An electric power control device for a power shovel and a control method thereof

Abstract

The application discloses a kind of electric loader power control device and its control method, it is related to loading vehicle technical field.The application discloses a kind of electric loader power control device and its control method, it is related to loading vehicle technical field.The application discloses a kind of electric loader power control device and its control method, it is related to loading vehicle technical field.The application discloses a kind of electric loader power control device and its control method, it is related to loading vehicle technical field.The application discloses a kind of electric loader power control device and its control method, it is related to loading vehicle technical field.The application discloses a kind of electric loader power control device and its control method, it is related to loading vehicle technical field.The application discloses a kind of electric loader power control device and its control method, it is related to loading vehicle technical field.The application discloses a kind of electric loader power control device and its control method, it is related to loading vehicle technical field.The application discloses a kind of electric loader power control device and its control method, it is related to loading vehicle technical field.The application discloses a kind of electric loader power control device and its control method, it is related to loading vehicle technical field.The application discloses a kind of electric loader power control device and its control method, it is related to loading vehicle technical field.The application discloses a kind of electric loader power control device and its control method, it is related to loading vehicle technical field.The application discloses a kind of electric loader power control device and its control method, it is related to loading vehicle technical field.The application discloses a kind of electric loader power control device and its control method, it is related to loading vehicle technical field.The application discloses a kind of electric

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of loading vehicle, in particular to an electric loading machine power control device and a control method thereof. BACKGROUND

[0002] The loading machine is a kind of earthwork construction machinery widely used in highway, railway, building, water and electricity, port, mine and other construction projects, which is mainly used for shoveling soil, sand, lime, coal and other bulk materials, and can also be used for light digging of ore, hard soil and other materials. By replacing different auxiliary working devices, it can also be used for pushing soil, lifting and other material handling operations such as wood. Because of its fast operation speed, high efficiency, good mobility and easy operation, it has become one of the main types of earthwork construction in engineering construction.

[0003] With the trend of energy saving and emission reduction, cost reduction and efficiency improvement, as a large emission machine, energy saving and emission reduction of the loading machine is imperative. Low emission and high operation efficiency are one of the important directions for the future development of the loading machine industry.

[0004] In the prior art, due to the low transmission efficiency of the hydraulic torque converter and the low combustion efficiency of the engine, the energy utilization rate is too low, and the environmental pollution problem is serious. Moreover, because the existing loading machine control cannot be decoupled, there is no closed-loop control, which causes the hydraulic system to overflow, and the hydraulic power provided cannot be effectively utilized. SUMMARY

[0005] The purpose of the present application is to provide an electric loading machine power control device and a control method thereof, which can reduce environmental pollution and improve energy utilization rate during hydraulic control.

[0006] The embodiment of the present application is implemented as follows:

[0007] In one aspect of the embodiment of the present application, an electric loading machine power control device is provided, which comprises a main controller, and a first controller, a second controller and a third controller connected with the main controller through a CAN bus; the first controller is connected with a walking motor, and is used for controlling the output power of the walking motor according to the control instruction of the main controller; the second controller is connected with a working motor, and is used for controlling the output power of the working motor according to the control instruction of the main controller; the third controller is connected with a steering motor, and is used for controlling the output power of the steering motor according to the control instruction of the main controller.

[0008] Optionally, the electric loading machine power control device further comprises a fourth controller connected with the main controller through the CAN bus, the fourth controller is connected with a generator, the generator is drivingly connected with an engine, and the fourth controller is electrically connected with a power battery.

[0009] Optionally, the electric loader power control device further comprises a battery management system electrically connected with the power battery.

[0010] Optionally, the electric loader power control device further comprises a gearbox connected with the traveling motor, the gearbox being connected with a transmission shaft, and a drive wheel being arranged on the transmission shaft.

[0011] Optionally, the electric loader power control device further comprises a fifth controller connected with the main controller through a CAN bus, and the fifth controller being connected with an oil pump motor for adding lubricating oil to the gearbox.

