power battery pack 31 to a required range and then charge the battery 33 when the power of the power battery pack 31 is greater than the working requirement.
  • the battery 33 is preferably a low-voltage battery, which can be used to provide operating power for engineering vehicles equipped with rotary drilling rigs.
  • the external power interface 40 is electrically connected to the PDU11.
  • the external power interface 40 can be used to connect to an external power source such as an existing power supply grid, especially a high-voltage cable. After obtaining the external power supply voltage, it is converted into a working voltage suitable for use by the execution part 10 through, for example, existing AC to DC conversion methods. , provided to PDU11 as power.
  • FIG. 2 Another preferred embodiment of the present application provides a rotary drilling rig control method.
  • the rotary drilling rig control method can be implemented through the above-mentioned rotary drilling rig power system.
  • the rotary drilling rig power method may include the following steps.
  • This step S1 may specifically include the following operations: starting the engineering vehicle equipped with the rotary drilling rig, connecting the circuits of each component in the power system of the rotary drilling rig, and collecting and summarizing initialization information signals for each component. These operations can be performed according to existing methods, and there is no need to go into details here.
  • S2 Determine the power source of the execution part of the rotary drilling rig power system from the fuel power part, battery power part and external power interface of the rotary drilling rig power system.
  • This step S2 may specifically include the following operations: the operator inputs work instructions to the power system of the rotary drilling rig according to usage requirements, such as the electric power requirements of the rotary drilling rig; transmits the work instructions to the PDU11, and the PDU11 detects the power signal, such as an external power supply
  • the power source for powering the rotary drilling rig is selected according to the detection results, that is, it is determined whether the fuel power unit 20, the battery power unit 30, or the external power interface 40 is used to power the rotary drilling rig.
  • the above-mentioned detection and selection operation steps are preferably: first detect the external power supply signal to determine whether the external power supply interface 40 is connected to an external power supply.
  • the external power supply interface 40 If it can be determined according to the detection results that the external power supply interface 40 is connected to an external power supply such as a high voltage cable, it is determined to use the external power interface 40 as the power source for power supply; if it is determined that the external power interface 40 is not connected to the external power supply, the power of the power battery pack 31 is detected, and if it can be determined according to the detection results that the power of the power battery pack 31 is not low If it is determined that the power of the power battery pack 31 is lower than the preset power supply threshold, it is determined to use the fuel power unit 20 as the power source.
  • the engine range extender 22 in the engine is used as a power source to provide power.
  • step S2 when it is determined to use the external power interface 40 as the power source for power supply, the following operations may be further performed: determine whether the power provided by the external power source through the external power interface 40 is greater than the power provided by the external power interface 40.
  • the required power of the execution part 10 if so, the remaining power part of the power provided by the external power supply through the external power interface 40 that is greater than the required power of the execution part 10 is simultaneously used to charge the power battery pack 31, to further improve energy efficiency.
  • the charging current path can be selected to convert the working voltage obtained from the external power interface 40 into a charging voltage through the PDU 11 and provide it to the power battery pack 31 .
  • S3 Control the determined power source to provide power to the execution part of the rotary drilling rig power system.
  • This step may specifically include the following operations.
  • the power battery pack 31 is selected to provide power, and the engine range extender 23 is controlled to stop working.
  • the PDU 11 can control the power battery pack 31 to provide power.
  • the PDU 11 can determine the execution conditions and actual required power of the entire machine based on the operator's instructions and the operating load of the motor 13, and feed back the required power to the power battery pack 31.
  • Battery Management System BMS
  • the BMS can monitor and allocate power supply parameters such as discharge current, voltage, discharge depth, and battery temperature of the power battery pack 31 based on the feedback power data. In maintaining the power battery pack 31 Power supply is provided based on the power requirements based on the consistency between the individual cells.
  • the engine range extender 22 is selected to provide power.
  • the following operations can be further performed to ensure power supply and improve energy utilization.
  • the rotation speed and power of the engine range extender 22 it is preferable to set the rotation speed and power of the engine range extender 22 to constant values, so that the engine range extender 22 is maintained at the highest level of the engine.
  • the optimal operating point of efficiency operates stably and drives the generator 23 to generate electricity.
  • the generator 23 will also generate electricity with the corresponding constant power.
