Pantograph, power receiving device, control method and charging method for electric vehicle

Abstract

The present invention discloses a pantograph and a power receiving device, a control method and a charging method for electric vehicles, and belongs to the technical field of electric vehicle charging. The existing power receiving system cannot realize active connection and disconnection during driving, and has a narrow application range. The present invention is an intelligent pantograph for dynamic charging of electric vehicles, which is provided with a pantograph head that can conflict with the contact network, an adaption component for adjusting the position of the pantograph head, and can drive the slide plate to move through a driving source one or / and a driving source two according to the deformation angle of the slide plate detected by the angle sensor, so as to realize the position adjustment of the pantograph head, can realize active connection and disconnection during the driving of the electric vehicle, thereby realizing dynamic charging of the electric vehicle during driving, and can make up for the lack of long-distance driving endurance of the electric vehicle to a certain extent, and provide a feasible solution for long-distance driving of the electric vehicle, i.e., electric energy replenishment, with a wide range of applications, which is conducive to popularization and use.

Description

Technical Field

[0001] The invention relates to a pantograph, a power receiving device, a control method and a charging method for an electric vehicle, and belongs to the technical field of electric vehicle charging. Background Art

[0002] Due to the limitation of battery capacity, the storage and replenishment of electric energy are still the main technical challenges faced by electric vehicles when dealing with long-distance driving.

[0003] In the prior art, electric vehicles use batteries as their energy storage tool, and energy replenishment relies on charging piles at charging stations, and the energy replenishment method is limited by regional and time factors; rail transit vehicles are powered by the pantograph-catenary system, and although this power supply method is suitable for long-distance driving, the power supply method of the pantograph and the contact network has very high requirements on the stability of the relative position of the vehicle and the contact network. It is obviously not feasible to directly apply this power supply method to road vehicles; although the power supply method of trams and new energy buses running along fixed routes on urban roads is similar to that of the pantograph-catenary system, the distance between the vehicle and the busbar has a certain fluctuation space due to the structural characteristics of the connecting device. On the other hand, this type of power receiving device has sliding friction when moving relative to the busbar, and cannot achieve active connection and disconnection during driving. It has a narrow application range and has great limitations. Summary of the invention

[0004] In view of the defects of the prior art, the purpose of the present invention is to provide a pantograph head that can be in contact with the contact network, an adaptable component for adjusting the position of the pantograph head, and can drive the slide plate to move through drive source one and / or drive source two according to the deformation angle of the slide plate detected by the angle sensor to achieve the position adjustment of the pantograph head, and can realize active connection and disconnection during the driving of the electric vehicle, thereby realizing dynamic charging of the electric vehicle during driving, and can make up for the lack of long-distance driving endurance of the electric vehicle to a certain extent, and provide a feasible solution for long-distance driving of the electric vehicle, i.e., electric energy replenishment, and has a wide range of applications, which is conducive to the popularization of the pantograph and power receiving device, control method and charging method for electric vehicles.

[0005] To achieve the above object, the first technical solution of the present invention is:

[0006] An intelligent pantograph for dynamic charging of electric vehicles, comprising a pantograph head capable of coming into contact with a contact network, and an adaption component for adjusting the position of the pantograph head;

[0007] The pantograph head comprises a slide plate slidably connected to the contact network and a base for assembling the slide plate;

[0008] The slide plate is elastically connected to the base via an elastic member;

[0009] The adaptation component includes a driving source 1 for driving the pantograph head to move vertically, a driving source 2 for driving the pantograph head to move horizontally, and an angle sensor for sensing the deformation angle of the slide plate;

[0010] According to the deformation angle of the slide plate detected by the angle sensor, the driving source one and / or the driving source two drives the slide plate to move, so as to adjust the position of the pantograph head.

