A control method for a permanent magnet drive system of an electric drive mining dump truck

Abstract

The application discloses a kind of permanent magnet drive system control methods of electric drive mining dump truck, including permanent magnet generator, controllable rectification module, inverter module, permanent magnet traction motor, isolation contactor, current sensor, gate drive circuit, rotary transformer, further including permanent magnet drive system enable switch, tilt angle instrument, controller, emergency brake electromagnetic valve, isolation contactor is integrated on permanent magnet generator, left wheel permanent magnet traction motor and right wheel permanent magnet traction motor respectively.Isolation contactor is integrated on permanent magnet motor, avoids the situation that three-phase electricity is generated to external interface due to the rotation of rotor under external force, improves system integration and safety;When overcurrent fault is detected, the system can automatically cut off motor isolation contactor, and automatically execute different instructions according to different working conditions, and the working state of contactor is fed back to vehicle control system in real time, and the system has high intelligent degree.

Description

TECHNICAL FIELD

[0001] The application relates to a permanent magnet drive system control method of an electric drive mine dump truck, and belongs to the technical field of engineering machinery. BACKGROUND

[0002] The mine dump truck is one of important and key devices in open-pit mine exploitation and large-scale earthwork construction, and is mainly used for the transportation of various loose materials. Compared with the mechanical drive mine dump truck, the electric drive mine dump truck has simple structure, convenient maintenance, greatly reduced operation cost and improved production efficiency. The traditional electric drive system of the electric drive mine dump truck adopts a synchronous generator and an asynchronous traction motor. The developed permanent magnet drive system adopts a permanent magnet generator to replace the synchronous generator and a permanent magnet traction motor to replace the asynchronous traction motor, and has many advantages in energy efficiency, fuel consumption and reliability. However, the motor side isolation contactors of the permanent magnet drive system are generally arranged in a converter cabinet, the permanent magnet motor has the risk of electric shock caused by three-phase electricity generated by the external interface when the rotor is rotated under the action of external force, and when the system detects an overcurrent fault, the permanent magnet motor still outputs high-voltage electricity, and whether the mine truck continues to run or stops depends on the driver's operation, and there is a safety hazard. SUMMARY

[0003] In view of the problems in the prior art, the application provides a permanent magnet drive system control method of an electric drive mine dump truck, which can fundamentally solve the risk of electric shock caused by three-phase electricity generated by the external interface when the rotor of the permanent magnet motor is rotated under the action of external force, and fundamentally solve the problem of safety hazard when the permanent magnet drive system has an overcurrent fault.

[0004] In order to achieve the above-mentioned purpose, the technical scheme adopted by the application is as follows: the permanent magnet drive system control method of the electric drive mine dump truck comprises a permanent magnet generator, a controllable rectification module, an inverter module 1, an inverter module 2, a left wheel permanent magnet traction motor, a right wheel permanent magnet traction motor, an isolation contactor KQ1, an isolation contactor KQ2, an isolation contactor KQ3, a current sensor LH1, a current sensor LH2, a current sensor LH3, a current sensor LH4, a current sensor LH5, a current sensor LH6, a gate drive circuit 1, a gate drive circuit 2, a rotary transformer 1 and a rotary transformer 2, and further comprises a permanent magnet drive system enable switch, an inclination instrument, a controller and an emergency brake electromagnetic valve, the isolation contactor KQ1 is integrated on the permanent magnet generator, the isolation contactor KQ2 is integrated on the right wheel permanent magnet traction motor, and the isolation contactor KQ3 is integrated on the left wheel permanent magnet traction motor.