[0012] In another aspect of the embodiment, a control method of an electric loader power control device is provided, the electric loader power control device comprising a main controller, a first controller, a gear lever and an accelerator pedal connected with the main controller through a CAN bus, the first controller being connected with a traveling motor, the method comprising:

[0013] sending a first control instruction to the first controller according to a gear state signal of the gear lever and an opening degree signal of the accelerator pedal, and sending a second control instruction to the first controller according to a first feedback signal of the first controller, wherein the first control instruction comprises at least one of an output torque instruction, a rotating direction instruction and a rotating speed instruction, and the second control instruction comprises at least one of a zero torque instruction, a relay opening instruction and an active discharge instruction.

[0014] Optionally, the electric loader power control device further comprises a work device, and a second controller and a pilot handle connected with the main controller, the second controller being connected with a work motor, and the pilot handle being used for controlling lifting, lowering, tipping or collecting of the work device, and the method further comprises:

[0015] sending a first control signal to the second controller according to a position state signal of the pilot handle, the first control signal being used for indicating that the work motor is running and corresponding solenoid valves are powered on in different states of the pilot handle, and sending a second control signal to the second controller according to a second feedback signal of the second controller, wherein the first control signal comprises at least one of a work motor rotating speed signal and a solenoid valve on-off power signal, and the second control signal comprises at least one of a zero rotating speed signal, a relay opening signal and an active discharge signal.

[0016] Optionally, the electric loader power control device further comprises a third controller connected with the main controller, the third controller is connected with a steering motor, a plurality of pressure sensors are arranged on the control oil way, and the main controller is connected with the pressure sensors, and the method further comprises:

[0017] According to the position state signal of the pilot handle and the pressure signal of the pressure sensor, a target response signal is sent to the third controller, the target response signal is used for controlling the rotation of the steering motor and controlling the power-on of the corresponding electromagnetic valve;According to the third feedback signal of the third controller, a power-off signal is sent to the third controller;The target response signal comprises at least one of the steering motor speed signal and the electromagnetic valve on-off power signal;The power-off signal comprises at least one of the zero speed signal, the relay disconnect signal and the active discharge signal.

[0018] Optionally, the electric loader power control device further comprises a fourth controller connected with the main controller, the fourth controller is connected with a generator, the generator is connected with the engine transmission, and the fourth controller is connected with the power battery, and the method further comprises:

[0019] According to the remaining power of the power battery, a target torque signal is sent to the fourth controller to adjust the power generation current of the generator;According to the fourth feedback signal of the fourth controller, a cutoff signal is sent to the fourth controller;The target torque signal comprises a generator torque signal;The cutoff signal comprises at least one of the zero torque signal, the relay disconnect signal and the active discharge signal.

[0020] Optionally, the electric loader power control device further comprises a fifth controller connected with the main controller, the fifth controller is connected with an oil pump motor, and the method further comprises:

[0021] According to the state information of the gearbox, a rotation signal is sent to the fifth controller;The oil pump motor is controlled to rotate continuously until the gearbox stops moving.

[0022] The beneficial effects of the embodiment of the application include:

[0023] The electric loader power control device provided by the embodiment of the present application is connected with the first controller, the second controller and the third controller through the CAN bus, so that the main controller can exchange data with the first controller, the second controller and the third controller, and the required control or feedback function is realized. The first controller is connected with the walking motor, when the main controller sends the corresponding control instruction to the first controller, the first controller can control the walking motor to perform the corresponding action according to the received control instruction, so that the output power of the walking motor matches the required power, and the problem of energy waste caused by the excessive power of the walking motor is avoided. Similarly, the second controller is connected with the working motor, when the main controller sends the corresponding control instruction to the second controller, the second controller can control the working motor to perform the corresponding action according to the received control instruction, so that the output power of the working motor matches the required power, and the problem of energy waste caused by the excessive power of the working motor is avoided. Furthermore, the third controller is connected with the steering motor, when the main controller sends the corresponding control instruction to the third controller, the third controller can control the steering motor to perform the corresponding action according to the received control instruction, so that the output power of the steering motor matches the required power, and the problem of energy waste caused by the excessive power of the steering motor is avoided. The above connection form is adopted, when the loader power control device works, the hydraulic torque converter can be cancelled, the transmission efficiency is improved, the closed-loop control of the control oil circuit is realized, the hydraulic overflow is avoided, the resource waste is avoided, the output power is matched with the current working condition, so that the pollution to the environment is reduced, and the energy utilization rate during the hydraulic control is improved. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation to the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0025] Figure 1 One of the structural schematic diagrams of the electric loader power control device provided by the embodiment of the present application;

[0026] Figure 2 The second structural schematic diagram of the electric loader power control device provided by the embodiment of the present application;

[0027] Figure 3 One of the flow schematic diagrams of the control method of the electric loader power control device provided by the embodiment of the present application;

[0028] Figure 4Flowchart II of the control method of the electric power control device of the electric loader according to the embodiment of the present application;

[0029] Figure 5 Flowchart III of the control method of the electric power control device of the electric loader according to the embodiment of the present application;

[0030] Figure 6 Flowchart IV of the control method of the electric power control device of the electric loader according to the embodiment of the present application.