[0011] After continuous exploration and experiments, the present invention provides a pantograph head that can contact the contact network, an adaptable component for adjusting the position of the pantograph head, and can drive the slide plate to move through drive source one and / or drive source two according to the deformation angle of the slide plate detected by the angle sensor, so as to achieve the position adjustment of the pantograph head, can realize active connection and disconnection during the driving of the electric vehicle, thereby realizing dynamic charging of the electric vehicle during driving, can make up for the lack of long-distance driving endurance of the electric vehicle to a certain extent, and provides a feasible solution for long-distance driving of the electric vehicle, i.e., electric energy replenishment, has a wide range of applications, and is conducive to popularization and use.

[0012] As the preferred technical measures:

[0013] The driving source drives the pantograph head to rise and fall reciprocally through a pantograph raising and lowering mechanism;

[0014] The pantograph raising and lowering mechanism comprises an upper frame, a lower frame and a pantograph base frame which can be folded together.

[0015] As the preferred technical measures:

[0016] The driving source 1 is mounted on the upper end of the pantograph chassis, and the lower frame is connected to the rotating end of the driving source 1 through a synchronous belt.

[0017] As the preferred technical measures:

[0018] There are two slide plates, each of which is a long strip structure and is elastically mounted at two ends of the base.

[0019] As the preferred technical measures:

[0020] The elastic member is a torsion spring, and the second driving source and the first driving source are stepping motors respectively;

[0021] The angle sensor is a rotation angle sensor, which is installed at the rotating pair of the slide plate.

[0022] To achieve the above object, the second technical solution of the present invention is:

[0023] An intelligent power receiving device for dynamic charging of electric vehicles, comprising a contact network installed above a lane, a pantograph head capable of contacting the contact network, and an adaption component for adjusting the position of the pantograph head;

[0024] The pantograph head comprises a left end sliding plate, a right end sliding plate and a base for assembling a sliding plate which are slidably connected to the contact network;

[0025] The left end sliding plate and the right end sliding plate are respectively long strip structures, which are elastically mounted on the two ends of the base through the left end torsion spring and the right end torsion spring respectively;

[0026] The adaptation component includes a driving source 1 for driving the pantograph head to move vertically, a driving source 2 for driving the pantograph head to move horizontally, and an angle sensor for sensing the deformation angle of the slide plate;

[0027] The contact network is provided with at least two contact wires, including a contact wire 1 and a contact wire 2;

[0028] According to the deformation angle of the slide plate detected by the angle sensor, the driving source 1 and / or the driving source 2 drives the slide plate to move, so that the left end sliding plate and the right end sliding plate are respectively in contact with the contact line 1 and the contact line 2.

[0029] The pantograph of the present invention can be installed on the roof of an electric vehicle. The size of the pantograph chassis is designed according to the roof size of most current electric vehicles and can match most current electric vehicles. The pantograph raising and lowering mechanisms are designed with reference to the height of most current electric vehicles and the height of the contact wire installation, and have sufficient lifting and lowering travel. The slide plate of the pantograph head is designed with reference to the contact wire installation standard and the width of the vehicle body. When the pantograph is raised, it can achieve contact with the contact wire, and when the pantograph is lowered, it will not affect the normal driving of the electric vehicle.

[0030] When an electric vehicle drives to the lane under the contact network to charge, the smart pantograph is driven by a stepper motor to rise until it is in full contact with the contact wire above. The pantograph-net system starts operating and the contact network charges the battery of the electric vehicle through the smart pantograph.

[0031] When the pantograph head is slightly offset upward, downward, left or right relative to the contact network, that is, the offset is within the offset adaptation range of the smart pantograph, the offset adaptation capability of the smart pantograph can adapt to this small offset, and the pantograph slide plate can maintain stable contact with the contact line to receive current.

[0032] When the position of the pantograph head relative to the contact network is significantly offset upward, downward, left or right, that is, the offset is outside the offset adaptive range of the intelligent pantograph, the control system of the intelligent pantograph can drive the stepper motor to adjust the position of the pantograph head relative to the contact network according to the offset and the offset direction until the offset is within the offset adaptive range. In this way, the pantograph slide plate can still maintain stable contact and current collection with the contact network, thereby realizing power replenishment of the battery.

