Control system and control method of multi-source combined engineering transport vehicle

Abstract

The control system of the multi-source combination engineering transport vehicle includes the vehicle controller HCU, the on-board power generation system composed of the engine, engine controller ECU, generator and generator controller GMCU, the power battery and high-voltage cabinet power supply system, the main drive motor and the main drive motor controller MCU, and the transmission system; the vehicle controller HCU is connected to the engine controller ECU, power battery, main drive motor controller MCU, and generator controller GMCU through the communication bus; the on-board power generation system is electrically connected to the high-voltage cabinet power supply system and the main drive motor controller in parallel through the power cable, and the main drive motor controller is electrically connected to the main drive motor through the power cable, so that the on-board power generation system and the power battery system can directly supply power to the main drive motor controller; at the same time, the on-board power generation and the drive motor reverse charging are indirectly fed back to the power battery through the high-voltage cabinet power supply system. The dual-source combination effectively combines the existing energy, reduces the vehicle operation energy consumption, and effectively utilizes the recovered energy. At the same time, it solves the problem that the downhill brake hub is seriously heated and affects the service life of the brake hub.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering transport vehicle control, and in particular to a control system and a control method of a multi-source combined engineering transport vehicle. Background Art

[0002] The working conditions in the field of engineering transportation are complex and changeable. According to heavy load, no load, climbing height, and descending height, they are divided into heavy load uphill, heavy load downhill and flat road working conditions. After the working conditions are determined, the transportation process is cyclical. Among them, in the heavy load downhill working condition, the traditional engineering transport vehicle is driven by the internal combustion engine as the only power source of the whole vehicle. The working conditions in the field of engineering transportation are characterized by fixed routes, short transportation distances, repeated round-trip transportation, but poor road conditions, and large changes in slope range. In view of the current traditional fuel vehicle, the internal combustion engine works in the high-load area under uphill conditions, and the fuel consumption is high. Under downhill conditions, the internal combustion engine has no power output demand, but it still needs to work to ensure that other auxiliary parts of the vehicle are normal, and the fuel consumption is not low. In addition, the brake hub heats up seriously during the downhill process, which seriously affects the service life. For the two problems of the engine being in the high-load area and the downhill brake hub heating up seriously, it is obvious that the current traditional oil vehicle configuration scheme cannot fundamentally solve them.

[0003] In recent years, new standards have been introduced for green mine construction, requiring mining to implement environmental protection indicators such as green, energy saving, and emission reduction. Therefore, in order to respond to the grand goal of national green mine construction, green mining must make practical requirements on vehicle energy consumption and emissions during transportation. In terms of reducing consumption and emissions, the energy consumption and emissions of mining transportation equipment that relies solely on internal combustion engines are huge, which has become a problem that must be solved in the process of building green mines.

[0004] Therefore, in order to solve the above problems, a control system and method for a multi-source combined engineering transport vehicle are proposed. Summary of the invention

[0005] The purpose of the present invention is to provide a control system and method for a multi-source combined engineering transport vehicle in order to solve the problems of high energy consumption of the engine of the engineering transport vehicle and severe heating of the downhill brake hub, which has the advantages of saving energy and long service life.

[0006] To achieve the above object, the present invention adopts the following technical solution:

[0007] The control system of the multi-source combined engineering transport vehicle is characterized by including a vehicle controller HCU, an on-board power generation system consisting of an engine, an engine controller ECU, a generator and a generator controller GMCU, a power supply system of a power battery and a high-voltage cabinet, a main drive motor and a main drive motor controller MCU, and a transmission system;

[0008] The vehicle controller HCU is connected to the engine controller ECU and the power battery respectively through the first communication bus CAN1;

[0009] The vehicle controller HCU is connected to the main drive motor controller MCU and the generator controller GMCU respectively through the second communication bus CAN2;

[0010] The on-board power generation system is electrically connected in parallel with the power battery system and the main drive motor controller through power cables, and the main drive motor controller is electrically connected to the main drive motor through power cables, so that the power generated by the on-board power generation system and the output power of the power battery system are directly provided to the main drive motor controller through cables; at the same time, on-board power generation or reverse charging with the drive motor is fed back to the power battery.

[0011] It also includes a pantograph for receiving power from an external line. The pantograph is connected to the power battery through a cable to supply power to the main drive motor, and the pantograph is controlled by the vehicle controller HCU.

[0012] The control system of the aforementioned multi-source combined engineering transport vehicle also includes an auxiliary drive system, which includes an all-in-one controller, an electric air pump, an electric oil pump and an electric air conditioner;

[0013] The all-in-one controller drives the electric air pump and the electric oil pump to respectively meet the vehicle main braking and the normal working of the steering system;

[0014] The electric air conditioner is connected to the vehicle compartment through a circulation duct to achieve cooling, heating, ventilation and air purification of the air in the vehicle compartment;

[0015] The all-in-one controller is connected to the vehicle controller HCU via bus communication.

