Control system for electric drive system of horizontal directional drilling machine

Abstract

A control system for a horizontal directional drilling machine includes a drive system having an on-board charger and a power inverter for providing current to an electric motor. The hydraulic system includes an input shaft driven by an electric motor. A battery system includes a battery pack and a battery management system. The cooling system includes a pump, a flow control device, and a coolant temperature sensor. The controller is configured to control the cooling system to provide battery coolant to the battery pack in response to a voltage, a current, a battery coolant temperature, a battery charge state, and a condition of the battery pack received from the battery management system. The controller is configured to control the on-board charger by providing an on-board current setpoint in response to the data received from the power inverter and the state of charge and condition of the battery pack.

Description

Cross-reference to related applications

[0001] This application claims priority and benefit to U.S. Provisional Application No. 63 / 502,730, filed May 17, 2023, which is incorporated herein by reference in its entirety. Background Technology

[0002] This invention relates to a horizontal directional drilling machine and a method for supplying power to a horizontal directional drilling system using an electric motor. Summary of the Invention

[0003] A control system for a horizontal directional drilling rig includes: an electric drive system comprising an on-board charger and a power inverter for supplying current to an electric motor; a hydraulic system comprising an input shaft and a bracket, the input shaft being driven by the electric motor and arranged to drive a spindle for the drilling rig; a battery system comprising a battery pack and a battery management system; a cooling system comprising a pump, a flow control device, and a coolant temperature sensor; and a controller. The controller is configured to control the cooling system to supply a cooling / heating flow for the battery coolant to the battery pack in response to voltage, current, battery coolant temperature, battery state of charge, and the condition of the battery pack received from the battery management system. The controller also controls the on-board charger by providing an on-board current setpoint for the on-board charger to supply current to the power inverter in response to data received from the power inverter and the battery state of charge and condition; and controls the power inverter to drive the electric motor.

[0004] A horizontal directional drilling rig includes: an electric drive system comprising an on-board charger and a power inverter for supplying current to an electric motor; a hydraulic system comprising an input shaft and a bracket, the input shaft being driven by the electric motor and arranged to drive a spindle for the drilling rig; a battery system comprising a battery pack and a battery management system; and a cooling system comprising a pump, a flow control device, and a coolant temperature sensor. A control system includes a controller configured to: control the on-board charger to provide an on-board current setpoint for the on-board charger, to supply current to the power inverter in response to data received from the power inverter and the state of charge and condition of the battery pack; and to control the power inverter to drive the electric motor. Attached Figure Description

[0005] Figure 1This is a simplified diagram of a horizontal directional drilling machine with an electrically driven system connected to an external power system, which includes a system controller, based on some examples.

[0006] Figure 2 It is based on some examples for Figure 1 A simplified diagram of the horizontal directional drilling system of a horizontal directional drilling machine, the horizontal directional drilling system including an electronic processor controller.

[0007] Figure 3 This is a simplified diagram of a horizontal directional drilling machine without a system controller, based on some examples.

[0008] Figure 4 This is a simplified diagram of a horizontal directional drilling machine, which has an electric drive system connected to an external power system, and... Figure 3 The examples are different.

[0009] Figure 5 This is a simplified diagram of a horizontal directional drilling machine, which has an electric drive system connected to an external DC power system, and... Figure 1 and Figure 3 The examples are different.

[0010] Figure 5A This is a simplified diagram of a horizontal directional drilling machine, which has a separate electric motor connected to a transmission device to drive a mud pump.

[0011] Figure 6 This is a simplified diagram illustrating, according to some examples, how cooling fluid flows through various components of the cooling system of a horizontal directional drilling machine.

[0012] Figure 6A This is another example illustrating how cooling fluid flows through the various components of the cooling system of a horizontal directional drilling machine.

[0013] Figure 6B This is a simplified diagram illustrating another example of a cooling system for a horizontal directional drilling machine, which includes an electric cooling system, a battery thermal regulation system, and a hydraulic cooling system.

[0014] Figure 7 This is a simplified diagram of a horizontal directional drilling system with a pump controller, wherein the pump controller is... Figure 3 The example does not exist.

[0015] Figure 8 This is a flowchart illustrating the steps performed by the controller during the startup of a horizontal directional drilling machine, according to some examples.

[0016] Figure 9This is a flowchart illustrating, according to some examples, the charging modes performed by the controller during the operation of a horizontal directional drilling machine.

[0017] Figure 10 This is a flowchart illustrating, according to some examples, the discharge modes executed by the controller during operation of a horizontal directional drilling machine powered solely by a battery pack. Detailed Implementation

[0018] Before explaining any embodiment, example, aspect, or feature in detail, it will be understood that those embodiments, examples, aspects, and features in their application are not limited to the details of the construction and arrangement of the components set forth in the following description or shown in the following figures. Other embodiments, examples, aspects, and features are possible and can be practiced or performed in various ways. Furthermore, it should be understood that the wording and terminology used herein are for descriptive purposes and should not be considered limiting.

[0019] Figure 1 An example horizontal directional drilling rig 8 is shown, including a mechanical system (e.g., hydraulic system 100). Hydraulic system 100 includes a pump driver 50 for driving three hydraulic pumps 14, 34, and 44. In the example shown, pumps 14, 34, and 44 are arranged in a stacked configuration. Pump 14 provides hydraulic power to a ground drive system or a rotary system. In one example, pump 14 provides hydraulic power to a ground drive motor 12. Pump 34 provides hydraulic power for the thrust / pullback of the drill string and also provides hydraulic power to auxiliary systems. In some examples, hydraulic pump 44 is a fixed displacement pump. In other examples, hydraulic pump 44 is a variable displacement pump, without electrical control of displacement, but instead pressure-compensated.

[0020] exist Figure 7 In one example, the hydraulic system 100 includes a hydraulic mud pump motor 60 for powering the mud pump 62. Figure 5A In the middle, the second electric motor 202a drives the transmission device 61 that provides power to the mud pump 62.

[0021] Pumps 14, 34, and 44 are typically variable displacement pumps. Figure 1 In the example, each pump 14, 34, 44 is connected to the system controller 308, for example, via various wired or wireless connections to electrical or electromagnetic ground (sometimes referred to as "communication ground"). Figure 1 The illustration shows pumps 14, 34, and 44 connected to system controller 308 via communication bus 306. Control signals generated by system controller 308 control the flow rate of hydraulic fluid generated by the pumps, thereby controlling the corresponding speed and operation of associated mechanical systems, such as hydraulic system 100. Figure 1In this configuration, system controller 308 is also connected to machine controller 302 via communication bus 306. Machine controller 302 controls pumps 14, 34, and 44 in response to signals or data received from system controller 308. Machine controller 302 and / or system controller 308 also receive signals or data from... Figure 1 The operator control 304 shown in the figure is used to control the operation of the track 10, the rotary drive motor 24 for the drill, the bracket 30, and other operations of the horizontal directional drilling machine 8.

