A method and system for real-time control of traction force in a distributed power electric locomotive

Abstract

This application proposes a method and system for real-time traction control of a distributed power electric locomotive. The system includes a central control unit, a main drive mechanism, and multiple first slave drive mechanisms located at the locomotive head, as well as a soil weight monitoring unit and multiple second slave drive mechanisms located on each powered dump truck. Each drive mechanism includes a motor and a corresponding variable frequency drive control unit. Based on the operation command and start command, the output torque of the main motor is obtained using the variable frequency drive control unit in the central control unit and the main drive mechanism. The central control unit also obtains the slave motor following torque of the slave drive mechanism based on the main motor output torque, the empty weight of the powered dump truck, the soil weight, the rated weight of the powered dump truck under full load, and the rated torque of the motors of each drive mechanism. Furthermore, it determines the given frequency of the slave motor based on the given frequency after the slope and the jogging setting frequency, and then uses the slave motor following torque and the slave motor given frequency to control the operation of the motors of the slave drive mechanisms.

Description

Technical Field

[0001] This application relates to the field of electric locomotive technology, and in particular to a method and system for real-time control of traction force in a distributed power electric locomotive. Background Technology

[0002] Electric locomotives and their supporting systems are transportation equipment used in the shield tunneling of urban subways to move excavated soil out of the tunnel and to move mortar, tunnel segments, and other materials into the tunnel. They fall under the construction industry. Electric locomotives rely on lithium batteries to provide DC power to the entire vehicle, and use frequency converters to drive the motors to provide traction and electric braking force.

[0003] Traditional electric locomotives employ centralized power control, with several identical drive mechanisms centrally located at the locomotive's front end. These locomotives rely on the front end to pull dump trucks, mortar trucks, and segment trucks for material and excavated soil transportation. In traditional locomotives with centralized power, all drive mechanisms have the same viscous weight requirement. Because the weight of the locomotive remains constant during operation, under rated output conditions, unless the track is exceptionally slippery, the wheels will not slip due to insufficient viscous weight. Therefore, there is no need to individually control or limit the output of each drive mechanism. However, if a traditional electric locomotive needs to increase its traction capacity, it can only do so by adding counterweights to increase the viscous weight of the locomotive. The more counterweights added to the locomotive, the more useless load the vehicle carries.

[0004] If a distributed power locomotive is used, the slag being transported can be fully utilized to provide viscous weight to the vehicle, which can significantly reduce the number of additional loads and improve the vehicle's effective carrying capacity. However, this method inevitably encounters a problem: the viscous weight of the vehicle is very different when it is empty and when it is heavily loaded. Under certain special working conditions, the empty power dump truck may slip due to insufficient viscous weight. Summary of the Invention

[0005] This application aims to at least partially address one of the technical problems in the related art.

[0006] Therefore, the first objective of this application is to propose a real-time traction control system for distributed power electric locomotives to solve the problem of slippage that may occur in power dump trucks under no-load conditions due to insufficient viscous weight.

[0007] The second objective of this application is to propose a real-time control method for the traction force of a distributed power electric locomotive.

[0008] To achieve the above objectives, the first aspect of this application proposes a real-time traction control system for a distributed power electric locomotive. The locomotive is equipped with a locomotive head and multiple powered dump trucks. The real-time traction control system includes a central control unit, a main drive mechanism, and multiple first driven mechanisms located at the locomotive head. It also includes a dump weight monitoring unit and multiple second driven mechanisms located at each powered dump truck. Each drive mechanism includes a motor and a corresponding variable frequency drive control unit.

[0009] The central control unit is used to generate a running direction and a given frequency based on the received running instructions, and to send the running direction, the given frequency, and the received start instruction to the variable frequency drive control unit in the main drive mechanism; it is also used to obtain the follow torque of the slave motor of the drive mechanism based on the output torque of the main motor, the empty weight of the power dump truck, the weight of the dump truck, the rated weight of the power dump truck when fully loaded, and the rated torque of the motors of each drive mechanism; it is also used to obtain the given frequency of the slave motor based on the given frequency after the slope and the jog setting frequency, and to send the follow torque of the slave motor and the given frequency of the slave motor to the variable frequency drive control unit in the slave drive mechanism;

[0010] The variable frequency drive control unit in the main drive mechanism is used to start the motor of the main drive mechanism based on the start command, calculate the output torque of the main motor based on the running direction and the given frequency, control the motor operation of the main drive mechanism using the output torque of the main motor, obtain the given frequency after the ramp based on the given frequency, and send the output torque of the main motor and the given frequency after the ramp to the central control unit.

[0011] The muck weight monitoring unit is used to monitor the weight of muck from the power-operated muck truck.

[0012] The variable frequency drive control unit within the drive mechanism is used to control the operation of the motor in the drive mechanism based on the follower torque of the slave motor and the given frequency of the slave motor.