[0033] When the electric vehicle is about to leave the charging lane or stop charging, the smart pantograph is lowered and retracted, and the dynamic charging of the electric vehicle is suspended or terminated.

[0034] To achieve the above object, the third technical solution of the present invention is:

[0035] An intelligent pantograph control method for dynamic charging of electric vehicles, using the above-mentioned intelligent power receiving device for dynamic charging of electric vehicles, comprises the following steps:

[0036] The first step is to obtain the center distance between the contact lines, the center distance between the rotating pairs of the slide plates, and the center distance between the contact surface of the slide plate and the rotating pair of the slide plate;

[0037] The second step is to use an angle sensor to measure the torsion angle of the torsion spring at the right end and the torsion angle of the torsion spring at the left end;

[0038] The third step is to calculate the offset of the pantograph head in the lateral direction, i.e., the x-direction, the offset in the vertical direction, i.e., the y-direction, and the contact force between the slide plate and the contact line according to the center distance data in the first step and the torsion angle data in the second step;

[0039] The fourth step is to calculate the offset and contact force according to the third step. When the offset exceeds the offset adaptive range of the pantograph and the contact force between the pantograph and the catenary is insufficient to maintain the stability of the contact between the pantograph and the catenary, the driving source 1 and the driving source 2 adjust the offset in the x and y directions respectively, so that the offset of the pantograph head relative to the contact line returns to the offset adaptive range of the intelligent pantograph, and the contact between the pantograph and the catenary is kept stable.

[0040] In the fifth step, when the electric vehicle stops charging or leaves the charging lane, the driving source controls the pantograph raising and lowering mechanism to lower the pantograph to complete the charging of the electric vehicle.

[0041] The present invention can realize active connection and disconnection during the driving of the electric vehicle, thereby realizing dynamic charging of the electric vehicle during the driving process, which can make up for the lack of long-distance driving endurance of the electric vehicle to a certain extent, and provides a feasible solution for long-distance driving of the electric vehicle, i.e., electric energy replenishment, and has a wide range of applications, which is conducive to popularization and use.

[0042] As the preferred technical measures:

[0043] The center distance between the contact lines is D, the center distance between the sliding plate rotation pairs is L, and the center distance between the sliding plate contact surface and the sliding plate rotation pair is d;

[0044] The torsion angle of the torsion spring at the right end is α, and the torsion angle of the torsion spring at the left end is β;

[0045] The offset of the pantograph head in the x direction is b, and the offset in the y direction is h;

[0046] The calculation formulas for the offsets b and h are as follows:

[0047]

[0048] As the preferred technical measures:

[0049] The contact force between the sliding plate and the contact line includes the contact force between the right sliding plate and the contact line, and the contact force between the left sliding plate and the contact line; the contact force between the right sliding plate and the contact line is F1, and the contact force between the left sliding plate and the contact line is F2, then the calculation formulas of F1 and F2 are as follows:

[0050]

[0051] Among them, k is the elastic coefficient of the torsion spring at the rotating joints of the two end slides.

[0052] To achieve the above object, the fourth technical solution of the present invention is:

[0053] A dynamic charging method for electric vehicles, using the above-mentioned intelligent pantograph control method for dynamic charging of electric vehicles, comprises the following contents:

[0054] The pantograph chassis is installed on the roof of the electric vehicle. When the electric vehicle is driving on the charging lane under the contact network, the stepper motor drives the lower frame through the synchronous belt to drive the upper frame to control the pantograph raising and lowering mechanisms to rise, so that the slide plate is in stable contact with the contact line of the contact network.