  • the constant power generated by the generator 23 is defined as P generator .
  • the constant generated power P generator of the generator 23 is adjusted to P rotation ⁇ P generator ⁇ P travel .
  • the generated power P generator of the generator 23 will be higher than the power consumed by the rotary drilling rig, ensuring that the rotary drilling rig is in Sufficient power supply is obtained during work.
  • the following operations may also be included: when the rotary drilling rig is in any one of the three working conditions of rotation, pressurization, and pull-out, the generated power P of the generator is The excess power that is more than the power consumed by the rotary drilling rig is used to charge the power battery pack 31; and when the rotary drilling rig is in walking mode, the generated power P of the generator 23 is lower than the power consumed by the rotary drilling rig. Power, at this time, the power battery pack 31 is used to supplement the difference between the generated power P of the generator 23 and the power consumed by the rotary drilling rig.
  • the time when the rotary drilling rig is in walking mode usually only accounts for about 5% of the total working time, so generally only a short period of power supplement is required, which will not cause excessive additional consumption of the power of the power battery pack 31 .
  • the power supply of the rotary drilling rig can be better guaranteed and the energy utilization rate can be improved.
  • the rotary drilling rig control system and the corresponding rotary drilling rig control method provided by the embodiments of the present application can not only use the power provided by the external power supply directly as power, but also use its own power battery pack to provide power.
  • Fuel-generated electricity can be used as power through an engine range extender.