[0005] Furthermore, the main contact input terminal of the isolation contactor KQ1 integrated on the permanent magnet generator is connected to the stator three-phase winding of the permanent magnet generator, and the main contact output terminal is connected to the input terminal of the controllable rectifier module. The main contact input terminal of the isolation contactor KQ2 integrated on the right wheel permanent magnet traction motor is connected to the output terminal of the inverter module 1, and the main contact output terminal is connected to the stator three-phase winding of the right wheel permanent magnet traction motor. The main contact input terminal of the isolation contactor KQ3 integrated on the left wheel permanent magnet traction motor is connected to the output terminal of the inverter module 2, and the main contact output terminal is connected to the stator three-phase winding of the left wheel permanent magnet traction motor. Current sensors LH1 and LH2 are used to detect the line current from the permanent magnet generator to the controllable rectifier module. Current sensors LH3 and LH4 are used to detect the line current from the inverter module 1 to the right wheel permanent magnet traction motor. Current sensors LH5 and LH6 are used to detect the line current from the inverter module 2 to the left wheel permanent magnet traction motor.

[0006] Furthermore, gate drive circuit 1 is used to drive the on / off switching of the main switching device in inverter module 1, gate drive circuit 2 is used to drive the on / off switching of the main switching device in inverter module 2, rotary transformer 1 is used to measure the rotor position and speed of the right wheel permanent magnet traction motor, rotary transformer 2 is used to measure the rotor position and speed of the left wheel permanent magnet traction motor, permanent magnet drive system enable switch, rotary transformer 1, rotary transformer 2, current sensor LH1, current sensor LH2, current sensor LH3, current sensor LH4, current sensor LH5, current sensor LH6, inclinometer are connected to the input port of controller, emergency brake solenoid valve, isolation contactor KQ1 coil, isolation contactor KQ2 coil, isolation contactor KQ3 coil, gate drive circuit 1, gate drive circuit 2 are connected to the output port of controller.

[0007] Furthermore, when the enable switch of the permanent magnet drive system is closed, the coils of isolation contactors KQ1, KQ2, and KQ3 are energized, the main contacts of KQ1, KQ2, and KQ3 are closed, and the permanent magnet motor is connected to the permanent magnet drive system.

[0008] Furthermore, when an overcurrent fault occurs in the rectifier circuit of the permanent magnet drive system, current sensors LH1 and LH2 detect the current value, the controller issues an alarm signal, and at the same time automatically disconnects the isolation contactor KQ1 on the permanent magnet generator.

[0009] Furthermore, when an overcurrent fault occurs in the drive circuit of the right wheel permanent magnet traction motor, current sensors LH3 and LH4 detect the current value, the controller issues an alarm signal, and at the same time automatically disconnects the isolating contactor KQ2 on the right wheel permanent magnet traction motor.

[0010] Furthermore, when an overcurrent fault occurs in the drive circuit of the left wheel permanent magnet traction motor, current sensors LH5 and LH6 detect the current value, the controller issues an alarm signal, and at the same time automatically disconnects the isolating contactor KQ3 on the left wheel permanent magnet traction motor.

[0011] Furthermore, isolating contactors KQ1, KQ2, and KQ3 have status feedback functions, sending their operating status to the vehicle control system in real time.

[0012] Furthermore, the inclinometer is used to detect the slope of the mine car, determine whether the mine car is on a flat road, uphill, or downhill, and transmit the slope information to the controller; when the permanent magnet drive system malfunctions, it automatically executes different instructions according to different working conditions to apply effective measures to the vehicle.

[0013] Furthermore, under flat road conditions, when the system detects an irreversible fault in the drive system of the permanent magnet motor, the controller controls the emergency braking solenoid valve to automatically apply emergency braking.

[0014] Furthermore, during uphill and downhill driving conditions, when the system detects an overcurrent fault in the drive circuit of one side of the permanent magnet traction motor, the controller controls the gate drive circuit of the inverter module on that side, and the inverter module on that side no longer outputs. At the same time, the rotor position and speed signals output by the rotary transformer of the other side of the permanent magnet traction motor are transmitted to the controller. After processing, the controller controls the gate drive circuit of the other side of the inverter module to drive the main switching device to switch on and off, limiting the speed of the other side of the permanent magnet traction motor and entering limp mode. When the vehicle reaches a flat road, emergency braking is automatically applied.