[0055] If the position of the pantograph head relative to the contact line is offset upward, the slides on both sides of the pantograph are pressed down, and the torsion angle of the torsion spring at the slide rotation pair increases, thereby increasing the contact pressure between the pantograph and the catenary. At the same time, the rotation angle sensors at the slide rotation pairs on both sides detect the corresponding torsion angle, and the offset and the contact pressure between the pantograph and the catenary are obtained according to the elastic coefficient and torsion angle of the torsion spring. When the offset exceeds the offset adaptive range of the pantograph, the controller adjusts the height of the pantograph head in real time through a pair of stepper motors according to the offset.

[0056] If the position of the pantograph head relative to the contact line is offset downward, the slides on both sides of the pantograph are lifted, and the torsion angle of the torsion spring at the slide rotation pair is reduced, thereby reducing the contact pressure between the pantograph and the catenary. At the same time, the rotation angle sensors at the slide rotation pairs on both sides detect the corresponding torsion angle, and the offset and the contact pressure between the pantograph and the catenary are obtained according to the elastic coefficient and torsion angle of the torsion spring. When the offset exceeds the offset adaptive range of the pantograph, the controller adjusts the height of the pantograph head in real time through a stepper motor according to the offset.

[0057] If the position of the pantograph head relative to the contact line shifts to the left, the left side slide of the pantograph is pressed down, the torsion angle of the torsion spring at the slide rotation pair increases, and the contact pressure between the pantograph and the catenary increases. The right side slide of the pantograph is lifted up by the torsion spring, and the torsion angle of the torsion spring at the slide rotation pair decreases, and the contact pressure between the pantograph and the catenary decreases. At the same time, the rotation angle sensors at the slide rotation pairs on both sides detect the corresponding torsion angles. The offset and the contact pressure between the pantograph and the catenary can be obtained based on the elastic coefficient and torsion angle of the torsion spring. When the offset exceeds the offset adaptive range of the pantograph, the controller adjusts the lateral position of the slide in real time through stepper motor 2 according to the offset.

[0058] If the position of the pantograph head relative to the contact line shifts to the right, the right side slide of the pantograph is pressed down, the torsion angle of the torsion spring at the slide rotation pair increases, and the contact pressure between the pantograph and the catenary increases; the left side slide of the pantograph is lifted up by the torsion spring, the torsion angle of the torsion spring at the slide rotation pair decreases, and the contact pressure between the pantograph and the catenary decreases; at the same time, the rotation angle sensors at the slide rotation pairs on both sides detect the corresponding torsion angles, and the offset and the contact pressure between the pantograph and the catenary are obtained based on the elastic coefficient and torsion angle of the torsion spring. When the offset exceeds the offset adaptive range of the pantograph, the controller adjusts the lateral position of the slide in real time through stepper motor 2 according to the offset.

[0059] The present invention can realize active connection and disconnection during the driving of the electric vehicle, thereby realizing dynamic charging of the electric vehicle during the driving process, which can make up for the lack of long-distance driving endurance of the electric vehicle to a certain extent, and provide a feasible solution for long-distance driving of the electric vehicle, i.e., electric energy replenishment. It has a wide range of applications, is conducive to popularization and use, and the solution is detailed and feasible.

[0060] Compared with the prior art, the present invention has the following beneficial effects:

[0061] After continuous exploration and experiments, the present invention provides a pantograph head that can contact the contact network, an adaptable component for adjusting the position of the pantograph head, and can drive the slide plate to move through drive source one and / or drive source two according to the deformation angle of the slide plate detected by the angle sensor, so as to achieve the position adjustment of the pantograph head, can realize active connection and disconnection during the driving of the electric vehicle, thereby realizing dynamic charging of the electric vehicle during driving, can make up for the lack of long-distance driving endurance of the electric vehicle to a certain extent, and provides a feasible solution for long-distance driving of the electric vehicle, i.e., electric energy replenishment, has a wide range of applications, and is conducive to popularization and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 It is a structural principle diagram of the working state of the present invention;

[0063] Figure 2 It is a structural principle diagram of the present invention in a folded state;

[0064] Figure 3 This is a structural principle diagram of the bow raising and lowering mechanism of the present invention;

[0065] Figure 4 This is a structural principle diagram of the pantograph head of the present invention;

[0066] Figure 5 This is a structural principle diagram of the rotary pair of the slide plate of the present invention;

[0067] Figure 6 It is a kinematic principle diagram of the contact offset adjustment between the bow and the catenary of the present invention.

