Electric drive roller and travel control method and system thereof

Abstract

The present invention relates to an electric-driven roller, and in order to solve the problem that the existing electric-driven roller needs to be equipped with a brake resistor in order to achieve full-power driving, an electric-driven roller and a driving control method and system thereof are provided, wherein the control method steps are to perform the following control in a fully-powered state: the whole machine controller sends a zero-value anti-drag torque limit instruction and a maximum torque limit instruction to the motor controller; when the travel control handle leaves the neutral position, the whole machine controller outputs a maximum value of the service brake current to the service brake system, and when the handle swing angle changes after the travel control handle leaves the neutral position, the service brake current is correspondingly reduced or increased as the handle swing angle increases or decreases; when the travel control handle is not in the neutral position, a speed control instruction is sent to the motor controller according to the handle swing angle of the travel control handle. The present invention solves the problem of the roller driving downhill with full power without setting a brake resistor, simplifies the structure, and reduces the cost.

Description

Technical Field

[0001] The present invention relates to an electric-driven roller, and more particularly to an electric-driven roller and a travel control method and system thereof. Background Art

[0002] The electric roller is an important equipment in construction machinery. The transmission system of the electric roller includes a travel motor, a gearbox and a drive axle that are connected in sequence. The travel motor is usually a permanent magnet motor. When the roller is decelerating, going downhill or braking, the inertia of the machine can be used to reversely drag the travel motor through the transmission system to generate electricity, thereby recovering energy while decelerating the machine. However, when the power battery of the roller is fully charged, the electric energy generated by the reverse braking of the travel motor cannot be recovered. Therefore, it is necessary to set a brake resistor on the roller so that when the power battery is fully charged, the energy generated by the reverse braking of the travel motor can be consumed by heating the brake resistor. Setting up a brake resistor requires additional costs.

[0003] In some electric drive rollers, the power battery is not fully charged, and the power of the power battery is limited to a certain value so that the energy generated by the reverse braking of the travel motor can be recovered. This solution limits the power battery's capabilities, and during the charging process, it is necessary to prevent the charging power from exceeding the limit in real time, which has certain limitations. Summary of the invention

[0004] The technical problem to be solved by the present invention is to address the problem caused by the need to equip existing electric-driven rollers with braking resistors or to limit the charging amount of power batteries, and to provide an electric-driven roller and its driving control method and system, so as to solve the problem of fully charged driving of the electric-driven roller without setting a braking resistor.

[0005] The technical solution of the present invention to achieve its purpose is as follows: a travel control method for an electric drive roller is provided, wherein the travel drive system of the roller comprises a gearbox connected between a travel motor and a drive axle and a motor controller for controlling the travel motor, wherein the roller does not have a brake resistor, and the control method is as follows:

[0006] Get the power storage capacity of the power battery, and execute the following control when the power storage capacity is greater than the preset value and the battery is fully charged:

[0007] The whole machine controller sends a zero-value reverse-drag torque limit command and a maximum torque limit command to the motor controller;

[0008] When the travel control handle leaves the neutral position, the whole machine controller outputs the maximum service brake current to the service brake system, and when the swing angle of the handle changes after the travel control handle leaves the neutral position, the service brake current is increased or decreased correspondingly with the increase or decrease of the swing angle of the handle;

[0009] When the travel control handle is not in the neutral position, a speed control instruction is sent to the motor controller according to the handle swing angle of the travel control handle.

[0010] In the present invention, the roller does not have a brake resistor, and the problem of the roller running at full charge is solved by the cooperation between the service brake system and the travel motor during the running at full charge.

[0011] In the above-mentioned driving control method for an electric-driven road roller, in a fully-charged state, the maximum torque value corresponding to the maximum torque limit instruction sent by the whole machine controller to the motor controller is positively correlated with the swing angle of the handle.