  • the engine does not need to work; and when fuel power is used as power, the engine can be maintained at the highest level through the corresponding operations in the above-mentioned rotary drilling rig control method. Work at the optimal working point for efficiency to supply power. In this way, the engine can be set to either not work or always work at high efficiency. Compared with the existing technology, it can effectively improve fuel economy, reduce fuel consumption, and reduce emissions of pollutants such as carbon dioxide.
  • the above-mentioned rotary drilling rig control method may further include the following steps: when the rotary drilling rig is braking or decelerating, controlling the fuel power part 20, the battery power part 30 or the external power interface 40 Stop the power supply to the actuator 10, and use the actuator 14 to drive the rotor of the motor 13 to rotate, causing magnetic induction line cutting on the stator coil of the motor 13, generating an induced electromotive force, and charging the power battery pack 31 in reverse through the PDU 11 to achieve some of the Energy recovery, saving energy.
  • Another preferred embodiment of the present application also provides a rotary drilling rig, which includes the rotary drilling rig power system provided by the aforementioned preferred embodiment, and is preferably used on an engineering vehicle.

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Abstract

一种旋挖钻机动力系统、旋挖钻机控制方法及旋挖钻机，旋挖钻机动力系统包括执行部（10）、燃油动力部（20）、电池动力部（30）和外部电源接口（40），燃油动力部（20）、电池动力部（30）及外部电源接口（40）均与执行部（10）电性连接，用于选择性地为执行部（10）提供动力。

Description

旋挖钻机动力系统、旋挖钻机控制方法及旋挖钻机 技术领域
本发明涉及机械控制领域，特别是涉及一种旋挖钻机动力系统、旋挖钻机控制方法及旋挖钻机。
 背景技术
旋挖钻机是一类常用的工程机械。在传统的旋挖钻机中通常采用如下所述的动力系统结构：以燃油式发动机作为动力源，将燃油式发动机的输出端飞轮与分动箱的输入端传动连接，将分动箱的第一输出轴与液压主泵的输入端传动连接，分动箱的第二输出轴与液压副泵的输入端传动连接，液压主泵及液压副泵通过液压管路分别与对应的液压阀、液压油缸与液压马达连接，液压泵控制器与液压阀控制器通过液压管路或者电路连接。
上述动力系统的控制方法通常为：驾驶员输入包含其需求的指令后，液压阀控制器根据指令调整各个液压阀的开关和各个液压泵的流量，按需求改变液压油路的流向与流量。同时，在液压管路连通后，可以根据负载大小确定液压油所需的油压，并将所需油压反馈至液压泵；根据所需油压可以确定液压泵所需的流量和压力，进而确定动力系统所需的扭矩和功率；将所需的扭矩和功率反馈至分动箱，再由分动箱反馈至发动机，用以控制发动机根据所需的扭矩与功率对应地对喷油量进行调整，以实现适当的能量输出。
在上述的旋挖钻机动力系统中，发动机的喷油量与转速会随着实际的工作情况变化而不断变化。由发动机的万有曲线可知，发动机只有在转速和喷油量都处于理想范围内的工作情况下，整体的热效率才会保持较高水平，而在其他工况下，整体的热效率将会处于较低状态，无法维持发动机一直运行在燃油经济性的最高点，会导致油耗增加以及二氧化碳等污染物排放增加。随着国家的双碳战略不断进行，绿色化排放的不断升级，对化石燃料的排放污染物要求也是越来越严，因此使用上述传统动力系统的旋挖钻机已经越来越难以满足国家对环保方面的要求。