[0068] In the attached picture:

[0069] 1. Pantograph head; 2. Pantograph raising and lowering mechanism; 3. Pantograph chassis; 4. Synchronous belt; 5. Upper frame; 6. Lower frame; 7. Stepper motor 1; 8. Contact wire; 9. Slide plate; 10. Base; 11. Stepper motor 2; 12. Rotation angle sensor; DETAILED DESCRIPTION

[0070] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0071] On the contrary, the present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention as defined by the claims. Further, in order to make the public have a better understanding of the present invention, some specific details are described in detail in the detailed description of the present invention below. Those skilled in the art can fully understand the present invention without the description of these details.

[0072] like Figure 1-Figure 5 As shown, a specific embodiment of the intelligent pantograph of the present invention:

[0073] An intelligent pantograph for dynamic charging of electric vehicles, comprising a pantograph head 1 capable of conflicting with a contact network, and an adaption component for adjusting the position of the pantograph head 1;

[0074] The pantograph head 1 comprises a slide plate 9 slidably connected to the contact network and a base 10 for assembling the slide plate 9;

[0075] The slide plate 9 is elastically connected to the base 10 via an elastic member;

[0076] The adaptation component includes a driving source 1 for driving the pantograph head 1 to move vertically, a driving source 2 for driving the pantograph head 1 to move horizontally, and an angle sensor for sensing the deformation angle of the slide plate 9;

[0077] According to the deformation angle of the slide plate 9 detected by the angle sensor, the driving source 1 and / or the driving source 2 drives the slide plate 9 to move, so as to adjust the position of the pantograph head 1 .

[0078] After continuous exploration and experiments, the present invention provides a pantograph head 1 that can interfere with the contact network, an adaptable component for adjusting the position of the pantograph head 1, and can drive the slide plate 9 to move through the driving source 1 and / or the driving source 2 according to the deformation angle of the slide plate 9 detected by the angle sensor, so as to achieve the position adjustment of the pantograph head 1, can realize the active connection and disconnection during the driving of the electric vehicle, thereby realizing the dynamic charging of the electric vehicle during the driving process, can make up for the lack of long-distance driving endurance of the electric vehicle to a certain extent, and provide a feasible solution for long-distance driving of the electric vehicle, i.e., electric energy replenishment, and has a wide range of applications, which is conducive to popularization and use.

[0079] A specific embodiment of dynamic charging of the present invention:

[0080] The pantograph chassis 3 is installed on the roof of the electric vehicle. When the electric vehicle is driving on the charging lane under the contact network, the stepper motor 7 drives the lower frame 6 through the synchronous belt 4 to drive the upper frame 5 to control the pantograph raising and lowering mechanism 2 to rise until it is in stable contact with the contact line 8 between the pantograph slide plate 9 and the contact network.

[0081] If the position of the pantograph head 1 relative to the contact line 8 is offset upward, the slides 9 on both sides of the pantograph are pressed down, and the torsion angle of the torsion spring at the rotating pair of the slide 9 increases, thereby increasing the contact pressure between the pantograph and the catenary. At the same time, the rotation angle sensor 12 at the rotating pair of the slides 9 on both sides detects the corresponding torsion angle. The offset and the contact pressure between the pantograph and the catenary can be obtained based on the elastic coefficient and torsion angle of the torsion spring. When the offset exceeds the offset adaptive range of the pantograph, the controller adjusts the height of the pantograph head 1 in real time through the stepper motor 7 according to the offset.