[0012] In the above-mentioned electric-driven roller driving control method, in the fully charged state, when the current speed of the travel motor is greater than the speed corresponding to the current handle swing angle, the service brake current is increased at a predetermined slope on the basis of the current service brake current until the travel motor speed is equal to the speed corresponding to the current handle swing angle; when the current speed of the travel motor is less than the speed corresponding to the current handle swing angle, the service brake current is reduced at a predetermined slope on the basis of the current service brake current until the travel motor speed is equal to the speed corresponding to the current handle swing angle.

[0013] In the above-mentioned electric-driven roller driving control method, when the power is fully charged, the maximum service brake current is output when the travel control handle returns to the middle position, and when the travel motor speed is zero, the whole machine controller controls the parking brake system to start the parking brake and stops outputting the service brake current after a predetermined time after the parking brake is started.

[0014] In the above-mentioned electric drive roller travel control method, the following control is performed in a non-fully charged state where the power storage capacity is less than a preset value:

[0015] The whole machine controller sends a maximum torque limit instruction, a speed control instruction determined according to the handle swing angle, and a back-drag torque limit instruction without sending a zero limit back-drag torque value to the motor controller.

[0016] In the above-mentioned electric drive roller travel control method, the maximum torque limit value corresponding to the maximum torque limit instruction sent by the whole machine controller to the motor controller in the non-fully charged state is the maximum value allowed by the roller design.

[0017] In the above-mentioned electric-drive road roller travel control method, when the travel control handle is not in the middle position in a non-fully-charged state, the whole machine controller does not output a service brake current for braking to the service brake.

[0018] In the above-mentioned electric-driven roller travel control method, when the travel control handle returns to the middle position in a non-fully charged state, the whole machine controller outputs a service brake current to the service brake that gradually increases to a maximum value, and when the travel motor speed is zero, the whole machine controller activates the parking brake and stops outputting the service brake current after a predetermined time after the parking brake is activated.

[0019] The technical solution of the present invention to achieve its purpose is as follows: Provide an electric drive roller travel control system, which includes a whole machine controller, a service brake system, a travel drive system, and a travel control handle, wherein the travel drive system includes a gearbox connected between a travel motor and a drive axle and a motor controller for controlling the travel motor, characterized in that the travel control system does not have a brake resistor connected to the motor controller;

[0020] When fully charged, the whole machine controller runs the control program to perform the following control:

[0021] A zero-value back-drag torque limit instruction and a maximum torque limit instruction are sent to the motor controller; when the travel control handle leaves the neutral position, the whole machine controller outputs the maximum service brake current to the service brake system, and when the handle swing angle changes after the travel control handle leaves the neutral position, the service brake current is correspondingly reduced or increased as the handle swing angle increases or decreases; when the travel control handle is not in the neutral position, a speed control instruction is sent to the motor controller according to the handle swing angle of the travel control handle; when the travel control handle returns to the neutral position, the maximum service brake current is output, and when the travel motor speed is zero, the whole machine controller controls the parking brake system to start the parking brake and stops outputting the service brake current after a predetermined time after the parking brake is started;

[0022] When the power is not fully charged, the controller runs the control program to perform the following control:

[0023] The whole machine controller sends a maximum torque limit instruction to the motor controller, a speed control instruction determined according to the swing angle of the handle, and does not send a reverse drag limit instruction of a zero limit reverse drag torque value;

[0024] When the travel control handle is not in the middle position, the whole machine controller does not output the service brake current for braking to the service brake;

[0025] When the travel control handle returns to the middle position, the whole machine controller outputs a service brake current that gradually increases to the maximum value to the service brake, and when the travel motor speed is zero, the whole machine controller activates the parking brake and stops outputting the service brake current after a predetermined time after the parking brake is activated.

[0026] The technical solution of the present invention to achieve its purpose is as follows: an electric-driven roller is provided, characterized in that the roller has the aforementioned travel control system.

[0027] Compared with the prior art, the present invention solves the problem of fully-charged driving of the road roller without providing a braking resistor, simplifies the structure and reduces the cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a block diagram of the travel control system of the electric-driven roller of the present invention.