[0016] A control method for the control system according to claim 1, characterized in that it comprises the following steps:

[0017] S1, the vehicle controller HCU controls the high-voltage cabinet to output high-voltage electricity when the vehicle enters the ready-to-drive state;

[0018] S2, after the vehicle controller HCU receives the high voltage power-up, it controls the all-in-one controller to drive the electric air pump and the electric oil pump to meet the vehicle main brake and the steering system to work normally;

[0019] S3, the vehicle controller HCU controls the power generation power of the on-board power generation system and / or the external power receiving power of the pantograph to meet the vehicle power demand according to the vehicle power demand and the real-time power of the power battery during normal uphill or flat road operation of the vehicle;

[0020] S4, the vehicle controller HCU controls the target torque and target speed of the main drive motor through the main drive motor controller MCU according to the driver's driving intention;

[0021] S5, the vehicle controller HCU controls the automatic transmission shifting according to the real-time torque, speed and slope conditions of the main drive motor;

[0022] S6. During the normal parking waiting process of the vehicle, the vehicle controller HCU controls the start, stop, power generation of the on-board power generation system, and / or the start, stop, and external power reception of the pantograph according to the high-voltage power-on or power-off status signal sent by the high-voltage cabinet and the real-time power SOC sent by the power battery;

[0023] S7. When the vehicle is on a flat road or downhill, the vehicle controller HCU controls the main drive motor controller MCU to make the main drive motor work in coasting braking or electric brake feedback, and recovers electrical energy and stores it in the power battery system.

[0024] Among them, the specific process of S6 is:

[0025] When SOC <SOC min When the vehicle is in a state of emergency, the vehicle controller HCU controls the on-board power generation system to start, and generates electricity in power mode and stores it in the power battery, and / or controls the pantograph to start the receiving electrician, and access the external network to charge the power battery;

[0026] When SOC≥SOCmin, the vehicle controller HCU controls the on-board power generation system and / or pantograph to shut down.

[0027] Beneficial effects:

[0028] Compared with the prior art, the present invention has the following significant advantages:

[0029] 1. The control system of this multi-source combination engineering transport vehicle uses a range extender or accepts external wiring power supply on the engineering transport vehicle and then combines it with existing battery energy to achieve an effective combination of internal combustion engine or grid power and battery energy. The control algorithm is used to recover braking energy when going downhill to effectively convert gravitational potential energy into electrical energy. The electrical energy recovered when going uphill is recycled to start the range extension, wiring or pure electric mode according to the actual working conditions. It not only solves the problem of severe heating of the brake hub downhill that seriously affects the life of the whole vehicle, but also effectively utilizes the recovered energy to avoid the high energy consumption problem of the internal combustion engine, and the fuel saving rate is significantly improved compared with traditional vehicles.

[0030] 2. The invention has a simple structure, is easy to use, has strong practicability, and is suitable for popularization and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 Schematic diagram of the system structure of the present invention. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] Figure 1 As shown in the embodiment, in order to overcome the problems of high fuel consumption in existing engineering transport vehicles, long-term braking during downhill process, severe heating of the brake hub, and serious impact on service life, the embodiment provides a range extender for use on an engineering transport vehicle (i.e., an on-board power generation system composed of an engine, an engine controller ECU, a generator, and a generator controller GMCU) or a method of receiving power from an external overhead wire combined with existing battery energy (i.e., an on-board power battery system), which not only solves the problem of severe heating of the brake hub when going downhill and seriously affects the life of the entire vehicle, but also effectively utilizes the recovered energy to avoid the problem of high energy consumption of the internal combustion engine, and the fuel saving rate is significantly improved compared to traditional vehicles.

[0034] The control system of the multi-source combined engineering transport vehicle mainly includes the vehicle controller HCU, the on-board power generation system consisting of the engine, engine controller ECU, generator and generator controller GMCU, power battery and high-voltage cabinet power supply system, main drive motor and main drive motor controller MCU, transmission system and pantograph;

[0035] The vehicle controller HCU is connected to the on-board power generation system (including the engine controller ECU and the generator controller GMCU) and the power battery through the first communication bus CAN1; the vehicle controller HCU is connected to the main drive motor controller MCU and the generator controller GMCU through the second communication bus CAN2; the on-board power generation system is electrically connected in parallel with the power battery system and the main drive motor controller through power cables, and the main drive motor controller is electrically connected to the main drive motor through power cables, so that the power generated by the on-board power generation system and the output power of the power battery system are directly provided to the main drive motor controller through cables; at the same time, the on-board power generation and the drive motor reverse charging are fed back to the power battery; the pantograph is connected to the power battery through cables to supply power to the main drive motor, and the operation of the pantograph is controlled by the vehicle controller HCU according to the actual overhead line section and the battery SOC value. When there is no overhead line network on the driving section or SOC>SOC min , the vehicle controller HCU controls the pantograph to work, otherwise the vehicle controller HCU controls the pantograph not to work.