[0022] exist Figure 7 In the example, pumps 14, 34, and 44 are connected to the output of pump controller 380. Pump controller 380 is connected to machine controller 302 via communication bus 306. Although Figure 7 Two communication buses 306 are shown for illustrative purposes, but only one communication bus 306 is considered. Figure 7 The control system includes additional sensors and control components, not shown. Figure 7 In this process, the flow from the auxiliary pump 44 can be directed to these auxiliary systems or to drive the mud pump motor 60, which provides power to the mud pump 62.

[0023] The machine's basic function includes propelling itself to a specific location within the drilling project. Propulsion is provided by a ground-based drive system comprising rails 10. Figure 1 In the image, a single orbital 10 is shown, while... Figure 7 The diagram shows a pair of tracks 10 and a pair of ground drive motors 12 for driving the ground drive system.

[0024] like Figure 1 As shown, rotation of the drill string is provided via a connection to a spindle 22, which is a component of the rotary drive 20. In response to receiving hydraulic power from pump 14, rotary drive motors 24 drive the rotation system. In some examples, multiple rotary drive motors 24 are present. In some cases, four rotary drive motors are mounted to a rotary drive gearbox to drive the rotation of the drill string.

[0025] The rotary drive 20 is advanced along a rack mounted on the bracket 30. In one configuration, a pinion is mounted to... Figure 1 The drive shaft of the thrust / pull-back motor 32 is shown. A pinion causes the carrier 30 to move along the rack via the rotation of the thrust / pull-back motor 32. In some examples, multiple thrust / pull-back motors are present. In some cases, the drilling machine has six thrust / pull-back motors mounted to the carrier 30, each motor having a pinion mounted to the output shaft and engaging with the rack gear.

[0026] The horizontal directional drilling rig 8 may include auxiliary systems, such as clamps, which hold the drill string to form or break joints between the individual drill rods comprising the drill string. These auxiliary systems in... Figure 1 In the example, power is provided by hydraulic fluid pumped by auxiliary pump 44, which powers actuators such as auxiliary cylinder 40.

[0027] For the sake of simplicity, the horizontal directional drilling machine 8 may include Figure 1 Other components not shown. These components include, for example, sensors and control valves connected to the control system 300. The sensors include a coolant temperature sensor that determines the coolant temperature of the cooling fluid flowing through various components of the system, including the battery pack and other components.

[0028] A hydraulic system 100, an electric drive system 200, and a corresponding control system 300 are connected for operation. In one example, the hydraulic system 100 is connected to the electric drive system 200. The electric drive system 200 includes an electric motor 202, also referred to as an electric motor. The electric motor 202 has an output shaft 204, which is coupled to the input shaft 52 of a pump driver, such as... Figure 1 As shown in the diagram, or connected to a pump stack including hydraulic pumps 14, 34, and 44, such as Figure 7 The diagram shows that the input shaft 52 is driven by an electric motor 202. The electric motor 202 is electrically connected to a power inverter 206, also known as a liquid-cooled heavy-duty power inverter. In one example, power inverter 206 is the first power inverter, and at least a second power inverter is envisioned. In another example, four to ten power inverters 206 are envisioned. The number of power inverters 206 may correspond to the number of on-board chargers 210. In another example, the power inverter 206 is a programmable power converter sold by Danfoss as the EC-C1200-450. In one example, power inverter 206 has the following characteristics:

[0029] Input voltage: 0 to 850 volts direct current (VDC)

[0030] Available power: 90 kilowatts (kW)

[0031] Additional features:

[0032] bidirectional energy flow

[0033] Cooling port for coolant

[0034] Motor control

[0035] Adjustable power limit

[0036] The power inverter 206 is communicatively connected to the system controller 308 via a communication bus 306. Connections to other buses are also envisioned. Through this communication bus 306, the system controller 308 can set power limits to restrict the power extracted by the electric motor 202, monitor the power extracted by the electric motor, monitor the temperature of the electric motor, and other properties of the electric motor 202.

[0037] The power inverter 206 is also connected to a DC power bus 208, which can also be considered a DC intermediate circuit. The power inverter 206 receives power from the DC power bus 208 in DC form and converts it to AC. The AC power is supplied by the power inverter 206 to the electric motor 202 to generate a rotating magnetic field within the electric motor 202. The armature of the electric motor 202, coupled to its output shaft 204, rotates to follow the rotating magnetic field. The power inverter 206 is configured to alter the operating characteristics of the AC power to affect the rotational speed of the electric motor 202 and is configured to monitor the current level to determine the power being consumed by the electric motor 202. In some cases, the power consumed by the electric motor 202 is effectively equivalent to the power delivered to the pump driver 50 or the pump stack.

[0038] The DC power bus 208 is also connected to the on-board charger 210. In one example, the on-board charger 210 is a product manufactured and sold by MetaSystem SPA as its model J1. Figure 1 , Figure 3 and Figure 5A An on-board charger 210 is shown connected to a 400V AC line power supply 400 or a 400V AC generator 402. These power supplies are intended to have sufficiently similar operating characteristics that the on-board charger 210 can be connected to either. Other voltages, including 440V AC and 480V AC, are envisioned for use with the line power supply 400 or with the AC generator 402.

[0039] In a specific example, the vehicle charger 210 has the following characteristics:

[0040] Input voltage: Three-phase 400V AC (VAC)

[0041] Nominal output voltage: 700 VDC

[0042] Available power: 21 kW

[0043] In one example, a charging system capacity of 40 kW is provided by utilizing a first on-board charger and a second on-board charger having the specifications mentioned above and arranged in parallel. Other examples including four, eight, or more on-board chargers 210 are also envisioned.

[0044] The on-board charger 210 has a cooling port for coolant. The cooling circuit for the on-board charger 210 is integrated with the cooling circuit of the horizontal directional drilling machine 8 in several ways, one of which is described below. Figure 6 Description. The vehicle charger 210 is a power supply component for the entire system.