[0082] If the position of the pantograph head 1 relative to the contact line 8 is offset downward, the slides 9 on both sides of the pantograph are lifted, and the torsion angle of the torsion spring at the rotating pair of the slide 9 is reduced, thereby reducing the contact pressure between the pantograph and the catenary. At the same time, the rotation angle sensor 12 at the rotating pair of the slides 9 on both sides detects the corresponding torsion angle. The offset and the contact pressure between the pantograph and the catenary can be obtained based on the elastic coefficient and torsion angle of the torsion spring. When the offset exceeds the offset adaptive range of the pantograph, the controller adjusts the height of the pantograph head 1 in real time through the stepper motor 7 according to the offset.

[0083] If the position of the pantograph bow head 1 relative to the contact line 8 shifts to the left, the left side slide 9 of the pantograph is pressed down, the torsion angle of the torsion spring at the rotating pair of the slide 9 increases, and the contact pressure between the bow and the catenary increases; the right side slide 9 of the pantograph is lifted up by the torsion spring, the torsion angle of the torsion spring at the rotating pair of the slide 9 decreases, and the contact pressure between the bow and the catenary decreases. At the same time, the rotation angle sensors 12 at the rotating pairs of the slides 9 on both sides detect the corresponding torsion angles. The offset and the contact pressure between the bow and the catenary can be obtained according to the elastic coefficient and torsion angle of the torsion spring. When the offset exceeds the offset adaptive interval of the pantograph, the controller adjusts the lateral position of the pantograph slide 9 in real time through the stepper motor 2 11 according to the offset.

[0084] If the position of the pantograph bow head 1 relative to the contact line 8 shifts to the right, the right side slide 9 of the pantograph is pressed down, the torsion angle of the torsion spring at the rotating pair of the slide 9 increases, and the contact pressure between the bow and the catenary increases. The left side slide 9 of the pantograph is lifted up by the torsion spring, the torsion angle of the torsion spring at the rotating pair of the slide 9 decreases, and the contact pressure between the bow and the catenary decreases. At the same time, the rotation angle sensors 12 at the rotating pairs of the slides 9 on both sides detect the corresponding torsion angles. The offset and the contact pressure between the bow and the catenary can be obtained according to the elastic coefficient and torsion angle of the torsion spring. When the offset exceeds the offset adaptive interval of the pantograph, the controller adjusts the lateral position of the pantograph slide 9 in real time through the stepper motor 2 11 according to the offset.

[0085] like Figure 6 As shown, a specific embodiment of the intelligent charging bow control of the present invention is as follows:

[0086] A is the actual position of the pantograph head, B is the ideal position of the pantograph head, and the center distance between the contact lines is D, the center distance between the sliding plate rotation pairs is L, and the center distance between the sliding plate contact surface and the sliding plate rotation pair is d. D, L, and d are all constants. The torsion angle of the torsion spring at the right end is α, and the torsion angle of the torsion spring at the left end is β. α and β are measured by the angle sensor of the sliding plate rotation pair. The offset of the pantograph head in the x direction is b, and the offset in the y direction is h. Figure 6 The upward and right directions are shown as positive directions, so the inverse kinematic solution between the offsets b, h and the torsion angles α, β of the torsion spring is:

[0087]

[0088] The elastic coefficient of the torsion spring at the rotating pair of the two end slides is k. Assuming that the contact force between the right end sliding plate and the contact line is F1, and the contact force between the left end sliding plate and the contact line is F2, the relationship between the contact forces F1 and F2 between the bow and the catenary and the torsion angles α and β of the torsion spring at the rotating pair of the slide is:

[0089]

[0090] The intelligent pantograph calculates the offset of the pantograph head by detecting the rotation angle of the sliding plate rotation pair. Contact force between bow and catenary When the offset exceeds the offset adaptive range of the pantograph, the contact force between the pantograph and the catenary is insufficient to maintain the stability of the contact between the pantograph and the catenary. The control system of the intelligent pantograph controls stepper motor 1 and stepper motor 2 to adjust the offset in the x and y directions respectively, so that the offset of the pantograph head relative to the contact line returns to the offset adaptive range of the intelligent pantograph, and the contact between the pantograph and the catenary remains stable.