[0029] Figure 2 It is a block diagram of the travel control method of the electric-driven roller when it is fully charged.

[0030] Figure 3 It is a block diagram of the travel control method of the electric-driven roller of the present invention when the power is not fully charged.

[0031] Parts names and serial numbers in the figure:

[0032] Service brake system 1, travel control handle 2, vehicle controller 3, parking brake system 4, motor controller 5, travel motor 6, gearbox 7, drive axle 8. DETAILED DESCRIPTION

[0033] The specific implementation scheme is described below with reference to the accompanying drawings.

[0034] like Figure 1 As shown, the travel control system of the electric-driven roller in this embodiment includes a whole machine controller 4, a travel motor 7, a travel control handle 3, a motor controller 6, a service brake system 1, a parking brake system 5, etc.

[0035] The travel control handle 3 is connected to the whole machine controller 4 through the CAN bus and is used to control the roller. The travel control handle 3 controls the roller's travel and parking brake by swinging forward and backward and returning to the center position. When the travel control handle 3 swings forward relative to the machine, the travel motor 7 rotates forward and the machine moves forward; when the travel control handle 3 swings backward, the travel motor 7 rotates reversely. When the travel control handle 3 returns to the center position, the service brake system 1 performs the service brake operation. When the speed of the travel motor is zero, the parking brake system 5 performs the parking brake operation. The swing angle of the travel control handle 3 corresponds linearly to the target speed of the travel motor 7.

[0036] The motor controller 6 is connected to the whole machine controller 4 and the travel motor 7 via the CAN bus, and is used to control the rotation direction, speed and torque of the travel motor 7 according to the control instructions of the whole machine controller 4.

[0037] The service brake system 1 is connected to the whole machine controller 4, and is used to perform service braking or release service braking according to the control instructions of the whole machine controller 4. The whole machine controller 4 outputs a service brake current to control the service brake proportional valve in the service brake system 1. The larger the service brake current, the larger the valve opening of the service brake proportional valve, and the greater the braking torque generated by the service brake system 1.

[0038] The parking brake system 5 is connected to the whole machine controller 4 and is used for performing parking brake or releasing parking brake according to the control instruction of the whole machine controller 4 .

[0039] The whole machine controller 4 obtains the working load information of the travel motor 7, including the travel motor speed, the travel motor output torque and the like.

[0040] The whole machine controller 4 includes a storage unit and a control unit.

[0041] The storage unit is used to store the control program and execute the control method of the present invention.

[0042] The control unit is used to control the operation of the travel motor 7 according to the state change of the travel control handle 3 according to the predetermined control strategy, and control the operation of the service brake system 1 and the parking brake system 5. The travel motor 7 is a permanent magnet synchronous motor, which is connected to the gearbox 8, and the gearbox 8 is connected to the drive axle 9, and the drive axle 9 drives the rear wheels of the roller to rotate.

[0043] In the present invention, the roller is not provided with a braking resistor, and brakes and decelerates when the power battery is fully charged, and does not rely on the reverse drag travel motor to absorb the kinetic energy of the machine. The travel drive system includes a gearbox connected between the travel motor and the drive axle and a motor controller for controlling the travel motor.

[0044] The control method of the electric drive roller travel control system in this embodiment is as follows:

[0045] When the travel control handle is not in the middle position, the whole machine controller sends a corresponding speed command to the motor controller according to the swing angle of the handle, and releases the parking brake of the parking brake system.

[0046] The whole machine controller obtains the storage capacity of the machine's power battery. If the storage capacity is greater than a predetermined percentage, it is considered to be fully charged, otherwise it is not fully charged. The power battery in a fully charged state cannot absorb the electrical energy generated by the travel motor when it is reversed.

[0047] The following controls are performed when fully charged:

[0048] The whole machine controller sends a zero-value reverse-drag torque limit command and a maximum torque limit command to the motor controller;

[0049] After the motor controller receives the zero-value reverse-drag torque limit instruction, the travel motor does not generate electrical energy even if the travel drive system reverse-drags the travel motor.