[0031] Figure: 100-electric power control device of the electric loader; 110-main controller; 112-accelerator pedal; 114-pilot handle; 116-pressure sensor; 117-relay; 118-solenoid valve; 120-first controller; 122-travel motor; 124-gearbox; 130-second controller; 132-working motor; 134-working pump; 140-third controller; 142-steering motor; 144-steering pump; 150-fourth controller; 152-generator; 154-engine; 160-power battery; 162-battery management system; 164-charging interface; 170-fifth controller; 172-oil pump motor; 180-power distribution assembly; 190-electrical accessories; 192-DC / DC converter. DETAILED DESCRIPTION

[0032] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0034] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In addition, the terms "first", "second", "third" and the like are only used to distinguish description, and cannot be understood as indicating or implying relative importance.

[0035] In the description of the present application, it is also necessary to explain that, unless otherwise explicitly specified and limited, the terms "set", "connected" should be understood broadly, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, can be electrically connected; can be directly connected, can be indirectly connected through an intermediate medium, can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0036] Please refer to Figure 1 The embodiment provides an electric loader power control device 100, which comprises a main controller 110, a first controller 120, a second controller 130 and a third controller 140 connected with the main controller 110 through a CAN bus; the first controller 120 is connected with a walking motor 122 and is used for controlling the output power of the walking motor 122 according to the control instruction of the main controller 110; the second controller 130 is connected with a working motor 132 and is used for controlling the output power of the working motor 132 according to the control instruction of the main controller 110; and the third controller 140 is connected with a steering motor 142 and is used for controlling the output power of the steering motor 142 according to the control instruction of the main controller 110.

[0037] Specifically, through the CAN bus, the body wiring can be reduced, and the production cost can be saved. Since the bus technology is adopted, the signal transmission between the modules only needs two signal lines. Meanwhile, the CAN bus is adopted, so that the wiring is localized, and all the signal lines crossing the vehicle except the CAN bus are no longer needed, thereby saving the wiring cost. Moreover, the CAN bus system is stable and reliable, the CAN bus has the characteristics of small inter-wire interference and strong anti-interference capability, thereby guaranteeing the reliability and stability of the connection.

[0038] The walking motor 122 mainly provides power for the walking of the whole vehicle. When the whole vehicle is driven to walk through the walking motor 122, the walking motor 122 can be connected with a gearbox 124 to provide power for driving the vehicle to walk. Through the information exchange between the main controller 110 and the first controller 120, the output power of the walking motor 122 is matched with the power required when the whole vehicle walks, so as to better improve the energy utilization rate.

[0039] The working motor 132 mainly provides the required power for the working device of the electric loader. For example, the working device includes a boom and a bucket connected to the boom, and the movement of the boom and the bucket needs to be driven by the working pump 134. The working pump 134 is connected to the working motor 132, and the required hydraulic oil is provided by the rotation of the working motor 132. Through the exchange of information between the main controller 110 and the second controller 130, the output power of the working motor 132 is matched with the required driving force of the hydraulic oil of the working device, so as to avoid the overflow of the hydraulic oil due to the excessive output power of the working motor 132, to better utilize the energy, to avoid the waste of energy caused by the excessive output power of the working motor 132, and to improve the energy utilization rate.

[0040] The steering motor 142 is connected to the steering pump 144, and mainly provides the required power for the steering, braking and working output of the electric loader. The required hydraulic oil is provided by the rotation of the working motor 132. Through the exchange of information between the main controller 110 and the third controller 140, the output power of the steering motor 142 is matched with the required power of the current working condition, so as to avoid the waste of energy caused by the excessive output power of the steering motor 142, to better utilize the energy, to avoid the waste of energy caused by the excessive output power of the steering motor 142, and to improve the energy utilization rate.

