A method, apparatus, device and computer storage medium for electric drive braking

Abstract

The application discloses a kind of electric drive braking method, applied to engineering technical field, this method includes: when receiving parking instruction, control each group electric drive after meeting braking condition respectively carries out first braking;When detecting at least a preset number of electric drive successfully carries out the first braking, delay first preset time control all electric drive carries out second braking;When meeting preset condition, delay second preset time control all electric drive carries out third braking;Wherein, preset condition is when detecting that walking rotational speed request is zero and action enable is zero or when detecting fault alarm;The method is by controlling each group electric drive after meeting braking condition respectively carries out braking, avoid the problem that when braking condition cannot be simultaneously satisfied but power output has been reduced to zero in related art and generates no power walk or sideslip when braking.

Description

Technical Field

[0001] This invention relates to the field of engineering technology, and in particular to a method, apparatus, device, and computer-readable storage medium for electric braking. Background Technology

[0002] In recent years, with increasingly stringent requirements for construction safety and efficiency, aerial work platforms have seen wider application. Simultaneously, stricter national environmental regulations and stringent site access requirements in various regions have spurred the electrification and promotion of aerial work platforms. However, given the unique nature of aerial work platform applications, their control strategies cannot be simply analogous to those of electric vehicles; independent control methods are required to ensure safe operation. Currently, the method for controlling electric drive braking primarily involves synchronous braking when all electric drive units simultaneously meet braking conditions. However, if the braking conditions are not met for any reason, the brakes will remain open, potentially causing the motor power output to drop to zero. This can result in the vehicle sliding or skidding on slopes due to lack of power, easily leading to safety accidents. Summary of the Invention

[0003] The purpose of this invention is to provide a method, apparatus, device, and computer-readable storage medium for electric drive braking, applicable to the field of engineering technology. This invention avoids the problem in related technologies where all electric drives must simultaneously meet braking conditions before braking can occur, leading to unpowered vehicle slippage or skidding when braking conditions cannot be met simultaneously but power output has already dropped to zero. This is achieved by controlling each group of electric drives to brake only after their respective braking conditions are met.

[0004] To achieve the above objectives, the present invention provides an electric braking method, comprising:

[0005] When a stop command is received, each group of electric drives is controlled to perform the first braking after meeting its own braking conditions.

[0006] When it is detected that at least a preset number of the electric drives have successfully performed the first braking, the first preset time is delayed to control all the electric drives to perform the second braking.

[0007] When a preset condition is met, the electric drive is controlled to perform a third braking after a second preset time delay; wherein the preset condition is when the travel speed request is detected to be zero and the action enable is zero or when a fault alarm is detected.

[0008] Optionally, the step of delaying the control of all electric drives to perform the third braking after a second preset time when the preset conditions are met includes:

[0009] The second preset time is used to control all electric drives to perform the third braking; wherein the second preset time is greater than the longest action stop time.

[0010] Optionally, the step of delaying for a first preset time to control all electric drives to perform the second braking when at least a preset number of the electric drives are detected to have successfully performed the first braking includes:

[0011] The first preset time is delayed to control all the electric drives to perform the second braking; wherein the first preset time is less than the second preset time.

[0012] Optionally, the step of delaying the control of all electric drives to perform the third braking after a second preset time when the preset conditions are met includes:

[0013] If all the electric drives successfully perform the second braking, when the preset condition is met, the third braking is controlled to be performed by all the electric drives after a second preset time delay; wherein the third braking does not produce an actual braking action.

[0014] Optionally, before controlling each group of electric drives to perform the first braking after meeting their respective braking conditions upon receiving a parking command, the method further includes:

[0015] Adjust the controller processing cycle to keep the synchronization control error of each group of electric drives within a third preset time.

[0016] To achieve the above objectives, the present invention also provides an electric braking device, comprising:

[0017] The first braking module is used to control each group of electric drives to perform the first braking after their respective braking conditions are met when a parking command is received.

[0018] The second braking module is used to control all electric drives to perform the second braking after a first preset time when it is detected that at least a preset number of the electric drives have successfully performed the first braking.

[0019] The third braking module is used to control all the electric drives to perform third braking after a second preset time when a preset condition is met; wherein the preset condition is when the travel speed request is detected to be zero and the action enable is zero or when a fault alarm is detected.

[0020] Optionally, the third braking module includes:

[0021] The first time unit is used to delay the second preset time to control all the electric drives to perform the third braking; wherein the second preset time is greater than the longest action stop time.

[0022] Optionally, the second braking module includes:

[0023] The second time unit is used to delay the first preset time to control all the electric drives to perform the second braking; wherein the first preset time is less than the second preset time.

[0024] To achieve the above objectives, the present invention also provides an electric braking device, comprising:

[0025] Memory, used to store computer programs;

[0026] A processor for implementing any of the above-described methods of electric drive braking when executing the computer program.