[0045] The DC power bus 208 is also connected to the battery system 220. In one example, the battery system 220 includes a battery pack 222, a battery management system (BMS) 224, an integrated battery cooler or heat exchanger 226, and an integrated battery heater 228. The battery management system 224 is communicatively connected to the system controller 308 via a communication bus 306. Through this connection, the system controller 308 coordinates the functions of the cooling system 500 with the functions of the battery cooler 226 and the battery heater 228 of the battery system 220. In one example, the battery system 220 is a product manufactured by WattAlps. In this example, the battery system 220 has the following characteristics:

[0046] Voltage: 600 to 800 VDC

[0047] Available capacity: 17 kWh

[0048] Module: 14 in series (48V module)

[0049] feature:

[0050] An integrated cooling pump and fluid exchanger for transferring heat between battery coolant and electronic coolant.

[0051] Integrated heater

[0052] External BMS systems for each module

[0053] Built-in precharger and contactor

[0054] The DC power bus 208 is also connected to a first DC / DC converter 240. The first DC / DC converter 240 generates a 24V output voltage, which is used to power the 24V system of the drilling machine. Figure 1 The example shown in the diagram is intended to illustrate that power for the battery cooler or heat exchanger 226 and the battery heater 228 can be drawn from the output of the first DC / DC converter 240. The horizontal directional drilling machine 8 may include other 24V systems, and the battery system 220 may utilize other sources to power the battery cooler or heat exchanger 226 and the battery heater 228. This example is intended to illustrate only one possibility.

[0055] The second DC / DC converter 250 in Figure 1The diagram shows a 24-volt output connected to a first DC / DC converter 240, used to supply a 12-volt power supply to the other 12-volt system 260 on the horizontal directional drilling machine 8. In another example, the first DC / DC converter 240 provides a voltage in the range of 14 to 50V, and the second DC / DC converter provides a voltage in the range of 6 to 25V. Other voltages are conceivable.

[0056] Figure 2 Showing the use of Figure 1 The horizontal directional drilling system 309 of the horizontal directional drilling machine 8. In the example shown, the system controller 308 includes an electronic processor 310 and one or more non-transitory computer-readable storage modules. Figure 2 In the example shown, system controller 308 includes a memory or non-transitory computer-readable medium connected to electronic processor 310, such as a random access memory (“RAM”) module 314 and a read-only memory (“ROM”) module 318. System controller 308 also includes an input / output (I / O) interface 322 for sending and receiving data via a communication bus 306. It should be understood that system controller 308 may include multiple electronic processors, additional computer-readable memory, multiple I / O interfaces, and / or additional components or modules (e.g., hardware, software, or a combination thereof).

[0057] Figure 2 The electronic processor 310 shown receives information from I / O interface 322 and processes that information by executing instructions from one or more software modules stored in memory (such as read-only memory (ROM) 318) of system controller 308. The electronic processor 310 stores information in random access memory (RAM) 314 and retrieves information from RAM 314 (e.g., information received from other controllers or sensors via communication bus 306 and information generated by modules executed by the electronic processor 310). The non-transitory computer-readable memory modules of system controller 308 include volatile memory, non-volatile memory, or combinations thereof, and in various configurations may also store operating system software, application / instruction data, and combinations thereof.

[0058] In one example, the electronic processor 310 provides instructions to the machine controller 302 via the communication bus 306, and the machine controller 302 controls pumps 14, 34, and 44 of the hydraulic system 100. In another example, the electronic processor 310 of the system controller 308 is able to directly control the hydraulic system 100 while receiving temperature information and other data from the machine controller 302. In one example, the machine controller 302 represents a controller for an internal combustion engine (ICE) driven horizontal directional drilling machine 8. The addition of the system controller 308 allows the internal combustion engine to be replaced by an electric motor 202 and a battery system 220, while continuing to use the machine controller 302 designed to control the internal combustion engine. Thus, a modification from an ICE-powered horizontal directional drilling machine to an electric horizontal directional drilling machine is provided in an efficient manner.

[0059] Other controllers, devices, and sensors are also connected to the communication bus 306 and communicate with the electronic processor 310 of the system controller 308, such as... Figure 2 As shown elsewhere. For example, various temperature sensors (not shown) provide the electronic processor 310 of the system controller 308 with the temperature of the battery fluid or the fluid in the hydraulic system. Figure 2 The insulation monitoring device (IMD) 330 shown in the figure monitors the insulation of the DC power bus 208 and provides the system controller 308 with values ​​regarding the condition of the insulation of the DC power bus 208 to determine the operability of the battery system 220, such as determining the presence of a short circuit. Figure 2 The diagram also shows a battery coolant temperature sensor 334 for cooling fluids of battery pack 222 and / or battery system 220.

[0060] Figure 3 As shown Figure 1 The horizontal directional drilling machine shown differs in that the system controller 308 is integrated into the machine controller 302. Although Figure 3 A communication bus 306 connected to the machine controller 302 is shown, but the communication bus 306 is a bus that extends to and communicates with the power inverter 206, the on-board charger 210, the battery management system 224, and the pumps 14, 34, and 44 of the hydraulic system 100, as described in the example above.

[0061] Figure 4 As shown Figure 3 The horizontal directional drilling machine shown differs in that it is powered by a lower-power AC mains connection 404, such as a 220V connection. An onboard charger 210 is configured to enable this connection.

[0062] Figure 5A similar horizontal directional drilling machine is shown, in which a DC power bus 208 is connected to a DC generator 406. In this example, an onboard charger 210 is not required. The DC generator 406 is communicatively connected to a machine controller 302 via a communication bus 306 (such as a Controller Area Network (CAN) bus connection). Through this communication bus 306, the machine controller 302 can regulate the power generated by the DC generator 406 to approximately match the power absorbed by the electric motor 202 and the power inverter 206.

[0063] Figure 5A Showing with Figure 3 The machine shown is similar to a horizontal directional drilling machine 8. In this example, a second electrical inverter 206a is connected to an on-board charger 210 via a power bus 208a. In one example, power buses 208a and 208 are connected and represent the same power bus. The second electrical inverter 206a supplies power to a second electric motor 202a. The second electric motor 202a outputs power via an axial mud pump drive 61. In some examples, the mud pump drive 61 includes gears, sprockets, timing belts, and / or gearboxes. Other arrangements are conceivable. One arrangement includes a rubber timing belt with input and output sprockets. The mud pump drive 61 drives a mud pump 62. Furthermore, the second electrical inverter 206a is connected to a machine controller 302 via a communication bus 306 for controlling the power / electricity supplied to the second electric motor 202a. Otherwise, Figure 5A The arrangement shown in the image is in harmony with Figure 3 The arrangement shown in the image operates in a similar manner.