[0091] When the electric vehicle stops charging or leaves the charging lane, the stepper motor controls the pantograph raising and lowering mechanism to lower the pantograph.

[0092] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0093] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0094] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention should be covered within the scope of the claims of the present invention.

Claims

1. An intelligent pantograph control method for dynamic charging of electric vehicles, characterized in that: An intelligent power receiving device for dynamic charging of electric vehicles is used, comprising a contact network installed above a track, a pantograph head (1) capable of contacting the contact network, and an adaption component for adjusting the position of the pantograph head (1); The pantograph head (1) comprises a left end sliding plate and a right end sliding plate which are slidably connected to the contact network, and a base (10) for assembling a sliding plate (9); The left end sliding plate and the right end sliding plate are respectively long strip structures, and are elastically mounted on the two ends of the base (10) via a left end torsion spring and a right end torsion spring respectively; The adaptation component comprises a first driving source for driving the pantograph head (1) to move vertically, a second driving source for driving the pantograph head (1) to move horizontally, and an angle sensor for sensing the deformation angle of the slide plate (9); The contact network is provided with at least two contact wires (8), including a first contact wire and a second contact wire; According to the deformation angle of the slide plate (9) detected by the angle sensor, the driving source 1 and / or the driving source 2 drives the slide plate (9) to move, so that the left end sliding plate and the right end sliding plate are respectively in contact with the contact line 1 and the contact line 2; The driving source 2 and the driving source 1 are stepping motors respectively; The angle sensor is a rotation angle sensor (12) which is mounted on the rotation pair of the slide plate (9); The intelligent pantograph control method comprises the following steps: The first step is to obtain the center distance between the contact lines (8), the center distance between the rotating pairs of the slide plate (9), and the center distance between the contact surface of the slide plate (9) and the rotating pair of the slide plate (9); The second step is to use an angle sensor to measure the torsion angle of the torsion spring at the right end and the torsion angle of the torsion spring at the left end; The third step is to calculate the displacement of the pantograph head (1) in the lateral direction, i.e., the x-direction, the displacement in the vertical direction, i.e., the y-direction, and the contact force between the slide plate (9) and the contact line (8) based on the center distance data in the first step and the torsion angle data in the second step; The fourth step is to calculate the offset and contact force according to the third step. When the offset exceeds the offset adaptive range of the pantograph and the contact force between the pantograph and the catenary is insufficient to maintain the stability of the contact between the pantograph and the catenary, the driving source 1 and the driving source 2 respectively adjust the offset in the x and y directions so that the offset of the pantograph head (1) relative to the contact line (8) returns to the offset adaptive range of the intelligent pantograph, thereby maintaining the stability of the contact between the pantograph and the catenary; Step 5: When the electric vehicle stops charging or leaves the charging lane, the driving source 1 controls the pantograph raising and lowering mechanism (2) to lower the pantograph, thereby completing the charging of the electric vehicle; The center distance between the contact lines is D, the center distance between the sliding plate rotation pairs is L, and the center distance between the sliding plate contact surface and the sliding plate rotation pair is d; The torsion angle of the torsion spring at the right end is α, and the torsion angle of the torsion spring at the left end is β; The offset of the pantograph head in the x direction is b, and the offset in the y direction is h; The calculation formulas for the offsets b and h are as follows: ； The contact force between the sliding plate and the contact line includes the contact force between the right sliding plate and the contact line, and the contact force between the left sliding plate and the contact line. The contact force between the right sliding plate and the contact line is , the contact force between the left sliding plate and the contact line is ,but , The calculation formula is as follows: Wherein, k is the