[0027] To achieve the above objectives, the present invention also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement any of the above-described electric drive braking methods.

[0028] This invention provides a method for electric drive braking, comprising: when a parking command is received, controlling each group of electric drives to perform a first braking after each group meets its braking conditions; when at least a preset number of the electric drives are detected to have successfully performed the first braking, delaying for a first preset time to control all the electric drives to perform a second braking; and when a preset condition is met, delaying for a second preset time to control all the electric drives to perform a third braking; wherein the preset condition is when a travel speed request is detected to be zero and the action enable is zero, or when a fault alarm is detected.

[0029] As can be seen, by controlling each group of electric drives to brake after their respective braking conditions are met, the present invention avoids the problem in related technologies where all electric drives must meet the braking conditions simultaneously before braking can be performed, which leads to the vehicle rolling without power or skidding when the braking conditions cannot be met simultaneously but the power output has dropped to zero. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0031] Figure 1 A flowchart of an electric braking method provided in an embodiment of the present invention;

[0032] Figure 2 A specific embodiment of an electric braking method provided by the present invention is shown in the figure;

[0033] Figure 3This is a structural block diagram of an electric braking device provided in an embodiment of the present invention. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] The core of an electric drive platform generally consists of three systems: the electric drive system, the electronic control system, and the battery system. The electric drive system typically comprises a motor, transmission mechanism, and converter. The electronic control system generally includes a vehicle controller and a motor controller. The battery system primarily provides the energy for the entire platform's operation. In the electric drive system, the motor, also known as an electric motor or drive motor, primarily converts the electrical energy stored in the battery into mechanical energy, providing propulsion for the electric vehicle. The motor mainly consists of a stator and a rotor, and is broadly classified into two types: DC motors and AC motors.

[0036] Platform control is typically achieved through an electronic control system, which generally comprises three subsystems: VCU (Vehicle Control Unit), MCU (Motor Control Unit), and BMS (Battery Management System). The VCU serves as the central control hub for all electronic control subsystems, managing the overall operating status of the electric vehicle, receiving operator commands, diagnosing and analyzing the vehicle and component status, and controlling the actions of subsystem controllers. The MCU receives driving control commands from the vehicle controller and controls the motor to output specified torque and speed, driving the platform. The BMS primarily collects and monitors data such as battery voltage, current, and temperature, enabling battery status monitoring and analysis, battery safety protection, energy control management, and information management functions.

[0037] The following combination Figure 1 , Figure 1 A flowchart of an electric braking method provided in an embodiment of the present invention, the method may include:

[0038] S101: When a stop command is received, control each group of electric drives to perform the first braking after their respective braking conditions are met.

[0039] Understandably, when a stop command is received, the system controls each group of electric drives to brake. Any one of the electric drives can brake as soon as the braking conditions are met, without having to wait for all the electric drives to meet the braking conditions simultaneously. This avoids the problem of the vehicle rolling or skidding without power when the braking conditions cannot be met simultaneously but the power output of the motors in the electric drives has dropped to zero.

[0040] The platform in this embodiment can be an electrically driven platform. This embodiment does not limit the number of electric drives; generally, four sets of electric drives can be used to drive the platform. Each set of electric drives typically consists of a motor controlled by a motor controller, ensuring relative synchronous control of the four motor controllers so that the four motors start and stop relatively synchronously. This embodiment does not limit the method of controlling the electric drive platform; it can generally be controlled by an adjustable mechanical structure, such as a handle or foot pedal. In this embodiment, a handle can be used as the method of controlling the platform. The handle can generally be equipped with an angle sensor and / or a force sensor. When the operator releases or tightens the handle, the corresponding sensor will send the current angle or force data to the vehicle controller. The vehicle controller can use the above data to determine the operator's operation and control the change in the battery output current. The current affects the motor's operating speed, thereby controlling the platform's movement or stopping.

[0041] This embodiment does not limit the triggering method of the parking command. The parking command can be triggered when the driving handle is released, the electric drive sensor malfunctions, the electric drive temperature alarm is detected, or the undervoltage alarm is detected. When the vehicle controller receives the triggered parking command, it stops the current input and controls the four electric drives to perform the first braking action after each of them meets the braking conditions. At this point, braking can begin as soon as any one of the four electric drives meets the braking conditions; it is not necessary to wait for all electric drives to meet the braking conditions simultaneously. This embodiment does not limit the specific content of the braking conditions and can set them according to actual conditions. Generally, the braking condition can be that the motor of that electric drive group stops working. Furthermore, to ensure that the four electric drives can be controlled relatively synchronously, this embodiment can adjust the processing cycle of the controller to keep the synchronization control error of the four electric drives within a third preset time. This embodiment does not limit the size of the third preset time and can set it according to actual working conditions; it can generally be set within 50 milliseconds.