[0064] In one example Figure 5A The second power inverter 206a and the second electric motor 202a shown have their own cooling systems separate from the cooling system 500. This arrangement allows for modularity, enabling the relatively easy installation of smaller or larger mud pumps 62, the second power inverter 206a, and the second electric motor 202a on a horizontal directional drilling machine. Furthermore, the number of connections is minimized. In another example, the second power inverter 206a and the second electric motor 202a are integrated into the electric cooling system 500. In yet another example, Figure 7 The mud pump motor 60 shown has its own cooling system separate from the hydraulic system 100. In another example, the mud pump motor is integrated into the hydraulic cooling system 570.

[0065] Figure 6The diagram illustrates how cooling fluid flows through various components of the cooling system 500, including a cooling system pump 510 for a basic horizontal directional drilling machine. Pump 510 is connected to a radiator, expansion tank, and / or pressure relief device 512. Coolant (e.g., a water-glycol mixture) is typically stored in the radiator, with pump 510 delivering the mixture to a series of flow control devices 513, 514, 515, 516, and 517, and then to various devices including an electric motor 202, a power inverter 206, a hydraulic (“hyd”) oil cooler 232 for cooling the machine's hydraulic system, a DC / DC converter 240, and an on-board charger 210. Figure 6 The example of the cooling system 500 illustrated includes specific flow control devices 513, 514, 515, 516, and 517 for each of these various devices, such that the flow rate of coolant can be controlled individually for each device or component 202, 206, 232, 240, and 210. Alternatively, the flow rate of these devices or components 202, 206, 232, 240, and 210 can be controlled by controlling the output of pump 510.

[0066] Figure 6 The pump 510 shown is fluidly connected to a coolant temperature sensor 519, which measures the temperature of the coolant in the cooling system 500 at locations adjacent to the battery pack 222, where the coolant is supplied. Solenoid valves 520 and 522 are located. In one example, these valves 520, 522 are controlled to influence how the coolant flows through heat exchanger 524 to interact with the battery coolant in battery cooler or heat exchanger 226. The battery coolant is stored in accumulator 530. Pump 532 is controlled by battery management system 224 and selectively pumps battery coolant through battery heater 228, battery pack 222, and battery cooler or heat exchanger 226. Pump 532 for battery coolant is separate from pump 510 of cooling system 500. Battery cooler or heat exchanger 226 is located adjacent to heat exchanger 524, allowing heat generated within battery pack 222 to be transferred to the coolant in hydraulic system 100 of machine 8, while also maintaining separation between the machine's coolant and the battery coolant. Therefore, the cooling system 500 provides a cooling / heating flow for the battery coolant to the battery pack 222 of the battery system 220. The heat exchanger 524 exchanges heat between the battery coolant and the coolant used for the electric motor 202 and other components of the cooling system.

[0067] Figure 6A It shows relative to Figure 6 The improved cooling system 500 is shown in the diagram. (As shown) Figure 6As shown, the cooling system pump 510 is connected to the radiator, expansion vessel, and / or pressure relief device 512. The cooling system pump 510 delivers coolant to a series of flow control devices 513, 514, 515, 516, and 517, and then to various devices, including an electric motor 202, a power inverter 206, a hydraulic (“hyd”) oil cooler 232 for cooling the machine's hydraulic system, a DC / DC converter 240, and an on-board charger 210. Figure 6A The example of the cooling system 500 illustrated includes specific flow control devices 513, 514, 515, 516, and 517 for each of these various devices, such that the flow rate of coolant can be controlled individually for each device or component 202, 206, 232, 240, and 210. Alternatively, the flow rate of these devices or components 202, 206, 232, 240, and 210 can be controlled by controlling the output of the cooling system pump 510.

[0068] exist Figure 6A In this configuration, the battery thermal regulation system 550 is independent of the cooling system 500. Battery coolant is stored in the accumulator 530. Pump 532, controlled by the battery management system 224, selectively pumps battery coolant through the battery thermal management device 560, the battery pack 222, and via the battery coolant temperature sensor 334. Therefore, the battery thermal regulation system 550 is separate from the pump 510 of the cooling system 500. The battery thermal management device 560 maintains the vehicle battery pack 222 within its critical operating temperature range. In one example, the battery thermal management device 560 includes a radiator and a condenser. The battery thermal management device 560 is configured to heat the battery coolant as needed and cool the battery coolant by operating under a refrigeration cycle. In one example, the battery thermal management device 560 has no air-heat exchanger at all.

[0069] Figure 6B Another example of an improved cooling system 500 is shown. The cooling system 500 for a horizontal directional drilling machine 8 includes an electric cooling system 500a having a cooling system pump 510 for a basic horizontal directional drilling machine. The pump 510 is connected to a radiator, an expansion tank, and / or a pressure relief device 512. The pump 510 delivers coolant to a series of flow control devices 513, 514, 516, and 517, and then to various devices including an electric motor 202, a power inverter 206, a DC / DC converter 240, and an on-board charger 210. Alternatively, the flow rates of these devices or components 202, 206, 240, and 210 can be controlled by controlling the output of the pump 510.

[0070] exist Figure 6BIn this configuration, the cooling system 500 comprises three independent and separate cooling systems. The battery thermal regulation system 550 is independent of and separate from the electric cooling system 500a. Battery coolant is stored in the accumulator 530. A pump 532, controlled by the battery management system 224, selectively pumps battery coolant through the battery thermal management device 560, the battery pack 222, and through the battery coolant temperature sensor 334. The battery thermal management device 560 maintains the vehicle battery pack 222 within its critical operating temperature range. The battery thermal management device 560 is configured to heat the battery coolant as needed and cool it by operating an air-liquid heat exchanger or operating under a refrigeration cycle.

[0071] Figure 6B Also shown is a hydraulic cooling system 570, separate and independent from the electric cooling system 500a and the battery thermal regulation system 550. The hydraulic cooling system 570 includes a hydraulic fluid temperature sensor 572 and a hydraulic tank 574 containing the hydraulic fluid. A hydraulic cooling pump 578 pumps hydraulic fluid from the hydraulic tank 574 for hydraulic operation 580. Hydraulic operation 580 includes the functions of a ground drive motor 12, a spindle 22, a rotary drive motor for the drilling rig 24, and a bracket 30. Hydraulic fluid is then supplied to a hydraulic cooler 232. Hydraulic fluid returns from the hydraulic cooler 232 to the hydraulic tank 574. The hydraulic cooler 232 cools the hydraulic system 100. In one example, the hydraulic cooling pump 578 supplies fluid only to the hydraulic cooler 232. In other examples, one or more of the hydraulic pumps 14, 34, 44, and 578 supply hydraulic fluid to the hydraulic cooler 232. Other arrangements are conceivable.

[0072] exist Figure 6B In this arrangement, there is no heat transfer between the hydraulic fluid of the hydraulic system 100 and the coolant of the electric cooling system 500a. Furthermore, the electric cooling system 500a, the battery thermal regulation system 550, and the hydraulic cooling system 570 are separate from each other, and there is no heat transfer between them.