[0013] In the distributed power locomotive traction real-time control system provided in the first aspect of this application, the follower torque of the slave motor includes the first follower torque of the first slave drive mechanism and the second follower torque of the second slave drive mechanism. The step of obtaining the follower torque of the slave drive mechanism based on the main motor output torque, the empty weight of the power dump truck, the weight of the dump truck, the rated weight of the power dump truck at full load, and the rated torque of the motors of each drive mechanism includes: for the first slave drive mechanism, setting the first follower torque of the slave motor equal to the output torque of the main motor to obtain the first follower torque of the first slave drive mechanism; for the second slave drive mechanism... The actual load capacity of the powered dump truck is obtained based on its empty weight and the weight of the dump truck. If the actual load capacity of the powered dump truck is equal to its full-load rated weight, the corresponding second slave motor following torque is obtained based on the rated torque of the motors of each drive mechanism and the output torque of the main motor. If the actual load capacity of the powered dump truck is not equal to its full-load rated weight, the corresponding second slave motor following torque is obtained based on the output torque of the main motor, the actual load capacity of the powered dump truck, the full-load rated weight of the powered dump truck, and the rated torque of the motors of each drive mechanism.

[0014] In the real-time traction control system for the distributed power locomotive provided in the first aspect of this application, the rated torque of each motor in each drive mechanism within the locomotive head is equal, and the rated torque of each motor in the second driven mechanism is equal. If the actual load capacity of the power dump truck is equal to the fully loaded rated weight of the power dump truck, the corresponding second driven motor following torque is obtained based on the rated torque of each drive mechanism motor and the output torque of the main motor. This includes: calculating the first ratio of the rated torque of a single motor in the locomotive head to the rated torque of a single motor in the power dump truck, and obtaining the corresponding second driven motor following torque based on the product of the first ratio and the output torque of the main motor.

[0015] In the real-time traction control system for the distributed power locomotive provided in the first aspect of this application, if the actual load capacity of the power dump truck is not equal to the rated full load capacity of the power dump truck, the corresponding second follower torque is obtained by obtaining the follower torque of the follower motor of the drive mechanism based on the output torque of the main motor, the actual load capacity of the power dump truck, the rated full load capacity of the power dump truck, and the rated torque of the motors of each drive mechanism. This includes: calculating a second ratio between the actual load capacity of the power dump truck and the rated full load capacity of the power dump truck; and obtaining the corresponding second follower torque based on the product of the first ratio, the second ratio, and the output torque of the main motor.

[0016] In the real-time traction control system for a distributed power electric locomotive provided in the first aspect of this application, the step of obtaining the slave motor's given frequency based on the given frequency after the slope and the jogging setting frequency includes: determining whether the given frequency after the slope is less than or equal to the jogging setting frequency; if so, obtaining the slave motor's given frequency based on the jogging setting frequency; otherwise, obtaining the slave motor's given frequency based on the given frequency after the slope.

[0017] In the distributed power locomotive traction real-time control system provided in the first aspect of this application, the traction real-time control system further includes an operation display unit and an operation handle disposed at the locomotive head; the operation display unit and the operation handle are respectively connected to the central control unit; the operation handle is used to generate a start command; the operation display unit is used to generate a running command and is also used to display the output torque of the main motor and the following torque of the slave motor.

[0018] In the real-time traction control system for the distributed power locomotive provided in the first aspect of this application, the muck weight monitoring unit includes a muck truck weighing unit and a data acquisition unit. The muck truck weighing unit is connected to the central control unit via the data acquisition unit. The muck truck weighing unit is used to collect the analog quantity of the actual muck weight of the powered muck truck. The data acquisition unit is used to convert the analog quantity of the actual muck weight into a muck weight data value.

[0019] To achieve the above objectives, a second aspect of this application provides a real-time traction control method for a distributed power electric locomotive, comprising:

[0020] When a running command and a start command are received, the central control unit generates a running direction and a given frequency based on the received running command, and sends the running direction, the given frequency, and the received start command to the variable frequency drive control unit in the main drive mechanism.

[0021] The variable frequency drive control unit in the main drive mechanism starts the motor of the main drive mechanism based on the start command, calculates the output torque of the main motor based on the running direction and the given frequency, controls the operation of the motor of the main drive mechanism using the output torque of the main motor, obtains the given frequency after the ramp based on the given frequency, and sends the output torque of the main motor and the given frequency after the ramp to the central control unit.

[0022] The central control unit obtains the follower motor torque of the drive mechanism based on the main motor output torque, the empty weight of the power dump truck, the weight of the dump truck, the rated weight of the power dump truck when fully loaded, and the rated torque of the motors of each drive mechanism, and sends the follower motor torque to the frequency conversion drive control unit in the drive mechanism.