[0050] The maximum torque value corresponding to the maximum torque limit instruction is positively correlated with the handle swing angle. The greater the swing angle of the walking control handle, the greater the maximum torque value corresponding to the maximum torque limit instruction, and vice versa.

[0051] When the travel control handle leaves the neutral position, the whole machine controller outputs the maximum service brake current to the service brake system, and when the swing angle of the handle changes after the travel control handle leaves the neutral position, the service brake current is increased or decreased accordingly with the increase or decrease of the swing angle of the handle; when the swing angle of the travel control handle increases, the service brake current output by the whole machine controller decreases, and when the swing angle of the travel control handle decreases, the output service brake current increases.

[0052] When the travel control handle is not in the middle position, a speed control instruction is sent to the motor controller according to the handle swing angle of the travel control handle. The motor controller controls the travel motor to run to the target speed corresponding to the speed control instruction according to the speed control instruction and the maximum torque limit instruction.

[0053] In the fully charged state, when the current speed of the walking motor is greater than the speed corresponding to the current handle swing angle, the service braking current is increased on the basis of the current service braking current with a predetermined slope until the walking motor speed is equal to the speed corresponding to the current handle swing angle; when the current speed of the walking motor is less than the speed corresponding to the current handle swing angle, the service braking current is reduced on the basis of the current service braking current with a predetermined slope until the walking motor speed is equal to the speed corresponding to the current handle swing angle.

[0054] In the fully charged state, the maximum service brake current is output when the travel control handle returns to the middle position, and when the travel motor speed is zero, the whole machine controller controls the parking brake system to start the parking brake and stops outputting the service brake current after a predetermined time after the parking brake is started.

[0055] The following controls are performed when the battery is not fully charged: Figure 3 As shown:

[0056] The whole machine controller sends a maximum torque limit instruction, a speed control instruction determined according to the handle swing angle, and a back-drag torque limit instruction without sending a zero limit back-drag torque value to the motor controller.

[0057] In the non-fully charged state, the maximum torque limit value corresponding to the maximum torque limit instruction sent by the whole machine controller to the motor controller is the maximum value allowed by the roller design, that is, the maximum torque limit value corresponding to the maximum torque limit instruction does not vary with the swing angle of the travel control handle.

[0058] The whole machine controller does not limit the reverse drag torque of the travel motor. When the swing angle of the travel handle decreases rapidly, the travel drive system reverse drags the travel motor. The motor controller controls the reverse drag torque to make the travel motor generate electrical energy and store the electrical energy in the power battery.

[0059] When the travel control handle is not in the middle position when the power is not fully charged, the whole machine controller does not output the service brake current for braking to the service brake. When the power is not fully charged, if deceleration is required, it is completely achieved by the travel drive system pulling the travel motor in reverse, and the service brake system does not brake.

[0060] When the travel control handle returns to the middle position in the non-fully charged state, the whole machine controller outputs a service brake current that gradually increases to the maximum value to the service brake, and when the travel motor speed is zero, the whole machine controller activates the parking brake and stops outputting the service brake current after a predetermined time after the parking brake is activated.

Claims

1. A travel control method for an electric-driven roller, wherein the travel drive system of the roller comprises a gearbox connected between a travel motor and a drive axle and a motor controller for controlling the travel motor, characterized in that The roller does not have a braking resistor, and the control method is as follows: Get the power storage capacity of the power battery, and execute the following control when the power storage capacity is greater than the preset value and the battery is fully charged: The whole machine controller sends a zero-value reverse-drag torque limit command and a maximum torque limit command to the motor controller; When the travel control handle leaves the neutral position, the whole machine controller outputs the maximum service brake current to the service brake system, and when the handle swing angle changes after the travel control handle leaves the neutral position, the service brake current is increased or decreased correspondingly with the increase or decrease of the handle swing angle; when the current speed of the travel motor is greater than the speed corresponding to the current handle swing angle, the service brake current is increased on the basis of the current service brake current at a predetermined slope until the travel motor speed is equal to the speed corresponding to the current handle swing angle; when the current speed of the travel motor is less than the speed corresponding to the current handle swing angle, the service brake current is reduced on the basis of the current service brake current at a predetermined slope until the travel motor speed is equal to the speed corresponding to the current handle swing angle; When the travel control handle is not in the middle position, a speed control instruction is sent to the motor controller according to the handle swing angle of the travel control handle, and the motor controller controls the operation of the travel motor in a speed mode.