[0073] The electric drive system 200 of the horizontal directional drilling machine 8 is designed to be configured for flexible operation, including:

[0074] If the power required by the horizontal directional drilling machine is less than 40kW, the on-board charger 210 has the ability to provide all the power required by the machine, plus the power to charge the battery pack 222;

[0075] If the power required for the machine to optimize its performance is greater than 40kW, the electric drive system 200 draws power from both the on-board charger 210 and the battery pack 222, at least as long as the energy stored in the battery pack 222 is within an acceptable range.

[0076] If it is possible to obtain power from non-vehicle power supply components (such as...) Figure 1 If the amount of power extracted by the 400V AC power supply unit 400 or 400V AC generator 402 shown is limited to less than 40kW, then the electric drive system 200 is controlled in a manner that allows control over the maximum power extracted from the off-board power system. The control system 300 is configured to make continuous adjustments:

[0077] Sometimes, power for operating the drilling rig is supplied from both off-board power sources or supply units 400, 402, and 404 via on-board charger 210 and on-board battery pack 222;

[0078] Sometimes, power for operating the drilling rig is supplied via the on-board charger 210 from off-board power sources or supplies 400, 402, 404 to power the drilling rig and other equipment, while simultaneously the on-board charger 210 draws power from off-board power sources or supplies to charge the on-board battery pack 222; and

[0079] Sometimes, the power to operate the drilling rig is provided solely by the onboard battery pack 222.

[0080] Figure 1 System controller 308 or Figure 3 The machine controller 302 [hereinafter referred to as "controller" 302 ( Figure 3 Example), 308 ( Figure 1 [Example] Interactions with other components / controllers of the horizontal directional drilling machine 8 include: interactions between controllers 302, 308 and the battery management system 224, and the sending of requests from controllers 302, 308 to the battery management system 224 regarding charge and discharge states. This is the only information sent to the battery management system 224. The battery management system 224 reports reverse voltage, current, temperature, battery SoC (state of charge), and the status of the battery pack 222 to the controllers.

[0081] Controllers 302 and 308 use information from the battery management system 224 to monitor the battery management system and control the cooling system 500 (flow rate and fan speed). In one example, when controlling the cooling system 500, controllers 302 and 308 are configured to receive speed, current, and coolant temperature from the power inverter 206, and are configured to supply coolant to the power inverter 206 to maintain it at a desired temperature. In another example, controllers 302 and 308 are configured to receive speed, current, and coolant temperature from the electric motor 202, and are configured to supply coolant to the electric motor 202 to maintain it at a desired temperature. In yet another example, controllers 302 and 308 are configured to receive coolant temperature / internal temperature, current input / output value, and voltage input / output value from the DC / DC converter 240 of the battery system 220 via the communication bus 306, and are configured to communicate with the cooling system 500 to supply coolant to the DC / DC converters 240 and 250 to maintain them at a desired temperature. Controllers 302 and 308 also send voltage and current control commands to the DC / DC converter via communication bus 306.

[0082] Controllers 302 and 308 are also configured for interaction between the controller and the on-board charger 210. Controllers 302 and 308 send a request to the on-board charger 210 to begin converting AC power to DC power and set the desired output current value. The on-board charger 210 operates to output the current setpoint at the voltage of the DC power bus 208. If the electric drive system 200 has more than one on-board charger 210, the battery SoC determines the DC voltage and will draw “additional” current from one or more on-board chargers 210.

[0083] In any alternative example not shown in the figures, if the drilling system 8 does not have a battery pack 222, or if the battery pack is not functioning or not connected to the DC power bus 208, the controllers 302, 308 include a control loop or algorithm to regulate the DC voltage supplied to the power inverter 206 by controlling the on-board charger 210.

[0084] Controllers 302 and 308 are also configured to interact with the power inverter 206. Based on how the operator utilizes the machine's operator controls 304, controllers 302 and 308 send requests to the power inverter 206 to start rotating the electric motor 202 at an appropriate time. In one example, controllers 302 and 308 will provide the requested speed setpoint for the electric motor output shaft 204. The power inverter 206 has adjustable power limits. In another example, controllers 302 and 308 will provide a desired power target that may be suitable for meeting the power requirements of a specific operation of the hydraulic system 100.

[0085] In another example, controllers 302 and 308 communicate with power inverter 206. Power inverter 206 reports speed, current, coolant temperature, etc., to the controllers via communication bus 306. Controllers 302 and 308 are configured to use this information to monitor electric drive system 200 and control cooling system 500.

[0086] Controllers 302 and 308 are configured to use data from the power inverter 206 to determine how to control the on-board charger 210. In one example, controllers 302 and 308 receive reported current values ​​delivered to the power inverter 206 and set the output current setpoint of the on-board charger 210 accordingly.

[0087] The logic of the controllers 302 and 308 used to control the on-board charger 210 is as follows. The battery pack 222 is electrically connected to the DC power bus 208 unless the controller determines, using the insulation monitoring device 330, that the DC power bus 208 is faulty, or the battery coolant temperature sensor 334 has a fault determined by the battery management system 224. This arrangement allows the battery pack 222 to charge and discharge.

[0088] Controllers 302 and 308 use the battery voltage received from the battery management system 224 to determine the DC bus voltage. Controllers 302 and 308 also provide the on-board charger 210 with an on-board charger current setpoint based on the current consumption of the power inverter 206, the output current of the DC / DC converters 240 and 250, and the battery state of charge (SoC).

[0089] When the battery SoC > 80%, controllers 302 and 308 set the on-board charger 210 to the required drive current plus the inverter current. When the battery SoC < 80%, controllers 302 and 308 are configured to set the on-board charger 210 to the required drive current, inverter current plus the charging current.

[0090] In the event that the controllers 302 and 308 require rapid power from the horizontal directional drilling machine 8, the battery pack 222 supplements (one or more) the on-board charger 210 until the charger output is increased via command from the controller through the communication bus 306.

[0091] Although a communication bus 306, such as a CAN bus, is disclosed and shown, other types of connection buses or other arrangements, including wireless communication arrangements, are conceivable.

[0092] The uses of controllers 302 and 308 to assist in the operation of the horizontal directional drilling machine 8 are as follows: Figures 8 to 10 The example illustrated in the flowchart shown is further described.

[0093] Figure 8 This is a flowchart 600 showing the startup of the horizontal directional drilling machine 8 when using the key switch at step 604. During startup, controllers 302 and 308 determine a startup failure at step 608. In the event of a startup failure, the controllers proceed to step 612 and provide the operator with an error message such as "PCU offline." If no startup failure occurs, controllers 302 and 308 proceed to determination step 616.