[0042] S102: When it is detected that at least a preset number of electric drives have successfully performed the first braking, delay for a first preset time to control all electric drives to perform the second braking.

[0043] Understandably, to make the entire braking method safer, a second braking can be set on the basis of the first braking. When it is detected that at least a preset number of electric drives have successfully performed the first braking, the first preset time is delayed to control all electric drives to perform the second braking.

[0044] The system controls four electric drives to perform the first braking action after each drive meets its braking conditions. If one or more drives fail to meet the braking conditions and thus fail to perform the first braking action, the vehicle's braking torque will be insufficient, leading to a rollover problem. To address this, a second braking action is introduced. When at least a preset number of electric drives have successfully performed the first braking action, a first preset time is applied before all electric drives begin the second braking action. This embodiment does not limit the size of the first preset time; it is typically 20 milliseconds, but the actual delay time can be determined based on specific circumstances. The preset number of electric drives is also not limited and can be set based on the total number of electric drives or actual operating conditions. Generally, when the platform is driven by four electric drives, the preset number can be set to three; when the platform is driven by six electric drives, the preset number can be set to four. If the total number of drives is 4, when the vehicle controller detects that at least 3 drives have successfully performed the first braking, regardless of whether the fourth drive meets the braking conditions, after a first preset time delay, the four drives are forced to perform the second braking. This solves the problem of insufficient braking force and slippage caused by a certain drive failing to brake for various reasons, and also ensures the synchronous braking of the 4 drives.

[0045] S103: When the preset conditions are met, delay for a second preset time to control all electric drives to perform the third braking; wherein, the preset conditions are when the travel speed request is detected to be zero and the action enable is zero or when a fault alarm is detected.

[0046] It is understood that the third braking in this embodiment is the overall safety measure in the entire braking method. Regardless of whether the first braking or the second braking is successfully triggered, when the preset conditions are met, the third braking is controlled by delaying the second preset time. The preset conditions are when the travel speed request is detected to be zero and the action enable is zero, or when a fault alarm is detected.

[0047] This embodiment does not limit the specific content of the preset conditions. Generally, it can be triggered when the walking speed request is detected to be zero and the action enable is zero, or when a fault alarm is detected. The trigger for the walking speed request to be zero and the action enable to be zero can be the action of releasing the handle. When the handle is fully released, the motor speed request becomes zero, and the action enable attached to the handle becomes zero. Both conditions must exist simultaneously. Furthermore, this embodiment does not limit the specific fault that triggers the fault alarm. It can be a sensor fault other than speed reduction and power reduction faults, such as temperature alarms or undervoltage / overvoltage alarms.

[0048] This embodiment does not limit the size of the two preset times. Generally, the third braking, as a general safety measure for the entire braking scheme, can be performed after the first and second braking. That is, the size of the second preset time can be greater than the first preset time. In order to ensure the stability of the third braking, the size of the second preset time can generally be greater than the longest action stop time in the system design. The longest action stop time in the system design is generally 3 seconds, in which case the second delay time can be set to 3.1 seconds. At this time, whether at least a preset number of electric drives in the four groups successfully perform the first braking, thereby triggering all electric drives to perform the second braking after the first preset time delay, or whether at least a preset number of electric drives fail to successfully perform the first braking, thus failing to trigger the second braking of all electric drives, after the second preset time delay, all electric drives are controlled to perform the third braking uniformly. This serves as the final protection condition to prevent the entire vehicle from being without power and braking torque for a long time, and to prevent safety accidents. Furthermore, in order to prevent unnecessary forced braking, if the second braking of all electric drives is successful, the third braking can be the braking on the control output, without actual brake action.

[0049] This embodiment controls each group of electric drives to brake after their respective braking conditions are met, thus avoiding the problem in related technologies where all electric drives must meet the braking conditions simultaneously to brake, which can lead to powerless vehicle slippage or skidding when the braking conditions cannot be met simultaneously but the power output has already dropped to zero.

[0050] The following combination Figure 2 , Figure 2 The diagram illustrates a specific embodiment of an electric drive braking method provided by the present invention. The platform can have four sets of electric drives, with a preset number of three sets. The first preset time is 20 milliseconds, and the second preset time is 3.1 seconds. This specific embodiment may include:

[0051] 1. When a stop command is received, control the four electric drives to perform the first braking after each of them meets the braking conditions.

[0052] 2. Check if at least 3 sets of electric drives successfully performed the first braking.

[0053] 3. If so, delay for 20 milliseconds to control the 4 groups of electric drives to perform the second braking, turn 5.

[0054] 4. If not, proceed to 5.

[0055] 5. After the preset conditions are met, the four electric drives are forced to perform the third braking action after a uniform delay of 3.1 seconds.