[0036] The control system of the aforementioned multi-source combination engineering transport vehicle also includes an auxiliary drive system, which includes an all-in-one controller, an electric air pump, an electric oil pump and an electric air conditioner; the all-in-one controller drives the electric air pump and the electric oil pump respectively to meet the vehicle's main braking and the normal operation of the steering system; the electric air conditioner is connected to the car through a circulation pipe to achieve cooling, heating, ventilation and air purification of the air in the car; the all-in-one controller is connected to the vehicle controller HCU through bus communication.

[0037] Using a range extender or receiving power from an external overhead wire in combination with existing battery energy on engineering transport vehicles can not only solve the problem of severe heating of the brake hub downhill that seriously affects the life of the entire vehicle, but also effectively utilize the recovered energy to avoid the high energy consumption problem of the internal combustion engine. Compared with traditional vehicles, the fuel saving rate is significantly improved.

[0038] The control method of the control system of the multi-source combined engineering transport vehicle includes the following specific operation processes:

[0039] S1. When the vehicle is ready to drive, the vehicle controller HCU controls the high-voltage cabinet to output high-voltage electricity. Specifically, when the vehicle speed = 0, the gear position = N, and there is a brake signal, it indicates that the vehicle is ready to drive. At this time, the vehicle controller HCU controls the high-voltage cabinet to output high-voltage electricity and prepare for driving.

[0040] S2. After the vehicle controller HCU receives the high voltage power-on, it controls the all-in-one controller to drive the electric air pump and the electric oil pump to meet the vehicle's main brake, and the steering system works normally; the air pressure sensor feedbacks that the air pressure value of the vehicle's air circuit increases in an orderly manner, indicating that the air pump works normally or the VCU reads the control status of the air pump by the all-in-one controller, and there is no fault, that is, the air pump works normally; the steering oil circuit pressure is equal, or the VCU reads the control status of the oil pump by the all-in-one controller, and there is no fault, that is, the oil pump works normally;

[0041] S3. During normal uphill or flat road operation of the vehicle, the vehicle controller HCU controls the power generation power of the on-board power generation system and / or the external power receiving power of the pantograph according to the vehicle power demand and the real-time power level of the power battery to meet the vehicle power demand; wherein, the determination of whether the vehicle is traveling on a flat road and up / downhill is based on the vehicle real-time slope signal obtained by the slope sensor on the vehicle. When the signal is 0, the vehicle is traveling on a flat road, when the signal is >0, the vehicle is traveling on an uphill road, and when the signal is <0, the vehicle is traveling downhill.

[0042] S4, the vehicle controller HCU controls the target torque and speed of the main drive motor through the main drive motor controller MCU according to the driver's driving intention.

[0043] Among them, for the driving intention of the driver, the vehicle control unit HCU makes control judgments based on the slope signal of the slope sensor: that is, when the slope ≥ 0 and the throttle > 0, the VCU controls the motor controller to output a driving torque, and the vehicle runs on a normal flat road or climbs a slope; when the slope < k, the throttle == 0, and the vehicle speed > Vmax, the VCU controls the motor controller to execute a power generation command, and the motor drags for power generation, and the energy is fed back to the battery.

[0044] S5. The vehicle control unit HCU controls the automatic transmission to shift gears according to the real-time torque, speed of the main drive motor and the ramp condition.

[0045] S6. During the normal parking and waiting process of the vehicle, the vehicle control unit HCU controls the start, stop, power generation power of the on-vehicle power generation system, and / or the start, stop of the pantograph and the acceptance of external electric power according to the high-voltage power-on or power-off state signal sent by the high-voltage cabinet and the real-time state of charge SOC sent by the power battery.

[0046] Among them, the specific process of S6 is:

[0047] When SOC < SOC min the vehicle control unit HCU controls the generator to start and generate electricity in the power mode and store it in the power battery, and / or controls the pantograph to start and accept electricity, and intervenes in the external network to charge the power battery.

[0048] When SOC ≥ SOC min the vehicle control unit HCU controls the generator and / or the pantograph to close.