[0015] As can be seen from the above technical solutions, the present invention has the following beneficial effects: the isolation contactor is integrated on the permanent magnet motor, which avoids the situation where the rotor rotates due to external force and generates three-phase electricity at the external interface, thus avoiding the risk of electric shock, and improving the system integration and safety; when an overcurrent fault is detected, the system can automatically disconnect the motor isolation contactor and automatically execute different instructions according to different working conditions. The working status of the contactor is fed back to the vehicle control system in real time, and the system has a high degree of intelligence. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention;

[0017] Figure 2 This is the control principle diagram of the present invention. Detailed Implementation

[0018] The invention will now be further described with reference to the accompanying drawings.

[0019] like Figure 1 and Figure 2As shown, the present invention includes a permanent magnet generator, a controllable rectifier module, an inverter module 1, an inverter module 2, a left-wheel permanent magnet traction motor, a right-wheel permanent magnet traction motor, isolation contactors KQ1, KQ2, and KQ3, current sensors LH1, LH2, LH3, LH4, LH5, and LH6, gate drive circuit 1, gate drive circuit 2, rotary transformer 1, and rotary transformer 2. It also includes a permanent magnet drive system enable switch, an inclinometer, a controller, and an emergency brake solenoid valve. Isolation contactor KQ1 is integrated on the permanent magnet generator, isolation contactor KQ2 is integrated on the right-wheel permanent magnet traction motor, and isolation contactor KQ3 is integrated on the left-wheel permanent magnet traction motor.

[0020] Furthermore, the main contact input terminal of the isolation contactor KQ1 integrated on the permanent magnet generator is connected to the stator three-phase winding of the permanent magnet generator, and the main contact output terminal is connected to the input terminal of the controllable rectifier module. The main contact input terminal of the isolation contactor KQ2 integrated on the right wheel permanent magnet traction motor is connected to the output terminal of the inverter module 1, and the main contact output terminal is connected to the stator three-phase winding of the right wheel permanent magnet traction motor. The main contact input terminal of the isolation contactor KQ3 integrated on the left wheel permanent magnet traction motor is connected to the output terminal of the inverter module 2, and the main contact output terminal is connected to the stator three-phase winding of the left wheel permanent magnet traction motor. Current sensors LH1 and LH2 are used to detect the line current from the permanent magnet generator to the controllable rectifier module. Current sensors LH3 and LH4 are used to detect the line current from the inverter module 1 to the right wheel permanent magnet traction motor. Current sensors LH5 and LH6 are used to detect the line current from the inverter module 2 to the left wheel permanent magnet traction motor.

[0021] Furthermore, gate drive circuit 1 is used to drive the on / off switching of the main switching device in inverter module 1, gate drive circuit 2 is used to drive the on / off switching of the main switching device in inverter module 2, rotary transformer 1 is used to measure the rotor position and speed of the right wheel permanent magnet traction motor, rotary transformer 2 is used to measure the rotor position and speed of the left wheel permanent magnet traction motor, permanent magnet drive system enable switch, rotary transformer 1, rotary transformer 2, current sensor LH1, current sensor LH2, current sensor LH3, current sensor LH4, current sensor LH5, current sensor LH6, inclinometer are connected to the input port of controller, emergency brake solenoid valve, isolation contactor KQ1 coil, isolation contactor KQ2 coil, isolation contactor KQ3 coil, gate drive circuit 1, gate drive circuit 2 are connected to the output port of controller.

[0022] Furthermore, when the enable switch of the permanent magnet drive system is closed, the coils of isolation contactors KQ1, KQ2, and KQ3 are energized, the main contacts of KQ1, KQ2, and KQ3 are closed, and the permanent magnet motor is connected to the permanent magnet drive system.

[0023] Furthermore, when an overcurrent fault occurs in the rectifier circuit of the permanent magnet drive system, current sensors LH1 and LH2 detect the current value, the controller issues an alarm signal, and at the same time automatically disconnects the isolation contactor KQ1 on the permanent magnet generator.

[0024] Furthermore, when an overcurrent fault occurs in the drive circuit of the right wheel permanent magnet traction motor, current sensors LH3 and LH4 detect the current value, the controller issues an alarm signal, and at the same time automatically disconnects the isolating contactor KQ2 on the right wheel permanent magnet traction motor.