[0041] The electric loader power control device 100 provided by the embodiment of the present application is connected with the main controller 110, the first controller 120, the second controller 130 and the third controller 140 through the CAN bus, so that the main controller 110 can exchange data with the first controller 120, the second controller 130 and the third controller 140, to realize the required control or feedback function. The first controller 120 is connected with the walking motor 122, when the main controller 110 sends the corresponding control instruction to the first controller 120, the first controller 120 can control the walking motor 122 to execute the corresponding action according to the received control instruction, so that the output power of the walking motor 122 matches the required power, avoiding the problem of energy waste caused by the excessive power of the walking motor 122. Similarly, the second controller 130 is connected with the working motor 132, when the main controller 110 sends the corresponding control instruction to the second controller 130, the second controller 130 can control the working motor 132 to execute the corresponding action according to the received control instruction, so that the output power of the working motor 132 matches the required power, avoiding the problem of energy waste caused by the excessive power of the working motor 132. In addition, the third controller 140 is connected with the steering motor 142, when the main controller 110 sends the corresponding control instruction to the third controller 140, the third controller 140 can control the steering motor 142 to execute the corresponding action according to the received control instruction, so that the output power of the steering motor 142 matches the required power, avoiding the problem of energy waste caused by the excessive power of the steering motor 142. By using the above connection form, when the loader power control device works, the hydraulic torque converter can be cancelled, the transmission efficiency is improved, the hydraulic circuit closed loop control is realized, the hydraulic overflow is avoided, the resource waste is avoided, the output power is matched with the current working condition, so that the pollution to the environment is reduced, and the energy utilization rate of the hydraulic control is improved.

[0042] Please continue to refer to Figure 1 The electric loader power control device 100 further comprises a fourth controller 150, the fourth controller 150 is connected with the main controller 110 through the CAN bus, the fourth controller 150 is connected with the generator 152, the generator 152 is in transmission connection with the engine 154, and the fourth controller 150 is in electrical connection with the power battery 160.

[0043] Specifically, the fourth controller 150 is connected with the power battery 160 and other loads of the electric loader, and is used to supply power directly to the loads. Meanwhile, the fourth controller 150 is also used to charge the power battery 160 while supplying power to the loads. Alternatively, the fourth controller 150 is used to supply power to the loads only or charge the power battery 160 only, which can be flexibly set according to the information exchange between the main controller 110 and the fourth controller 150. It should be noted that the fourth controller 150 is connected with the generator 152, and can rectify the alternating current generated by the generator 152 into direct current for output, so as to be used by the power battery 160 or other loads. The generator 152 is drivingly connected with the engine 154, and is used to provide power required by the generator 152. In this way, the output power of the generator 152 can be controlled according to the remaining power of the power battery 160, so as to improve the energy utilization rate.

[0044] As shown in Figure 1 , the electric loader power control device 100 further comprises a battery management system 162 electrically connected with the power battery 160.

[0045] Specifically, the battery management system 162 is of great significance to the protection of electric vehicles, charging station equipment and personnel safety. In the embodiment of the present application, the battery management system 162 is used for the collection of the state of the power battery 160 and the management of the charging and discharging performance, the execution control of each relay 117 in the high-voltage loop, the thermal management of the power battery 160, etc. The battery management system 162 is connected with the main controller 110 through the CAN bus for data exchange, which is conducive to the full use of the power battery 160 and the improvement of the stability of power supply.

[0046] As shown in Figure 1 , the electric loader power control device 100 further comprises a gearbox 124 drivingly connected with the walking motor 122. The gearbox 124 is connected with a transmission shaft, and the transmission shaft is provided with a driving wheel. In this way, when the electric loader moves to a position, the rotation of the walking motor 122 can drive the rotation of the gearbox 124, the gearbox 124 drives the rotation of the transmission shaft, and the transmission shaft drives the synchronous rotation of the driving wheel, so as to realize the movement to the required position.

[0047] As shown in Figure 1 , the electric loader power control device 100 further comprises a fifth controller 170 connected with the main controller 110 through the CAN bus. The fifth controller 170 is connected with an oil pump motor 172, and is used to add lubricating oil to the gearbox 124.