2. The driving control method of an electric driven road roller according to claim 1, characterized in that In the fully charged state, the maximum torque value corresponding to the maximum torque limit instruction sent by the whole machine controller to the motor controller is positively correlated with the handle swing angle.

3. The driving control method of an electric driven road roller according to claim 1 or 2, characterized in that In the fully charged state, the maximum service brake current is output when the travel control handle returns to the middle position, and when the travel motor speed is zero, the whole machine controller controls the parking brake system to start the parking brake and stops outputting the service brake current after a predetermined time after the parking brake is started.

4. The driving control method of an electric driven roller according to claim 1, characterized in that When the power reserve is less than the preset value, the following controls are performed: The whole machine controller sends a maximum torque limit instruction, a speed control instruction determined according to the handle swing angle, and a back-drag torque limit instruction without sending a zero limit back-drag torque value to the motor controller.

5. The driving control method of an electric-driven road roller according to claim 4, characterized in that In the non-fully charged state, the maximum torque limit value corresponding to the maximum torque limit instruction sent by the whole machine controller to the motor controller is the maximum value allowed by the roller design.

6. The driving control method of an electric-driven road roller according to claim 4, characterized in that When the travel control handle is not in the neutral position in a non-fully charged state, the whole machine controller does not output the service brake current for braking to the service brake.

7. The driving control method of an electric-driven road roller according to claim 4, characterized in that When the travel control handle returns to the middle position in the non-fully charged state, the whole machine controller outputs a service brake current that gradually increases to the maximum value to the service brake, and when the travel motor speed is zero, the whole machine controller activates the parking brake and stops outputting the service brake current after a predetermined time after the parking brake is activated.

8. An electric drive roller travel control system, comprising a whole machine controller, a service brake system, a travel drive system, and a travel control handle, wherein the travel drive system comprises a gearbox connected between the travel motor and the drive axle and a motor controller for controlling the travel motor, characterized in that The ride control system does not have a brake resistor connected to the motor controller; When fully charged, the whole machine controller runs the control program to perform the following control: A zero-value back-drag torque limit instruction and a maximum torque limit instruction are sent to the motor controller; when the travel control handle leaves the neutral position, the whole machine controller outputs the maximum service brake current to the service brake system, and when the handle swing angle changes after the travel control handle leaves the neutral position, the service brake current is correspondingly reduced or increased as the handle swing angle increases or decreases; when the travel control handle is not in the neutral position, a speed control instruction is sent to the motor controller according to the handle swing angle of the travel control handle; when the travel control handle returns to the neutral position, the maximum service brake current is output, and when the travel motor speed is zero, the whole machine controller controls the parking brake system to start the parking brake and stops outputting the service brake current after a predetermined time after the parking brake is started; When the power is not fully charged, the controller runs the control program to perform the following control: The whole machine controller sends a maximum torque limit instruction to the motor controller, a speed control instruction determined according to the swing angle of the handle, and does not send a reverse drag limit instruction of a zero limit reverse drag torque value; When the travel control handle is not in the middle position, the whole machine controller does not output the service brake current for braking to the service brake; When the travel control handle returns to the middle position, the whole machine controller outputs a service brake current that gradually increases to the maximum value to the service brake, and when the travel motor speed is zero, the whole machine controller activates the parking brake and stops outputting the service brake current after a predetermined time after the parking brake is activated.

9. An electrically driven roller, characterized in that This road roller has the travel control system described in claim 8.

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