[0094] exist Figure 8 At determination step 616, controllers 302 and 308 receive the output of insulation monitoring device 330 via communication bus 306. Controllers 302 and 308 determine whether a fault exists in the DC power bus 208 based on the value obtained from the insulation monitoring device 330. If a fault exists at determination step 616, controllers 302 and 308 proceed to step 620 and provide an error message regarding a short circuit in the DC power bus 208 to the operator's display of the horizontal directional drilling machine 8. Furthermore, battery pack 222 is disabled from supplying power to the DC power bus 208. When no fault exists at determination step 616, controllers 302 and 308 proceed to step 624.

[0095] At step 624, controllers 302 and 308 enable the battery management system 224 of battery system 220. Thereafter, the controllers proceed to decision step 628.

[0096] At determination step 628, controllers 302 and 308 communicate with the battery management system 224 via communication bus 306 regarding the presence of a fault determined by the battery management system. If a fault is received, controllers 302 and 308 proceed to step 632. At step 632, the controllers provide an error message to the operator of the horizontal directional drilling machine 8 on a display. In some examples, an audio signal and a visual message, or a visual message in lieu of a visual message, are provided. If no battery management system fault is determined at step 628, controllers 302 and 308 proceed to determination step 636.

[0097] At determination step 636, controllers 302 and 308 communicate with power inverter 206 via communication bus 306. Power inverter 206 provides controllers 302 and 308 with voltage or power signals indicating whether the on-board charger 210 outputs DC voltage from line power or a generator. When controllers 302 and 308 determine at determination step 636 that the horizontal directional drilling machine 8 has no external AC connection, the controllers proceed to step 640. At step 640, controllers 302 and 308 operate the horizontal directional drilling machine 8, including the drill rig, in discharge mode. Therefore, battery pack 222 provides power to hydraulic system 100 without assistance.

[0098] When controllers 302 and 308 determine at determination step 636 that the power inverter 206 is receiving external power from an external AC connection connected to the on-board charger 210, the controllers proceed to step 644. At step 644, controllers 302 and 308 enable or control the operation of the on-board charger 210 to provide the power inverter 206 with appropriate voltage / power for powering the horizontal directional drilling machine 8, for powering the DC / DC converters 240 and 250, and for recharging the battery pack 222 when battery charging is required.

[0099] From step 644, controllers 302 and 308 proceed to step 648 to enable / control the voltage supplied by the on-board charger 210 in response to a control signal sent to them via communication bus 306.

[0100] After step 648, controllers 302 and 308 proceed to the on-board charger error determination step 652. At determination step 652, if the controller determines that the on-board charger has an error, it proceeds to step 656. At step 656, controllers 302 and 308 output an error message indicating that the on-board charger 210 is not operating correctly.

[0101] When the on-board charger 210 is functioning correctly, controllers 302 and 308 proceed to step 660 in charging mode. When no charging is being provided in discharging mode and no on-board charger is plugged in at step 640, controllers 302 and 308 proceed to the same step 660 in discharging mode.

[0102] At step 660, controllers 302 and 308 operate DC / DC converters 240 and 250, which supply power to various devices of the horizontal directional drilling machine 8. Then, controllers 302 and 308 proceed to step 664.

[0103] At step 664, controllers 302 and 308 operate the pump 510 of the cooling system 500. The controllers proceed to step 668 and enable the power inverter 206 to operate to supply power to the horizontal directional drilling machine 8. Controllers 302 and 308 proceed to step 672, where system startup is completed and the horizontal directional drilling machine 8 can be operated via operator control 304.

[0104] After completing such Figure 4 When the system starts up as shown in the diagram, when in Figure 8 When determining the charging mode at steps 636 and 644, the controller proceeds to... Figure 9 The charging modes are shown in the flowchart.

[0105] exist Figure 9In the charging operation mode shown, at determination step 708, controllers 302 and 308 determine whether the state of charge of battery pack 222 is less than 90%. If it is not less than 90%, controllers 302 and 308 execute and proceed to step 712. While a value of 90% is considered, other values ​​of state of charge in the range of 80% to 95% are also considered.

[0106] At step 712, controllers 302 and 308 set an on-board current setpoint sent via communication bus 306 to the on-board charger 210 to provide an appropriate on-board controller setpoint so that the on-board charger provides an appropriate current value to the power inverter 206. Then, controllers 302 and 308 proceed to step 720.

[0107] Returning to decision step 708, when the state of charge is less than 90% of the optimal expected value, controllers 302 and 308 proceed to step 716 to execute the charging mode procedure. At step 716, controllers 302 and 308 provide an on-board charger setpoint, causing the on-board charger 210 to provide an appropriate current value to the power inverter 206, and additional current, for example 10 amps, to the battery system 220 via the DC power bus 208 for charging the battery pack 222. This initiates charging of the battery pack 222. Afterward, controllers 302 and 308 proceed to step 720.

[0108] At step 720, controllers 302 and 308 await operator movement or use of operator control component 304. Figure 9 As shown, when no control occurs, controllers 302 and 308 continue to delay and wait for operation of the horizontal directional drilling machine 8. When operator control 304 moves, controllers 302 and 308 proceed to step 724. In some cases, such as cold weather, electric motor 202 is operated to keep hydraulic system 100 at the desired minimum temperature.

[0109] At step 724, controllers 302 and 308 control the power inverter 206 to provide current to start and power the electric motor 202. Thus, the selected controller operates the horizontal directional drilling machine 8. Thereafter, controllers 302 and 308 proceed to step 728.

[0110] At step 728, drilling is performed by the horizontal directional drilling machine 8 when selected by the operator control 304. Additionally, movement of the track 10 of the horizontal directional drilling machine 8 can be selected, and pipes can be added by utilizing the bracket 30, operating the mud pump, or other operations (not shown). During this operation, in some examples, controllers 302, 308 are configured and capable of executing additional programs or routines. Such examples include continuous monitoring of the insulation of the DC power bus 208 using an insulation monitoring device 330, continuous monitoring of the battery pack temperature using a battery coolant temperature sensor 334, the state of charge of the battery pack 222, and user input.

[0111] During the activation of drilling step 728 or other functions of the horizontal directional drilling machine 8, in one example, when no input from operator control 304 passes through within a predetermined or selected time period without any operator control, controllers 302, 308 proceed to step 732.