[0048] Specifically, the oil pump motor 172 is in driving connection with the oil pump, and is used to provide power for lubrication of the gearbox 124. By adding lubricating oil to the gearbox 124, the wear of the gear set in the gearbox 124 is reduced, the temperature rise is reduced, the stability of transmission is improved, and the service life of the gearbox 124 is prolonged.

[0049] As shown in Figure 1 , the electric loader power control device 100 further comprises a power distribution assembly 180, and the power distribution assembly 180 is connected with the main controller 110, the first controller 120, the second controller 130 and the third controller 140 respectively.

[0050] Specifically, the power distribution assembly 180 can adopt a power distribution unit (English name: Power Distribution Unit, PDU). The power distribution assembly 180 is a power distribution device that distributes output current from the automatic force battery 160 to each power consumption assembly, and is a key device that connects power supply infrastructure and control systems and normal operation of all components in the electric loader. The power distribution assembly 180 is connected with the main controller 110, the first controller 120, the second controller 130 and the third controller 140 respectively, and can also be connected with the fourth controller 150 and the fifth controller 170 to meet the power consumption demand required during work.

[0051] As shown in Figure 2 , the electric loader power control device 100 further comprises an accelerator pedal 112 and a pilot handle 114, and the accelerator pedal 112 and the pilot handle 114 are connected with the main controller 110 respectively. The main controller 110 is used to determine a control instruction according to state information of the accelerator pedal 112 and the pilot handle 114.

[0052] Specifically, position sensors are correspondingly arranged on the accelerator pedal 112 and the pilot handle 114, and the main controller 110 is connected with the position sensors of the accelerator pedal 112 and the pilot handle 114 respectively. The opening degree information of the accelerator pedal 112 and the position information of the pilot handle 114 are determined through voltage signals of the sensors, so as to determine a control instruction according to the state information of the accelerator pedal 112 and the pilot handle 114, so as to respond to corresponding operation control.

[0053] As shown in Figure 1 , the electric loader power control device 100 further comprises an electrical accessory 190, and the electrical accessory 190 is connected with the power distribution assembly 180 through a DCDC converter 192. The electrical accessory 190 comprises at least one of a lighting light source, a cooling water pump and a fan.

[0054] Specifically, in the embodiment of the present application, the DCDC converter 192 is used to convert the high-voltage direct current into low-voltage direct current, so as to meet the power demand of the low-voltage electrical accessories 190. In this way, the diversity of the power-consuming components can be increased, and the ease of use and comfort of the electric loader during use can be improved.

[0055] As shown in Figure 1 The electric loader power control device 100 further includes a charging interface 164 connected with the power battery 160 through the power distribution assembly 180. In this way, the power battery 160 can be charged through the charging interface 164 when the electric loader is idle, so as to facilitate the electric loader to have sufficient power during use.

[0056] As shown in Figure 2 The electric loader power control device 100 further includes a plurality of pressure sensors 116 connected with the main controller 110, and the plurality of pressure sensors 116 are connected with the plurality of control oil paths one by one to determine the pressure of the plurality of connection passages in different states of the pilot handle 114.

[0057] Specifically, when the electric loader is working, the pilot handle 114 is in different positions, triggering the communication of different pilot oil paths in the hydraulic oil path, and the pressure signal sensed by the pressure sensor 116 can know the current working state, so as to facilitate the main controller 110 to carry out accurate control, thereby improving the energy utilization rate and reducing the energy loss.

[0058] As shown in Figure 3 The embodiment of the present application further provides a control method of the electric loader power control device 100, and the electric loader power control device 100 includes a main controller 110, a first controller 120, a gear lever and an accelerator pedal 112 connected with the main controller 110 through a CAN bus, and the first controller 120 is connected with a walking motor 122, and the method comprises the following steps:

[0059] S10, according to the gear state signal of the gear lever and the opening signal of the accelerator pedal 112, a first control instruction is sent to the first controller 120.

[0060] S20, according to the first feedback signal of the first controller 120, a second control instruction is sent to the first controller 120.

[0061] Among them, the first control instruction includes at least one of the output torque instruction, the rotation direction instruction and the rotation speed instruction; the second control instruction includes at least one of the zero torque instruction, the relay 117 disconnection instruction and the active discharge instruction.