[0025] Furthermore, when an overcurrent fault occurs in the drive circuit of the left wheel permanent magnet traction motor, current sensors LH5 and LH6 detect the current value, the controller issues an alarm signal, and at the same time automatically disconnects the isolating contactor KQ3 on the left wheel permanent magnet traction motor.

[0026] Furthermore, isolating contactors KQ1, KQ2, and KQ3 have status feedback functions, sending their operating status to the vehicle control system in real time.

[0027] Furthermore, the inclinometer is used to detect the slope of the mine car, determine whether the mine car is on a flat road, uphill, or downhill, and transmit the slope information to the controller; when the permanent magnet drive system malfunctions, it automatically executes different instructions according to different working conditions to apply effective measures to the vehicle.

[0028] Furthermore, under flat road conditions, when the system detects an irreversible fault in the drive system of the permanent magnet motor, the controller controls the emergency braking solenoid valve to automatically apply emergency braking.

[0029] Furthermore, during uphill and downhill driving conditions, when the system detects an overcurrent fault in the drive circuit of one side of the permanent magnet traction motor, the controller controls the gate drive circuit of the inverter module on that side, and the inverter module on that side no longer outputs. At the same time, the rotor position and speed signals output by the rotary transformer of the other side of the permanent magnet traction motor are transmitted to the controller. After processing, the controller controls the gate drive circuit of the other side of the inverter module to drive the main switching device to switch on and off, limiting the speed of the other side of the permanent magnet traction motor and entering limp mode. When the vehicle reaches a flat road, emergency braking is automatically applied.

[0030] As described above, the control method for the permanent magnet drive system of the electric drive mining dump truck of the present invention integrates the isolation contactor on the permanent magnet motor, which avoids the risk of electric shock caused by the rotor rotating under the action of external force generating three-phase electricity at the external interface, thus improving the system integration and safety. When an overcurrent fault is detected, the system can automatically disconnect the motor isolation contactor and automatically execute different instructions according to different working conditions. The working status of the contactor is fed back to the vehicle control system in real time, and the system has a high degree of intelligence.

Claims

1. A control method for a permanent magnet drive system of an electrically driven mining dump truck, characterized by: The permanent magnet generator, the controllable rectifier module, the inverter module 1, the inverter module 2, the left wheel permanent magnet traction motor, the right wheel permanent magnet traction motor, the isolation contactor KQ1, the isolation contactor KQ2, the isolation contactor KQ3, the current sensor LH1, the current sensor LH2, the current sensor LH3, the current sensor LH4, the current sensor LH5, the current sensor LH6, the gate drive circuit 1, the gate drive circuit 2, the rotary transformer 1, the rotary transformer 2, the permanent magnet drive system enable switch, the tilt meter, the controller, the emergency brake electromagnetic valve, the isolation contactor KQ1 is integrated on the permanent magnet generator, the isolation contactor KQ2 is integrated on the right wheel permanent magnet traction motor, the isolation contactor KQ3 is integrated on the left wheel permanent magnet traction motor; The main contact input end of the isolation contactor KQ1 integrated on the permanent magnet generator is connected with the stator three-phase winding of the permanent magnet generator, and the main contact output end is connected with the input end of the controllable rectifier module; the main contact input end of the isolation contactor KQ2 integrated on the right wheel permanent magnet traction motor is connected with the output end of the inverter module 1, and the main contact output end is connected with the stator three-phase winding of the right wheel permanent magnet traction motor; the main contact input end of the isolation contactor KQ3 integrated on the left wheel permanent magnet traction motor is connected with the output end of the inverter module 2, and the main contact output end is connected with the stator three-phase winding of the left wheel permanent magnet traction motor; the current sensor LH1 and the current sensor LH2 are used for detecting the line current from the permanent magnet generator to the controllable rectifier module; the current sensor LH3 and the current sensor LH4 are used for detecting the line current from the inverter module 1 to the right wheel permanent magnet traction motor; the current sensor LH5 and the current sensor LH6 are used for detecting the line current from the inverter module 2 to the left wheel permanent magnet traction motor; The tilt meter is used for detecting the running slope of the mine car, judging the flat road, uphill and downhill working conditions of the mine car, and transmitting the slope information to the controller; when the permanent magnet drive system fails, different instructions are automatically executed according to different working conditions to apply effective measures to the vehicle; In the uphill and downhill working conditions, when the system detects that the drive loop of one side permanent magnet traction motor has an overcurrent fault, the controller controls the gate drive circuit of the inverter module on the side, and the inverter module on the side no longer has output; at the same time, the rotor position and speed signals output by the rotary transformer of the permanent magnet traction motor on the other side are transmitted to the controller, and after processing, the gate drive circuit of the inverter module on the other side is controlled to drive the on-off of the main switch device, limit the speed of the permanent magnet traction motor on the other side, and enter the limping mode; after driving to the flat road working condition, the emergency brake is automatically applied.