因此，有必要提供一种更加新颖的旋挖钻机动力系统、旋挖钻机控制方法及旋挖钻机，有效解决传统旋挖钻机的油耗高、污染物排放高等问题。
发明内容
有鉴于此，本发明的目的在于提供一种相比于现有技术能量利用率更高、更加安全环保的旋挖钻机动力系统、旋挖钻机控制方法及旋挖钻机。
本发明的一个较佳实施方式提供一种旋挖钻机动力系统，所述旋挖钻机动力系统包括执行部、燃油动力部、电池动力部及外部电源接口，所述燃油动力部、所述电池动力部及所述外部电源接口均与所述执行部电性连接，用于选择性地为所述执行部提供动力。
在一些实施方式中，所述外部电源接口用于在连接外部电源时利用所述外部电源为所述执行部提供动力；所述电池动力部包括动力电池组，用于在在所述外部电源接口未连接外部电源且所述动力电池组的电量不低于预设的供电阈值时为所述执行部提供动力；所述燃油动力部用于在所述外部电源接口未连接外部电源且所述动力电池组的电量低于所述供电阈值时为所述执行部提供动力。
在一些实施方式中，所述燃油动力部包括油箱、发动机增程器及发电机，所述发动机增程器与所述油箱连通，所述发电机与所述发动机增程器传动连接；所述发动机增程器用于在所述外部电源接口未连接外部电源且所述动力电池组的电量低于所述供电阈值时从所述油箱获得燃油，并燃烧燃油以产生动力驱动所述发电机发电，为所述执行部提供动力。
本申请的另一个较佳方式提供一种旋挖钻机，所述旋挖钻机包括前述实施方式所述的旋挖钻机动力系统。
本申请的另一个较佳方式提供一种旋挖钻机控制方法，用于前述实施方式所述的旋挖钻机动力系统，所述旋挖钻机控制方法包括以下步骤：S1，启动所述旋挖钻机动力系统；S2，从所述旋挖钻机动力系统的燃油动力部、电池动力部和外部电源接口中确定所述旋挖钻机动力系统的执行部的动力源；S3，控制确定的动力源对所述旋挖钻机动力系统的执行部提供动力。
在一些实施方式中，所述电池动力部包括动力电池组，所述燃油动力部包括发动机增程器；所述步骤S2包括：如果确定所述外部电源接口连接有外部电源，则确定所述外部电源接口为动力源；如果确定所述外部电源接口并未连接外部电源，则检测所述动力电池组的电量，如果所述动力电池组的电量不低于预设的供电阈值，则确定所述动力电池组为动力源；如果所述动力电池组的电量低于预设的供电阈值，则确定所述发动机增程器为动力源。
在一些实施方式中，所述步骤S2还包括：在确定所述外部电源接口为动力源时，进一步确定所述外部电源通过所述外部电源接口所提供的功率是否大于所述执行部的需求功率；若是，则利用所述外部电源通过所述外部电源接口所提供的功率中大于所述执行部的需求功率的剩余功率部分对所述动力电池组进行充电。
在一些实施方式中，所述步骤S3包括：定义包含所述旋挖钻机动力系统的旋挖钻机的行走、回转、加压、起拔四种工况为代表工况，将这四种代表工况的需求功率分别定义为P 行走、P 回转、P 加压、P 起拔；当确定所述发动机增程器为动力源时，将所述发动机增程器的转速与功率设置为恒定值，使所述发动机增程器维持在具有最高效率的工作点稳定运行以驱动发电机发电，为所述执行部提供动力，并定义此时所述发电机的发电功率为P 发电机；通过调节所述发动机增程器的转速与功率，将所述发电机的发电功率P 发电机调节到P 回转＜P 发电机＜P 行走。
在一些实施方式中，所述步骤S3还包括：当所述旋挖钻机处于回转、加压、起拔三种工况中的任意一种时，将所述发电机的发电功率P 发电机中多于所述旋挖钻机消耗的功率的多余部分功率用来对所述动力电池组进行充电；当所述旋挖钻机处于行走工况时，使用所述动力电池组提供功率来补充所述发电机的发电功率P 发电机与旋挖钻机消耗的功率之间的差值。
在一些实施方式中，所述旋挖钻机控制方法还包括以下步骤：当包含所述旋挖钻机动力系统的旋挖钻机制动或减速时，停止对所述执行部提供动力，并利用所述执行部对所述电池动力部进行充电。
相比于现有技术，本发明的上述较佳实施方式提供的旋挖钻机控制系统及其相应的旋挖钻机控制方法既能使用外部电源提供的电力直接作为动力，也能利用自身的动力电池组提供电源动力，还可以通过发动机增程器使用燃油发电作为动力。其中在使用外部电源或动力电池组提供动力时，发动机不需要工作；而当使用燃油发电作为动力时，则通过上述旋挖钻机控制方法中的相应操作，能够使发动机一直维持在使发动机具有最高效率的最佳工作点进行工作以供应动力。这样，就可以将发动机设置成要么不工作，要么总是高效率工作的状态，相比于现有技术能够有效地提高燃油经济性，降低油耗，减少二氧化碳等污染物的排放。
 附图说明