[0062] Specifically, in the operation of the electric loader, the corresponding control instruction is sent to the first controller 120 according to the gear state signal of the gear lever, for example, detecting that the gear lever is in the forward gear position, the neutral gear position or the reverse gear position, so as to control the walking motor 122 to execute the corresponding action through the first controller 120. And combined with the opening signal of the accelerator pedal 112 to control the torque and speed of the walking motor 122 to realize the required movement, thereby improving the utilization rate of energy. In addition, when the state of the gear lever changes, for example, when the gear lever is switched from the forward gear position to the reverse gear position, if the speed of the walking motor 122 is lower than 100 rpm, the switching operation can be directly performed, and vice versa.

[0063] When the walking motor 122 fails, the first controller 120 sends a first feedback signal, i.e. a fault signal, to the main controller 110. In order to ensure the safety of the vehicle, at this time, the main controller 110 sends a second control instruction, which is a power-off instruction of the electric loader, including at least one of the zero torque instruction, the relay 117 disconnection instruction and the active discharge instruction, to ensure the safety of the vehicle power supply.

[0064] As shown in Figure 4 The electric loader power control device 100 further comprises a working device, a second controller 130 connected with the main controller 110 and a pilot handle 114, the second controller 130 is connected with the working motor 132, and the pilot handle 114 is used to control the lifting, lowering, tipping or collecting of the working device. The method further comprises:

[0065] S30, according to the position state signal of the pilot handle 114, a first control signal is sent to the second controller 130, the first control signal is used to instruct the working motor 132 to operate and the electromagnetic valve 118 corresponding to different states of the pilot handle 114 to be powered.

[0066] S40, according to the second feedback signal of the second controller 130, a second control signal is sent to the second controller 130.

[0067] Among them, the first control signal includes at least one of the working motor 132 speed signal and the electromagnetic valve 118 on-off power signal; the second control signal includes at least one of the zero speed signal, the relay 117 disconnection signal and the active discharge signal.

[0068] Specifically, in the operation of the electric loader, according to the position state signal of the pilot handle 114, the second controller 130 is correspondingly controlled by the control signal, for example, the pilot handle 114 has a first direction of the moving amount, also has a second direction of the moving amount, to control the lifting, lowering, dumping or collecting of the electric loader working device. The main controller 110 sends the first control signal to the second controller 130 according to the position state of the pilot handle 114, to control the working motor 132 to run and the solenoid valve 118 to be powered according to different states of the pilot handle 114, to realize the required movement, and avoid the overflow of hydraulic oil, so as to improve the utilization rate of energy. In addition, when the boom and bucket appear composite action, the main controller 110 collects the position state of the pilot handle 114 should be Z 2 =X 2 +Y 2 , wherein X is the first direction of the moving amount, Y is the first direction of the moving amount, and Z is a preset state value. When the system pressure is greater than or equal to the first threshold value, the working motor 132 idles. When the system pressure is less than the second threshold value, the speed of the working motor 132 is executed according to the opening of the pilot handle 114.

[0069] When the working motor 132 fails, the second controller 130 sends a second feedback signal, i.e. a fault signal, to the main controller 110. In order to ensure the safety of work, at this time, the main controller 110 sends a second control signal, which is a power-off signal of the electric loader, including at least one of the zero speed signal, the relay 117 disconnection signal and the active discharge signal, to ensure the safety of vehicle power supply.

[0070] As Figure 5 shown, the electric loader power control device 100 further comprises a third controller 140 connected with the main controller 110, the third controller 140 is connected with a steering motor 142, a plurality of pressure sensors 116 are arranged on the control pipeline of the pilot handle 114, and the main controller 110 is connected with the pressure sensor 116, and the method further comprises:

[0071] S50, according to the position state signal of the pilot handle 114 and the pressure signal of the pressure sensor 116, a target response signal is sent to the third controller 140, and the target response signal is used to control the rotation of the steering motor 142 and the power-on of the corresponding solenoid valve 118.

[0072] S60, according to the third feedback signal of the third controller 140, a power-off signal is sent to the third controller 140.

[0073] Wherein, the target response signal includes at least one of the steering motor 142 speed signal and the electromagnetic valve 118 on-off electric signal; the power down signal includes at least one of the zero speed signal, the relay 117 off signal and the active discharge signal.