elastic coefficient of the torsion spring at the rotating joints of the two end slides; The pantograph chassis is installed on the roof of the electric vehicle. When the electric vehicle is driving on the charging lane under the contact network, the stepper motor drives the lower frame through the synchronous belt to drive the upper frame to control the pantograph and the structure to rise, so that the slide plate is in stable contact with the contact line of the contact network. If the position of the pantograph head relative to the contact line is offset upward, the slides on both sides of the pantograph are pressed down, and the torsion angle of the torsion spring at the slide rotation pair increases, thereby increasing the contact pressure between the pantograph and the catenary. At the same time, the rotation angle sensors at the slide rotation pairs on both sides detect the corresponding torsion angle, and the offset and the contact pressure between the pantograph and the catenary are obtained according to the elastic coefficient and torsion angle of the torsion spring. When the offset exceeds the offset adaptive range of the pantograph, the controller adjusts the height of the pantograph head in real time through a pair of stepper motors according to the offset. If the position of the pantograph head relative to the contact line is offset downward, the slides on both sides of the pantograph are lifted, and the torsion angle of the torsion spring at the slide rotation pair is reduced, thereby reducing the contact pressure between the pantograph and the catenary. At the same time, the rotation angle sensors at the slide rotation pairs on both sides detect the corresponding torsion angle, and the offset and the contact pressure between the pantograph and the catenary are obtained according to the elastic coefficient and torsion angle of the torsion spring. When the offset exceeds the offset adaptive range of the pantograph, the controller adjusts the height of the pantograph head in real time through a stepper motor according to the offset. If the position of the pantograph head relative to the contact line shifts to the left, the left side slide of the pantograph is pressed down, the torsion angle of the torsion spring at the slide rotation pair increases, and the contact pressure between the pantograph and the catenary increases. The right side slide of the pantograph is lifted up by the torsion spring, and the torsion angle of the torsion spring at the slide rotation pair decreases, and the contact pressure between the pantograph and the catenary decreases. At the same time, the rotation angle sensors at the slide rotation pairs on both sides detect the corresponding torsion angles. The offset and the contact pressure between the pantograph and the catenary can be obtained based on the elastic coefficient and torsion angle of the torsion spring. When the offset exceeds the offset adaptive range of the pantograph, the controller adjusts the lateral position of the slide in real time through stepper motor 2 according to the offset. If the position of the pantograph head relative to the contact line shifts to the right, the right side slide of the pantograph is pressed down, the torsion angle of the torsion spring at the slide rotation pair increases, and the contact pressure between the pantograph and the catenary increases; the left side slide of the pantograph is lifted up by the torsion spring, the torsion angle of the torsion spring at the slide rotation pair decreases, and the contact pressure between the pantograph and the catenary decreases; at the same time, the rotation angle sensors at the slide rotation pairs on both sides detect the corresponding torsion angles, and the offset and the contact pressure between the pantograph and the catenary are obtained based on the elastic coefficient and torsion angle of the torsion spring. When the offset exceeds the offset adaptive range of the pantograph, the controller adjusts the lateral position of the slide in real time through stepper motor 2 according to the offset.

2. The intelligent pantograph control method for dynamic charging of electric vehicles according to claim 1, characterized in that: The driving source drives the pantograph head (1) to reciprocate up and down through a pantograph raising and lowering mechanism (2); The pantograph raising and lowering mechanism (2) comprises an upper frame (5), a lower frame (6), and a pantograph base frame (3) which are capable of being folded together.

3. The intelligent pantograph control method for dynamic charging of electric vehicles as claimed in claim 2, characterized in that: The driving source 1 is mounted on the upper end of the pantograph chassis (3), and the lower frame (6) is connected to the rotating end of the driving source 1 via a synchronous belt (4).

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