[0049] S7. During the flat road or downhill process of the vehicle, the vehicle control unit HCU controls the main drive motor controller MCU to make the main drive motor work in coasting braking or electric braking feedback, and recover electric energy to be stored in the power battery system. The specific operation process is:

[0050] When the slope ≥ 0 and the throttle > 0, the VCU controls the motor controller to output a driving torque, and the vehicle runs on a normal flat road or climbs a slope.

[0051] When the slope < k, the throttle == 0, and the vehicle speed > Vmax, the VCU controls the motor controller to execute a power generation command, and the motor drags for power generation, and the energy is fed back to the battery.

[0052] In the control method of the present invention, when the real-time state of charge sent by the power battery is less than the minimum value of the real-time state of charge, the vehicle control unit controls the range extender controller to start and generate electricity in the power mode and store it in the power battery; or the pantograph starts to accept electricity, and intervenes in the external network to charge the power battery. When the real-time state of charge sent by the power battery is greater than or equal to the minimum value of the real-time state of charge, the vehicle control unit controls the range extender controller and the pantograph to close. The present invention has been implemented on a certain range-extended new energy mining vehicle, and compared with an oil vehicle of the same working condition and the same tonnage, the fuel consumption is saved by more than 40%, and the wheels are also protected.

[0053] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0054] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A control method for a multi-source combined engineering transport vehicle, characterized in that: The control method is applied to the control system of a multi-source combined engineering transport vehicle, the control system includes a vehicle controller HCU, an on-board power generation system consisting of an engine, an engine controller ECU, a generator and a generator controller GMCU, a power supply system of a power battery and a high-voltage cabinet, a main drive motor and a main drive motor controller MCU, and a transmission system; the vehicle controller HCU is connected to the engine controller ECU and the power battery respectively through a first communication bus CAN1; the vehicle controller HCU is connected to the main drive motor controller MCU and the generator controller GMCU respectively through a second communication bus CAN2; the on-board power generation system is electrically connected in parallel with the power battery system and the main drive motor controller respectively through power cables, and the main drive motor controller is electrically connected to the main drive motor through power cables , so that the power generated by the on-board power generation system and the output power of the power battery system are directly provided to the main drive motor controller through cables; at the same time, on-board power generation or reverse charging with the drive motor is fed back to the power battery; the control system also includes a pantograph for receiving power from an external line, the pantograph is connected to the power battery through a cable to supply power to the main drive motor, and the pantograph is controlled by the vehicle controller HCU; the control system also includes an auxiliary drive system, the auxiliary drive system includes an all-in-one controller, an electric air pump, an electric oil pump and an electric air conditioner; the all-in-one controller drives the electric air pump and the electric oil pump to meet the vehicle's main braking and the normal operation of the steering system respectively; the electric air conditioner is connected to the compartment through a circulation pipeline to achieve cooling, heating, ventilation and air purification of the air in the compartment; The all-in-one controller is connected to the vehicle controller HCU via bus communication; wherein the control method comprises: S1, the vehicle controller HCU controls the high-voltage cabinet to output high-voltage electricity when the vehicle enters the ready-to-drive state; S2, after the vehicle controller HCU receives the high voltage power-up, it controls the all-in-one controller to drive the electric air pump and the electric oil pump to meet the vehicle main brake and the steering system to work normally; S3, the vehicle controller HCU controls the power generation power of the on-board power generation system and / or the external power receiving power of the pantograph to meet the vehicle power demand according to the vehicle power demand and the real-time power of the power battery during normal uphill or flat road operation of the vehicle; S4, the vehicle controller HCU controls the target torque and target speed of the main drive motor through the main drive motor controller MCU according to the driver's driving intention; S5, the vehicle controller HCU controls the automatic transmission shifting according to the real-time torque, speed and slope conditions of the main drive motor; S6. During the normal parking waiting process of the vehicle, the vehicle controller HCU controls the start, stop, power generation of the on-board power generation system, and / or the start, stop, and external power reception of the pantograph according to the high-voltage power-on or power-off status signal sent by the high-voltage cabinet and the real-time power SOC sent by the power battery; S7. During the vehicle driving on flat roads or downhill, the vehicle controller HCU controls the main drive motor controller MCU to make the main drive motor operate in coasting braking or electric braking feedback, and recover electric energy to be stored in the power battery system.

2. The control method according to claim 1, characterized in that: The specific process of the above S6 is as follows: When SOC < SOCmin, the vehicle controller HCU controls the on-vehicle power generation system to start and generate electricity in power generation mode for storage in the power battery, and / or controls the pantograph to start to receive electricity, and intervenes in the external power grid to charge the power battery; When SOC ≥ SOCmin, the vehicle controller HCU controls the on-vehicle power generation system and / or the pantograph to turn off.

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