[0112] At step 732, controllers 302 and 308 are configured to provide an output signal to the power inverter 206 to interrupt the power supply from the power inverter 206 to the electric motor 202. In one example, when the battery pack 222 is fully charged, controllers 302 and 308 also provide a signal to the on-board charger 210 to reduce or eliminate the current output from its output to the DC power bus 208.

[0113] After step 732, controllers 302 and 308 proceed to step 708 and determine the charge status of battery pack 222 and continue operation.

[0114] When the horizontal directional drilling machine 8 is connected to an AC power source and the required power exceeds a predetermined amount (e.g., 44kW in one example), the battery pack 222 automatically and directly supplies additional power to the power inverter 206 via the DC power bus 208. Controllers 302 and 308 are also configured to perform peak clipping on the output as needed.

[0115] Return to Figure 8 When the system startup is completed at step 672 and the discharge mode is pre-selected at step 640, controllers 302 and 308 proceed to... Figure 10 The discharge mode is shown in flowchart 800.

[0116] exist Figure 10In the illustrated discharge operation mode, at determination step 808, controllers 302 and 308 determine whether the state of charge of battery pack 222 is greater than 10%. If it is not greater than 10%, controllers 302 and 308 execute and proceed to step 812. At step 812, the controllers provide the operator of the horizontal directional drilling machine 8 with an audible and / or visual indication that battery pack 222 is not sufficiently charged for operation. Thereafter, controllers 302 and 308 disallow operation of the horizontal directional drilling machine 8 until the battery pack is fully charged.

[0117] Returning to the determination step 808, when the state of charge of battery pack 222 is greater than 10% of the maximum state of charge, the controllers 302 and 308 executing the program or routine shown in flowchart 800 proceed to step 820.

[0118] At step 820, controllers 302 and 308 await operator movement or use of operator control component 304. For example... Figure 10 As shown, when no control occurs, controllers 302 and 308 continue to delay and wait for operation of the horizontal directional drilling machine 8. When the operator control 304 moves, controllers 302 and 308 proceed to step 824.

[0119] At step 824, controllers 302 and 308 control the power inverter 206 to supply current from the battery pack 222 to start and power the electric motor 202. Thus, the selected controller is able to operate the horizontal directional drilling machine 8. Thereafter, controllers 302 and 308 proceed to step 828.

[0120] At step 828, drilling is performed by the horizontal directional drilling machine 8 when selected by the operator control 304. Additionally, movement of the track 10 of the horizontal directional drilling machine 8 can be selected, and pipes can be added by utilizing the bracket 30, operating the mud pump, or other operations (not shown). During this operation, in some examples, the controllers 302, 308 execute additional programs or routines. Such examples include continuously monitoring the insulation of the DC power bus 208 using the insulation monitoring device 330, continuously monitoring the battery pack temperature and the state of charge of the battery pack 222 using the battery coolant temperature sensor 334, and sensing user input to the control device.

[0121] During operation step 728 for enabling the function of the horizontal directional drilling machine 8, in one example, when no input from the operator control 304 passes through a predetermined or selected time period (such as one minute) without any operator control 304, the controllers 302, 308 proceed to step 832.

[0122] At step 832, controllers 302 and 308 provide output signals to power inverter 206 to interrupt the power supply from power inverter 206 to electric motor 202.

[0123] After step 832, controllers 302 and 308 proceed to step 808 and determine the state of charge of battery pack 222, then proceed to step 820, provided the state of charge is greater than 10% of the expected full charge of battery pack 222. Although for Figure 10 The battery status is set to 10%, but other battery status values ​​in the range of 5% to 20% can be envisioned.

[0124] When execution Figures 8 to 10 When the controllers 302, 308 described in the text and elsewhere are considered as a single electronic controller performing the detailed functions or steps therein, in some examples, multiple electronic controllers 302, 308, 380 perform various controller functions. Furthermore, in some examples, the electronic processor 310 corresponding to any one of the controllers 302, 308, 380 includes multiple electronic processors 310. Although various methods and processes have been described as being executed by the electronic processors 310 in a specific order, in some cases, these methods and processes are executed in a different order.

[0125] In one example, a coolant temperature sensor is provided for each device receiving coolant. Such devices include, but are not limited to, a power inverter 206, an on-board charger 210, an electric motor 202, a ground drive motor 12, a rotary drive 20, a thrust / pull-back motor 32, and a battery pack 222.

[0126] Furthermore, unless the context explicitly indicates otherwise, the articles “a” and “an” should not be interpreted as meaning “one” or “only one.” Rather, they should be interpreted as meaning “at least one” or “one or more.”

[0127] Furthermore, it should be understood that, unless explicitly described to the contrary, the illustrated components may be combined or divided into separate software, firmware, and / or hardware. For example, instead of being located within and executed by a single electronic processor, the logic and processing described herein may be distributed among multiple electronic processors. Similarly, one or more memory modules and communication channels or networks may be used, even if the examples described or illustrated herein have a single such device or element. Moreover, regardless of how the hardware and software components are combined or divided, they may reside on the same computing device or be distributed among multiple different devices. Therefore, in this specification and claims, if an apparatus, method, or system is claimed to include, for example, a controller, control unit, electronic processor, computing device, logic element, module, memory module, communication channel or network, or other elements configured in a certain way to perform, for example, multiple functions, then the claims or claim elements should be interpreted as referring to one or more such elements, any one of which is configured, for example, to cause any one or more of the multiple functions, such that one or more elements, as a set, jointly perform multiple functions.

[0128] While certain embodiments, examples, features, and aspects have been described and illustrated, variations and modifications exist within the scope and spirit of the subject matter explained and illustrated.

Claims

1. A control system for a horizontal directional drilling machine, the control system comprising: An electric drive system, the electric drive system including an on-board charger and a power inverter for supplying current to an electric motor; A hydraulic system, comprising an input shaft and a bracket, the input shaft being driven by the electric motor and arranged to drive the spindle of a drilling rig; A battery system, the battery system including a battery pack and a battery management system; A cooling system, comprising a pump and a temperature sensor; as well as The controller is configured to: The on-board charger is controlled to provide an on-board current setpoint for the on-board charger, in response to data received from the power inverter and the charge status and condition of the battery pack, to supply current to the power inverter; and Control the power inverter to drive the electric motor.

2. The control system according to claim 1, wherein, The controller is configured to receive speed, current and coolant temperature from the power inverter, and the controller is configured to supply coolant to the power inverter to maintain the power inverter at a desired temperature, and wherein the cooling system includes a flow control device.

3. The control system according to claim 1, wherein, The controller is configured to receive speed, current and coolant temperature from the electric motor, and the controller is configured to supply coolant to the electric motor to maintain the electric motor at a desired temperature, wherein the coolant for the electric motor is separate from the battery coolant for the battery pack.