为了更清楚地说明本发明的实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本发明的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1为本申请的一个较佳实施方式提供的一种旋挖钻机动力系统的功能模块框图。
图2为本申请的一个较佳实施方式提供的一种旋挖钻机控制方法的流程图。
具体实施方式
下面将结合附图，对本发明的特定实施例进行详细描述。显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明的描述，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
请参阅图1，本申请的一个较佳实施方式提供一种旋挖钻机动力系统。所述旋挖钻机动力系统包括执行部10、燃油动力部20、电池动力部30和外部电源接口40，所述燃油动力部20、电池动力部30、外部电源接口40均与执行部10电性连接，用于分别为所述执行部10提供动力以驱动所述执行部10进行旋挖钻孔工作。在本实施方式中，优选地将所述燃油动力部20、电池动力部30、外部电源接口40被设置成选择性地为执行部10提供动力，也就是说，当选择它们三者中的任何一个给执行部10提供动力时，其他两者就都不会被用来给为执行部10提供动力。
具体地，执行部10可以包括电源分配单元（Power Distribution Unit, PDU）11、第一电源转换器12、电动机13和执行机构14。PDU11可以是例如工程车辆上的整车电源控制器，与燃油动力部20及电池动力部30分别电性连接，能够分别地或者同时地从燃油动力部20和电池动力部30接受供电电压作为旋挖钻机的动力来源。第一电源转换器12在本实施方式中优选为直流/交流（DC/AC）控制器，与PDU11电性连接，用于将PDU11接受的电源电压从直流电压转变为交流电压。电动机13在本实施方式中优选为永磁同步电动机，与第一电源转换器12电性连接，第一电源转换器12产生的交流电压可以提供给电动机13以驱动其运转。执行机构14可以是现有的旋挖钻机执行机构，例如钻头及其传动机构，与电动机13的输出轴传动连接，可以在电动机13驱动下进行旋挖钻孔工作。
燃油动力部20可以包括油箱21、发动机增程器22、发电机23、第二电源转换器24。油箱21用于容纳燃油，发动机增程器22的进油口及回油口与油箱21连通，用于从油箱21获得燃油并燃烧燃油以产生动力。发电机23在本实施方式中优选为永磁同步发电机，与发动机增程器22的输出轴传动连接，可以通过从发动机增程器22获得动力而进行发电。第二电源转换器24在本实施方式中优选为交流/直流（AC/DC）控制器，电性连接于发电机23和PDU11之间，用于将发电机23产生的交流电压转换成直流电压，作为燃油动力部20提供的电源电压提供给PDU11。
电池动力部30可以包括动力电池组31。动力电池组31与PDU11电性连接，用于将直流电压提供给PDU11作为电池动力部30提供的电源电压。所述电池动力部30还可以包括第三电源转换器32以及蓄电池33，第三电源转换器32在本实施方式中优选为直流/直流（DC/DC）控制器，电性连接于动力电池组31和蓄电池33之间，可用于在动力电池组31的电量多于工作需求时将动力电池组31的电压调节到所需范围后给蓄电池33充电。蓄电池33优选为低压蓄电池，可用于给装设有旋挖钻机的工程车辆提供工作电源。
外部电源接口40与PDU11电性连接。所述外部电源接口40可用于连接外部电源如现有的供电电网，特别是高压电缆，获得外部供电电压之后通过例如现有的交直流转换方法将其转换成适于执行部10使用的工作电压，提供给PDU11作为动力。
请参阅图2，本申请的另一个较佳实施方式提供一种旋挖钻机控制方法，所述旋挖钻机控制方法可以通过上述的旋挖钻机动力系统来实现。具体而言，所述旋挖钻机动力方法可以包括以下步骤。
S1，启动所述旋挖钻机动力系统。
该步骤S1具体可以包括以下操作：对装设有旋挖钻机的工程车辆进行整车启动，连通上述旋挖钻机动力系统中各个部件的电路，并对各个部件进行初始化信息信号采集汇总。这些操作都可以按照现有方法执行，此处无需赘述。
S2，从所述旋挖钻机动力系统的燃油动力部、电池动力部和外部电源接口中确定所述旋挖钻机动力系统的执行部的动力源。
该步骤S2具体可以包括以下操作：由操作者根据使用需求例如旋挖钻机的电功率需求，对上述旋挖钻机动力系统输入工作指令；将工作指令传递至PDU11，由PDU11检测电源信号，例如外部电源信号、电池电量信号之后，根据检测结果选择对旋挖钻机进行供电的动力源，即确定通过燃油动力部20、电池动力部30还是外部电源接口40对旋挖钻机提供动力。具体在本实施方式中，上述检测和选择的操作步骤优选为：首先检测外部电源信号以确定外部电源接口40是否连接有外部电源，如果根据检测结果能够确定外部电源接口40连接有外部电源如高压电缆，则确定使用外部电源接口40作为动力源进行供电；如果确定外部电源接口40并未连接外部电源，则检测动力电池组31的电量，如果根据检测结果能够确定动力电池组31的电量不低于预设的供电阈值，则确定使用电池动力部30中的动力电池组31作为动力源进行供电；如果确定动力电池组31的电量已经低于预设的供电阈值，则确定使用燃油动力部20中的发动机增程器22作为动力源进行供电。