[0056] The following describes the electric drive braking device, equipment, and storage medium provided in the embodiments of the present invention. The electric drive braking device, equipment, and storage medium described below can be referred to in correspondence with the electric drive braking method described above.

[0057] The following combination Figure 3 , Figure 3 This is a structural block diagram of an electric braking device provided in an embodiment of the present invention. The device may include:

[0058] The first braking module 100 is used to control each group of electric drives to perform the first braking after meeting their respective braking conditions when a parking command is received.

[0059] The second braking module 200 is used to control all electric drives to perform the second braking after a first preset time when it is detected that at least a preset number of the electric drives have successfully performed the first braking.

[0060] The third braking module 300 is used to control all the electric drives to perform third braking after a second preset time when a preset condition is met; wherein the preset condition is when the travel speed request is detected to be zero and the action enable is zero or when a fault alarm is detected.

[0061] Based on the above embodiments, the present invention controls each group of electric drives to brake after their respective braking conditions are met, thus avoiding the problem in related technologies where all electric drives must meet the braking conditions simultaneously before braking can be performed, which leads to the vehicle rolling without power or skidding when the braking conditions cannot be met simultaneously but the power output has already dropped to zero.

[0062] Based on the above embodiments, the third braking module 300 includes:

[0063] The first time unit is used to delay the second preset time to control all the electric drives to perform the third braking; wherein the second preset time is greater than the longest action stop time.

[0064] Based on the above embodiments, the second braking module 200 includes:

[0065] The second time unit is used to delay the first preset time to control all the electric drives to perform the second braking; wherein the first preset time is less than the second preset time.

[0066] Based on the above embodiments, the third braking module 300 includes:

[0067] A braking unit is configured to, if all the electric drives successfully perform the second braking, and when the preset condition is met, delay for a second preset time to control all the electric drives to perform the third braking; wherein the third braking does not produce an actual braking action.

[0068] Based on the above embodiments, the device may further include:

[0069] The synchronization unit is used to adjust the controller processing cycle so that the synchronization control error of each group of electric drives is controlled within a third preset time.

[0070] Based on the above embodiments, the present invention also provides an electric braking device, which may include a memory and a processor. The memory stores a computer program, and when the processor calls the computer program in the memory, it can implement the steps provided in the above embodiments. Of course, the device may also include various necessary network interfaces, power supplies, and other components.

[0071] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by an execution terminal or processor, can implement the electric drive braking method provided in the embodiments of the present invention; the storage medium may include various media capable of storing program code, such as a USB flash drive, a portable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0072] This document uses specific examples to illustrate the principles and implementation methods of the present invention, and the various embodiments are progressively related. Each embodiment focuses on the differences from other embodiments, and similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, please refer to the corresponding method section. The above description of the embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. For those skilled in the art, several improvements and modifications can be made to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

[0073] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

Claims

1. A method for electric braking, characterized in that, The method is applied to aerial work platforms and includes: When a stop command is received, at least four electric drives are controlled to perform the first braking after their respective braking conditions are met. When at least three groups of electric drives are detected to have successfully performed the first braking, a first preset time is delayed to control all electric drives to perform the second braking. When a preset condition is met, a second preset time delay is applied to control all electric drives to perform a third braking action; wherein the preset condition is when a zero travel speed request and a zero action enable are detected, or when a fault alarm is detected; wherein the first braking, the second braking, and the third braking constitute a multi-stage braking mechanism for the electric drives, the second preset time is greater than the longest action stop time, and the first preset time is less than the second preset time.

2. The method according to claim 1, characterized in that, When a preset condition is met, delaying for a second preset time to control all the electric drives to perform a third braking includes: If all the electric drives successfully perform the second braking, when the preset condition is met, the third braking is controlled to be performed by all the electric drives after a second preset time delay; wherein the third braking does not produce an actual braking action.

3. The method according to claim 1, characterized in that, Before controlling at least four electric drives to perform the first braking after each of them meets the braking conditions when a parking command is received, the method further includes: Adjust the controller processing cycle to keep the synchronization control error of each group of electric drives within a third preset time.

4. An electrically driven braking device, said device being applied to an aerial work platform, characterized in that, include: The first braking module is used to control at least four electric drives to perform the first braking after each of them meets the braking conditions when a parking command is received. The second braking module is used to control all electric drives to perform the second braking after a first preset time when at least 3 groups of electric drives are detected to have successfully performed the first braking. The third braking module is used to control all electric drives to perform third braking after a second preset time when a preset condition is met; wherein the preset condition is when the travel speed request is detected to be zero and the action enable is zero or when a fault alarm is detected; wherein the first braking, the second braking and the third braking constitute multi-stage braking of the electric drive, the second preset time is greater than the longest action stop time, and the first preset time is less than the second preset time.

5. An electrically driven braking device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the electric braking method as described in any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement the electric braking method as described in any one of claims 1 to 3.

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