2. A control method for a permanent magnet drive system of an electrically driven mining dump truck according to claim 1, characterized in that: The gate drive circuit 1 is used to drive the on-off of the main switching device in the inverter module 1, the gate drive circuit 2 is used to drive the on-off of the main switching device in the inverter module 2, the resolver 1 is used to measure the rotor position and speed of the right wheel permanent magnet traction motor, the resolver 2 is used to measure the rotor position and speed of the left wheel permanent magnet traction motor, the permanent magnet drive system enable switch, the resolver 1, the resolver 2, the current sensor LH1, the current sensor LH2, the current sensor LH3, the current sensor LH4, the current sensor LH5, the current sensor LH6, and the tilt meter are connected to the input port of the controller, the emergency brake electromagnetic valve, the isolation contactor KQ1 coil, the isolation contactor KQ2 coil, the isolation contactor KQ3 coil, the gate drive circuit 1, and the gate drive circuit 2 are connected to the output port of the controller.

3. A control method for a permanent magnet drive system of an electrically driven mining dump truck according to claim 1, characterized in that: When the permanent magnet drive system enable switch is closed, the isolation contactor KQ1 coil, the isolation contactor KQ2 coil, and the isolation contactor KQ3 coil are powered on, the KQ1, KQ2, and KQ3 main contacts are closed, and the permanent magnet motor is connected to the permanent magnet drive system.

4. A control method for a permanent magnet drive system of an electrically driven mining dump truck according to claim 1, characterized in that: When an overcurrent fault occurs in the rectifier circuit of the permanent magnet drive system, the current sensor LH1 and the current sensor LH2 detect the current value, the controller sends an alarm signal, and the isolation contactor KQ1 on the permanent magnet generator is automatically cut off.

5. A control method for a permanent magnet drive system of an electrically driven mining dump truck according to claim 1, characterized in that: When an overcurrent fault occurs in the drive circuit of the right wheel permanent magnet traction motor, the current sensor LH3 and the current sensor LH4 detect the current value, the controller sends an alarm signal, and the isolation contactor KQ2 on the right wheel permanent magnet traction motor is automatically cut off.

6. A control method for a permanent magnet drive system of an electrically driven mining dump truck according to claim 1, characterized in that: When an overcurrent fault occurs in the drive circuit of the left wheel permanent magnet traction motor, the current sensor LH5 and the current sensor LH6 detect the current value, the controller sends an alarm signal, and the isolation contactor KQ3 on the left wheel permanent magnet traction motor is automatically cut off.

7. A control method for a permanent magnet drive system of an electrically driven mining dump truck according to claim 1, characterized in that: The isolation contactor KQ1, the isolation contactor KQ2, and the isolation contactor KQ3 have a state feedback function, and their working states are sent to the vehicle control system in real time.

8. A control method for a permanent magnet drive system of an electrically driven mining dump truck according to claim 1, characterized in that: In the flat road condition, when the controller detects that the drive system of the permanent magnet motor has occurred irreversible failure, the controller controls the emergency brake electromagnetic valve to automatically apply emergency brake.

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