[0074] Specifically, in the operation of the electric loader, according to the position state signal of the pilot handle 114 and the pressure signal of the pressure sensor 116, the third controller 140 corresponds to the target response signal, for example, when four pressure sensors 116 are arranged on the control oil circuit, the first pressure sensor is located on the first control branch, the second pressure sensor and the fourth pressure sensor are located on the second control branch, and the third pressure sensor is located on the third control branch. At this time, when the main controller 110 obtains the pressure values of the first pressure sensor and the third pressure sensor as L1 and L3, and the pressure values of the second pressure sensor and the fourth pressure sensor as L2 and L4, if L1 is less than the threshold value P1 of the first pressure sensor, or L2 is less than the threshold value P2 of the second pressure sensor, or L3 is less than the threshold value P3 of the third pressure sensor, or the difference between L2 and L4 is less than the threshold value P4 of the fourth pressure sensor, the steering motor 142 responds to the target response signal of the main controller 110 to speed up.

[0075] When the steering motor 142 fails, the third controller 140 sends a third feedback signal, i.e. a fault signal, to the main controller 110. In order to ensure safety, at this time, the main controller 110 sends a power down signal, which includes at least one of the zero speed signal, the relay 117 off signal and the active discharge signal, to ensure the safety of the vehicle power supply.

[0076] Figure 6 As shown, the electric loader power control device 100 further comprises a fourth controller 150 connected with the main controller 110, the fourth controller 150 is connected with the generator 152, the generator 152 is drivingly connected with the engine 154, and the fourth controller 150 is electrically connected with the power battery 160. In this case, the method further comprises:

[0077] S70, according to the remaining power of the power battery 160, a target torque signal is sent to the fourth controller 150 to adjust the charging current of the generator 152.

[0078] S80, according to the fourth feedback signal of the fourth controller 150, a cutoff signal is sent to the fourth controller 150.

[0079] Wherein, the target torque signal includes the engine 154 torque signal; the cutoff signal includes at least one of the zero torque signal, the relay 117 off signal and the active discharge signal.

[0080] Specifically, in the operation of the electric loader, a target torque signal is sent to the fourth controller 150 according to the remaining power of the power battery 160. For example, when the main controller 110 collects that the power of the power battery 160 is less than or equal to 30%, the fourth controller 150 controls the engine 154 to start to drive the generator 152 to operate, and charges the power battery 160 according to the required allowable charging current of the power battery 160.

[0081] When the engine 154 fails, the fourth controller 150 sends a fourth feedback signal, i.e. a fault signal, to the main controller 110. In order to ensure safety, the main controller 110 sends a stop signal, i.e. a power-off signal, which includes at least one of a zero torque signal, a relay 117 disconnection signal and a forced discharge signal, to ensure the safety of the vehicle power supply.

[0082] Optionally, the electric loader power control device 100 further comprises a fifth controller 170 connected to the main controller 110, and the fifth controller 170 is connected to an oil pump motor 172. In the case of adding lubricating oil to the gearbox 124, the method further comprises:

[0083] According to the state information of the gearbox 124, a rotation signal is sent to the fifth controller 170; and the oil pump motor 172 is controlled to rotate continuously until the gearbox 124 stops moving.

[0084] Specifically, when the gearbox 124 operates, in order to lubricate and cool the gear set in the gearbox 124, when the gearbox 124 rotates, the fifth controller 170 controls the oil pump motor 172 to rotate synchronously, so that the lubricating oil can be circulated and sprayed onto the gear set in the gearbox 124. When the oil pump motor 172 fails, the fifth controller 170 sends a fifth feedback signal, i.e. a fault signal, to the main controller 110. In order to ensure safety, the main controller 110 sends a stop signal, i.e. a power-off signal, which includes at least one of a zero torque signal, a relay 117 disconnection signal and a forced discharge signal, to ensure the safety of the vehicle power supply.