优选地，在所述步骤S2中，当确定使用外部电源接口40作为动力源进行供电时，还可以进一步执行以下操作：确定外部电源通过所述外部电源接口40所提供的功率是否大于所述执行部10的需求功率；若是，则同时利用所述外部电源通过所述外部电源接口40所提供的功率中大于所述执行部10的需求功率的剩余功率部分对所述动力电池组31进行充电，以进一步提高能源利用率。当在这种情况下给所述动力电池组31充电时，充电的电流路径可以选择通过所述PDU11把从外部电源接口40获得的工作电压转换成充电电压并提供给所述动力电池组31。
S3，控制确定的动力源对所述旋挖钻机动力系统的执行部提供动力。
选择动力源之后，即可控制选择的动力源对执行部进行供电以提供动力。该步骤具体可以包括以下各方面操作。
如上所述，在外部电源接口40没有连接外部电源且动力电池组31的电量不低于供电阈值时，选择动力电池组31进行供电，同时控制发动机增程器23停止工作。具体可以由PDU11控制动力电池组31进行供电，例如可以由PDU11根据操作者的指令及电动机13的运行负载判断整机的执行工况与实际所需功率，将所需功率反馈至动力电池组31的电池管理系统（Battery Managementy System, BMS），BMS可以根据反馈的功率数据对动力电池组31的放电电流、电压、放电深度、电池温度等供电参数进行监控和调配，在保持动力电池组31中的单体电池之间的一致性的基础上按照功率需求进行供电。
当外部电源接口40没有连接外部电源，且动力电池组31的电量低于供电阈值时，选择发动机增程器22进行供电。
在进一步优选的实施方式中，当选择发动机增程器22进行供电时，可以进一步通过以下操作来保障功率供给及提高能量利用率。
首先，定义旋挖钻机常用的四种工况：行走、回转、加压、起拔为代表工况，将这四种代表工况下的需求功率分别定义为P 行走、P 回转、P 加压、P 起拔，工作时间分别定义为T 行走、T 回转、T 加压、T 起拔。根据本领域中已知的统计数据，可以得知大多数情况下P 行走≈3* P 回转≈5* P 起拔≈40* P 加压，T 行走≈ * T 回转≈ * T 起拔≈ * T 加压。
基于上述规律，在本实施方式中，当选择发动机增程器22进行供电时，优选地将发动机增程器22的转速与功率设置为恒定值，使发动机增程器22维持在使发动机具有最高效率的最佳工作点稳定运行，并驱动发电机23进行发电。在此情况下，发电机23也将以对应的恒定功率进行发电，此时定义发电机23的恒定发电功率为P 发电机。
之后，通过调节发动机增程器22的转速与功率，将发电机23的恒定发电功率P 发电机调节到P 回转＜P 发电机＜P 行走。这样，当旋挖钻机处于回转、加压、起拔三种工况中的任一一种时，发电机23的发电功率P 发电机将高于旋挖钻机消耗的功率，确保旋挖钻机在工作过程中得到充足的功率供应。
基于上述操作，在进一步优选的实施方式中，还可以包括以下操作：当旋挖钻机处于回转、加压、起拔三种工况中的任意一种时，将发电机的发电功率P 发电机中多于旋挖钻机消耗的功率的多余部分功率用来对动力电池组31进行充电；而当旋挖钻机处于行走工况时，发电机23的发电功率P 发电机低于旋挖钻机消耗的功率，此时使用动力电池组31补充发电机23的发电功率P 发电机与旋挖钻机消耗的功率之间的差值。在实际操作中，旋挖钻机处于行走工况的时间通常只占总工作时间的5%左右，所以一般只需要短时间的功率补充，不会对动力电池组31的功率造成过大的额外消耗。通过这些操作，就能够更好地保障旋挖钻机的功率供给以及提高能量利用率。
如上所述，本申请的实施方式提供的旋挖钻机控制系统及其相应的旋挖钻机控制方法既能使用外部电源提供的电力直接作为动力，也能利用自身的动力电池组提供电源动力，还可以通过发动机增程器使用燃油发电作为动力。其中在使用外部电源或动力电池组提供动力时，发动机不需要工作；而当使用燃油发电作为动力时，则通过上述旋挖钻机控制方法中的相应操作，能够使发动机一直维持在使发动机具有最高效率的最佳工作点进行工作以供应动力。这样，就可以将发动机设置成要么不工作，要么总是高效率工作的状态，相比于现有技术能够有效地提高燃油经济性，降低油耗，减少二氧化碳等污染物的排放。
在进一步优选的实施方式中，上述旋挖钻机控制方法还可以进一步包括以下步骤：当所述旋挖钻机制动或减速时，控制所述燃油动力部20、电池动力部30或外部电源接口40停止对执行部10供电，同时利用执行机构14带动电动机13的转子旋转，对电动机13的定子线圈产生磁感线切割，产生感应电动势，通过PDU11反向对动力电池组31进行充电，以实现部分能量回收，节省能源。