4. The control system according to claim 3, wherein, The heat exchanger exchanges heat between the battery coolant and the coolant used for the electric motor.

5. The control system according to claim 1, wherein, The temperature sensor is a hydraulic fluid temperature sensor, wherein the controller is configured to receive coolant temperature from the hydraulic fluid temperature sensor of the cooling system, wherein the cooling system is a hydraulic cooling system including the hydraulic fluid temperature sensor and a hydraulic cooler, and the pump is a hydraulic cooling pump that supplies hydraulic fluid to the hydraulic cooler, and wherein the battery thermal regulation system includes a pump that selectively pumps battery coolant through a battery thermal management device, a battery pack, and a battery coolant temperature sensor, and wherein the battery thermal management device is configured to heat or cool the battery coolant to maintain the battery pack within its operating temperature range.

6. The control system according to claim 5, wherein, The battery system includes a pump for the battery coolant, which is separate from the pump of the cooling system.

7. The control system according to claim 1, wherein, The controller is a system controller that communicates with the machine controller, wherein the system controller, the machine controller, the battery management system, the on-board charger, and the power inverter are connected via a communication bus.

8. The control system according to claim 1, wherein, The controller is a machine controller configured to control the hydraulic system, which includes a hydraulic pump for operating the drilling rig and a ground drive motor.

9. The control system according to claim 8, wherein, The pump controller is configured to communicate with the machine controller to control the hydraulic system, and wherein the input shaft driven by the electric motor is the input shaft of the pump driver connected to the hydraulic pump.

10. The control system according to claim 1, wherein, The on-board charger is a first on-board charger, and the electric drive system includes a second on-board charger; and the power inverter is a first power inverter, and the electric drive system includes a second power inverter.

11. The control system according to claim 1, wherein, The controller is configured to control the cooling system to provide a cooling / heating flow for the battery coolant to the battery pack in response to voltage, current, battery coolant temperature, battery charge status and battery pack status received from the battery management system.

12. The control system of claim 1, comprising a battery thermal regulation system, the battery thermal regulation system being separate from the cooling system of the drilling machine, wherein the battery thermal regulation system includes a battery thermal management device, the battery thermal management device including a refrigeration cycle for cooling battery coolant, and wherein the cooling system of the drilling machine includes: An electric cooling system for cooling the electric motor, the power inverter, and an on-board charger; And a separate hydraulic cooling system, which includes a hydraulic cooler.

13. A horizontal directional drilling machine, comprising: An electric drive system, the electric drive system including an on-board charger and a power inverter for supplying current to an electric motor; A hydraulic system, comprising an input shaft and a bracket, the input shaft being driven by the electric motor and arranged to drive the spindle of a drilling rig; A battery system, the battery system including a battery pack and a battery management system; A cooling system, comprising a pump and a temperature sensor; as well as The control system includes a controller, the controller being configured to: In response to data received from the power inverter and the charge status and condition of the battery pack, the on-board charger is controlled to provide an on-board current setpoint for the on-board charger to supply current to the power inverter. and Control the power inverter to drive the electric motor.

14. The drilling machine according to claim 13, wherein, The controller is configured to receive speed, current and coolant temperature from the power inverter, and the controller is configured to supply coolant to the power inverter to maintain the power inverter at a desired temperature, and wherein the cooling system includes a flow control device.

15. The drilling machine according to claim 13, wherein, The controller is configured to receive speed, current and coolant temperature from the electric motor, and the controller is configured to supply coolant to the electric motor to maintain the electric motor at a desired temperature, wherein the coolant for the electric motor is separate from the battery coolant for the battery pack.

16. The drilling machine according to claim 15, wherein, The heat exchanger exchanges heat between the battery coolant and the coolant used for the electric motor.

17. The drilling machine according to claim 13, wherein, The temperature sensor is a hydraulic fluid temperature sensor, wherein the controller is configured to receive coolant temperature from the hydraulic fluid temperature sensor of the cooling system, wherein the cooling system is a hydraulic cooling system including the hydraulic fluid temperature sensor and a hydraulic cooler, and the pump is a hydraulic cooling pump that supplies hydraulic fluid to the hydraulic cooler, wherein the battery thermal regulation system includes a pump that selectively pumps battery coolant through a battery thermal management device, a battery pack, and a battery coolant temperature sensor, and wherein the battery thermal management device is configured to heat or cool the battery coolant to maintain the battery pack within its operating temperature range.

18. The drilling machine according to claim 17, wherein, The battery system includes a pump for the battery coolant, which is separate from the pump of the cooling system.

19. The drilling machine according to claim 13, wherein, The controller is a system controller that communicates with the machine controller, wherein the system controller, the machine controller, the battery management system, the on-board charger, and the power inverter are connected via a communication bus.

20. The drilling machine according to claim 13, wherein, The controller is a machine controller configured to control the hydraulic system, which includes a hydraulic pump for operating the drilling rig and a ground drive motor.

21. The drilling machine according to claim 20, wherein, The pump controller is configured to communicate with the machine controller to control the hydraulic system, and wherein the input shaft driven by the electric motor is the input shaft of the pump driver connected to the hydraulic pump.

22. The drilling machine according to claim 13, wherein, The on-board charger is a first on-board charger, and the electric drive system includes a second on-board charger; and the power inverter is a first power inverter, and the electric drive system includes a second power inverter.

23. The drilling machine of claim 13, comprising a battery thermal regulation system separate from the cooling system of the drilling machine, wherein the battery thermal regulation system includes a battery thermal management device, the battery thermal management device including a refrigeration cycle for cooling battery coolant.

24. The drilling machine according to claim 13, wherein, The controller is configured to control the cooling system to provide a cooling / heating flow for the battery coolant to the battery pack in response to voltage, current, battery coolant temperature, battery charge status and battery pack status received from the battery management system.

25. The drilling machine according to claim 13, wherein, The cooling system includes: An electric cooling system, the electric cooling system comprising the pump, the coolant temperature sensor and the flow control device; A battery thermal regulation system, comprising a battery thermal management device; and A hydraulic cooling system, comprising a hydraulic cooler, The electric cooling system, the battery thermal regulation system, and the hydraulic cooling system are separate from each other, and there is no heat transfer between them.

26. The drilling machine according to claim 25, wherein, The electric cooling system operates to cool the electric motor, the power inverter, and the on-board charger.

27. The drilling machine according to claim 13, wherein, The hydraulic system includes a hydraulic mud pump motor for driving the mud pump.

28. The drilling machine according to claim 13, wherein, The electric drive system includes a second power inverter connected to a second electric motor for powering a mud pump.

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