[0085] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An electric motor loader power control apparatus, characterized by, The electric loader power control device comprises a main controller, a first controller, a second controller and a third controller which are connected with the main controller through CAN bus respectively; the first controller is connected with a walking motor and is used for controlling the output power of the walking motor according to the control instruction of the main controller; the second controller is connected with a working motor and is used for controlling the output power of the working motor according to the control instruction of the main controller; the third controller is connected with a steering motor and is used for controlling the output power of the steering motor according to the control instruction of the main controller; the electric loader power control device further comprises a fourth controller which is connected with the main controller through CAN bus; the fourth controller is connected with a generator which is connected with an engine in transmission and is electrically connected with a power battery; the first controller is used for generating a first feedback signal, and the main controller sends a second control instruction to the first controller according to the first feedback signal; the second controller is used for generating a second feedback signal, and the main controller sends a second control signal to the second controller according to the second feedback signal; the third controller is used for generating a third feedback signal, and the main controller sends a power-off signal to the third controller according to the third feedback signal; the electric loader power control device further comprises a gearbox which is connected with the walking motor in transmission, the gearbox is connected with a transmission shaft, and a driving wheel is arranged on the transmission shaft.

2. The electrically powered loader power control device of claim 1, wherein, The electric loader power control device further comprises a battery management system which is electrically connected with the power battery.

3. The electrically powered loader power control device of claim 1, wherein, The electric loader power control device further comprises a fifth controller which is connected with the main controller through CAN bus, the fifth controller is connected with an oil pump motor and is used for adding lubricating oil to the gearbox.

4. A control method of an electric power loader power control device, characterized by, The electric loader power control device comprises a main controller, a first controller, a gear lever and an accelerator pedal which are connected with the main controller through CAN bus; the first controller is connected with a walking motor; the method comprises: sending a first control instruction to the first controller according to the gear position signal of the gear lever and the opening signal of the accelerator pedal; sending a second control instruction to the first controller according to the first feedback signal of the first controller; wherein the first control instruction comprises at least one of an execution output torque instruction, a rotation direction instruction and a rotation speed instruction; the second control instruction comprises at least one of a zero torque instruction, a relay opening instruction and an active discharge instruction.

5. The control method of the electric power control device of the electric loader according to claim 4, characterized by, The electric loader power control device further comprises a working device, a second controller and a pilot handle which are connected with the main controller; the second controller is connected with a working motor; the pilot handle is used for controlling the lifting, lowering, tipping or collecting of the working device; the method further comprises: sending a first control signal to the second controller according to the position signal of the pilot handle, the first control signal is used for indicating that the working motor is running and the corresponding electromagnetic valve of the pilot handle is powered on; The second control signal is sent to the second controller according to a second feedback signal of the second controller; wherein the first control signal comprises at least one of a working motor speed signal and an electromagnetic valve on-off power signal; the second control signal comprises at least one of a zero reset speed signal, a relay disconnect signal and an active discharge signal.

6. The control method of the electric power control device of the electric loader according to claim 5, characterized by, The electric loader power control device further comprises a third controller connected with the main controller, the third controller is connected with a steering motor, a plurality of pressure sensors are arranged on the control oil way, and the main controller is connected with the pressure sensors, and the method further comprises: A target response signal is sent to the third controller according to the position state signal of the pilot handle and the pressure signal of the pressure sensor, the target response signal is used for controlling the rotation of the steering motor and controlling the power-on of the corresponding electromagnetic valve; A power-off signal is sent to the third controller according to a third feedback signal of the third controller; wherein the target response signal comprises at least one of a steering motor speed signal and an electromagnetic valve on-off power signal; the power-off signal comprises at least one of a zero reset speed signal, a relay disconnect signal and an active discharge signal.

7. The control method of the electric power control device of the electric shovel according to claim 4, characterized by The electric loader power control device further comprises a fourth controller connected with the main controller, the fourth controller is connected with a generator, the generator is connected with an engine transmission, and the fourth controller is connected with a power battery, and the method further comprises: A target torque signal is sent to the fourth controller according to the remaining power of the power battery, so as to adjust the power generation current of the generator; A cutoff signal is sent to the fourth controller according to a fourth feedback signal of the fourth controller; Wherein, the target torque signal comprises a generator torque signal; the cutoff signal comprises at least one of a zero reset torque signal, a relay disconnect signal and an active discharge signal.

8. The control method of the electric power control device of the electric shovel according to claim 4, characterized by The electric loader power control device further comprises a fifth controller connected with the main controller, the fifth controller is connected with an oil pump motor, and is used for adding lubricating oil to a gearbox, and the method further comprises: A rotation signal is sent to the fifth controller according to the state information of the gearbox; The oil pump motor is controlled to rotate continuously until the gearbox stops moving.

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