本申请的又一方面的较佳实施方式还提供一种旋挖钻机，其包括前述较佳实施方式提供的旋挖钻机动力系统，优选地用于工程车辆上。
以上，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所附的权利要求为准。

Claims (10)

  1. 一种旋挖钻机动力系统，其特征在于，所述旋挖钻机动力系统包括执行部、燃油动力部、电池动力部及外部电源接口，所述燃油动力部、所述电池动力部及所述外部电源接口均与所述执行部电性连接，用于选择性地为所述执行部提供动力。
  2. 如权利要求1所述的旋挖钻机动力系统，其特征在于，所述外部电源接口用于在连接外部电源时利用所述外部电源为所述执行部提供动力；所述电池动力部包括动力电池组，用于在在所述外部电源接口未连接外部电源且所述动力电池组的电量不低于预设的供电阈值时为所述执行部提供动力；所述燃油动力部用于在所述外部电源接口未连接外部电源且所述动力电池组的电量低于所述供电阈值时为所述执行部提供动力。
  3. 如权利要求2所述的旋挖钻机动力系统，其特征在于，所述燃油动力部包括油箱、发动机增程器及发电机，所述发动机增程器与所述油箱连通，所述发电机与所述发动机增程器传动连接；所述发动机增程器用于在所述外部电源接口未连接外部电源且所述动力电池组的电量低于所述供电阈值时从所述油箱获得燃油，并燃烧燃油以产生动力驱动所述发电机发电，为所述执行部提供动力。
  4. 一种旋挖钻机，其特征在于，所述旋挖钻机包括如权利要求1-3中的任一项所述的旋挖钻机动力系统。
  5. 一种旋挖钻机控制方法，用于如权利要求1-3中的任一项所述的旋挖钻机动力系统，其特征在于，所述旋挖钻机控制方法包括以下步骤：
    S1，启动所述旋挖钻机动力系统；
    S2，从所述旋挖钻机动力系统的燃油动力部、电池动力部和外部电源接口中确定所述旋挖钻机动力系统的执行部的动力源；
    S3，控制确定的动力源对所述旋挖钻机动力系统的执行部提供动力。
  6. 如权利要求5所述的旋挖钻机控制方法，其特征在于，所述电池动力部包括动力电池组，所述燃油动力部包括发动机增程器；所述步骤S2包括：
    如果确定所述外部电源接口连接有外部电源，则确定所述外部电源接口为动力源；
    如果确定所述外部电源接口并未连接外部电源，则检测所述动力电池组的电量，如果所述动力电池组的电量不低于预设的供电阈值，则确定所述动力电池组为动力源；如果所述动力电池组的电量低于预设的供电阈值，则确定所述发动机增程器为动力源。
  7. 如权利要求6所述的旋挖钻机控制方法，其特征在于，所述步骤S2还包括：
    在确定所述外部电源接口为动力源时，进一步确定所述外部电源通过所述外部电源接口所提供的功率是否大于所述执行部的需求功率；若是，则利用所述外部电源通过所述外部电源接口所提供的功率中大于所述执行部的需求功率的剩余功率部分对所述动力电池组进行充电。
  8. 如权利要求6所述的旋挖钻机控制方法，其特征在于，所述步骤S3包括：
    定义包含所述旋挖钻机动力系统的旋挖钻机的行走、回转、加压、起拔四种工况为代表工况，将这四种代表工况的需求功率分别定义为P 行走 、P 回转 、P 加压 、P 起拔 ；
    当确定所述发动机增程器为动力源时，将所述发动机增程器的转速与功率设置为恒定值，使所述发动机增程器维持在具有最高效率的工作点稳定运行以驱动发电机发电，为所述执行部提供动力，并定义此时所述发电机的发电功率为P 发电机 ；
    通过调节所述发动机增程器的转速与功率，将所述发电机的发电功率P 发电机 调节到P 回转 ＜P 发电机 ＜P 行走 。
  9. 如权利要求8所述的旋挖钻机控制方法，其特征在于，所述步骤S3还包括：
    当所述旋挖钻机处于回转、加压、起拔三种工况中的任意一种时，将所述发电机的发电功率P 发电机 中多于所述旋挖钻机消耗的功率的多余部分功率用来对所述动力电池组进行充电；当所述旋挖钻机处于行走工况时，使用所述动力电池组提供功率来补充所述发电机的发电功率P 发电机 与旋挖钻机消耗的功率之间的差值。
  10. 如权利要求6所述的旋挖钻机控制方法，其特征在于，所述旋挖钻机控制方法还包括以下步骤：
    当包含所述旋挖钻机动力系统的旋挖钻机制动或减速时，停止对所述执行部提供动力，并利用所述执行部对所述电池动力部进行充电。
PCT/CN2023/112987 2022-08-15 2023-08-14 旋挖钻机动力系统、旋挖钻机控制方法及旋挖钻机 WO2024037509A1 (zh)

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