[0023] The central control unit obtains the slave motor's given frequency based on the given frequency after the ramp and the jog setting frequency, and sends the slave motor's given frequency to the variable frequency drive control unit in the slave drive mechanism;

[0024] The variable frequency drive control unit within the drive mechanism controls the operation of the motor in the drive mechanism based on the follower torque of the slave motor and the given frequency of the slave motor.

[0025] In the real-time traction control method for a distributed power electric locomotive provided in the second aspect of this application, the follower torque of the slave motor includes the first follower torque of the first slave drive mechanism and the second follower torque of the second slave drive mechanism. The central control unit obtains the follower torque of the slave drive mechanism based on the output torque of the main motor, the empty weight of the power dump truck, the weight of the dump truck, the rated weight of the power dump truck at full load, and the rated torque of the motors of each drive mechanism. This includes: for the first slave drive mechanism, setting the first follower torque of the slave motor equal to the output torque of the main motor to obtain the first follower torque of the first slave drive mechanism; for the second slave drive mechanism, based on the output torque of the main motor ... and for the second follower mechanism, based on the output torque of the main motor, setting the first follower torque of the slave motor equal to the output torque of the main motor to obtain the first follower torque of the first slave drive mechanism. The actual load capacity of the power dump truck is obtained by comparing its empty load weight with the weight of the dump truck. If the actual load capacity of the power dump truck is equal to its full-load rated load weight, the corresponding second slave motor following torque is obtained based on the actual load capacity, the full-load rated load weight, and the output torque of the main motor. If the actual load capacity of the power dump truck is not equal to its full-load rated load weight, the corresponding second slave motor following torque is obtained based on the output torque of the main motor, the actual load capacity, the full-load rated load weight, and the rated torque of each drive mechanism's motor.

[0026] In the real-time traction control method for a distributed power electric locomotive provided in the second aspect of this application, the step of obtaining the slave motor's given frequency based on the given frequency after the slope and the jogging setting frequency includes: determining whether the given frequency after the slope is less than or equal to the jogging setting frequency; if so, obtaining the slave motor's given frequency based on the jogging setting frequency; otherwise, obtaining the slave motor's given frequency based on the given frequency after the slope.

[0027] The method and system for real-time traction control of a distributed power locomotive provided in this application include a locomotive head and multiple powered dump trucks. The real-time traction control system includes a central control unit, a main drive mechanism, and multiple first driven mechanisms located at the locomotive head, as well as a dump weight monitoring unit and multiple second driven mechanisms located at each powered dump truck. Each drive mechanism includes a motor and a corresponding variable frequency drive control unit. The central control unit generates a running direction and a given frequency based on received running commands, and sends the running direction, given frequency, and received start commands to the variable frequency drive control unit in the main drive mechanism. It also obtains the second driven force based on the main motor output torque, the empty weight of the powered dump truck, the weight of the dump truck, the rated weight of the powered dump truck under full load, and the rated torque of the motors in each drive mechanism. The mechanism includes a slave motor following torque; it is also used to obtain the slave motor's given frequency based on the given frequency after the ramp and the jog setting frequency, and to send the slave motor following torque and the slave motor's given frequency to the variable frequency drive control unit in the slave drive mechanism; the variable frequency drive control unit in the main drive mechanism is used to start the motor of the main drive mechanism based on the start command, calculate the main motor's output torque based on the running direction and the given frequency, control the motor operation of the main drive mechanism using the main motor's output torque, and also obtain the given frequency after the ramp based on the given frequency, and send the main motor's output torque and the given frequency after the ramp to the central control unit; the muck weight monitoring unit is used to monitor the muck weight of the power muck truck; the variable frequency drive control unit in the slave drive mechanism is used to control the operation of the slave drive mechanism's motor based on the slave motor following torque and the slave motor's given frequency. In this configuration, the central control unit, main drive mechanism, and multiple first driven mechanisms integrated at the locomotive head, along with the soil weight monitoring unit and multiple second driven mechanisms installed on each powered dump truck, generate the running direction and given frequency based on the running command to obtain the output torque of the main motor. The follow-up torque of the driven motors is obtained by comprehensively considering the main motor output torque, the empty weight of the powered dump truck, the weight of the soil, the rated weight of the powered dump truck under full load, and the rated torque of the motors in each drive mechanism. Furthermore, the given frequency of the driven motors is determined based on the given frequency after the slope and the jogging setting frequency. The motor operation of the driven motors is controlled using the follow-up torque and the given frequency of the driven motors. Therefore, the output of each motor in the distributed power locomotive can be controlled in real time according to the actual weight of the soil, avoiding the problem of slippage due to insufficient adhesion when the powered dump truck is unloaded, and improving the stability of the vehicle during operation.

[0028] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0029] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0030] Figure 1 A block diagram of a real-time traction control system for a distributed power electric locomotive provided in an embodiment of this application;

[0031] Figure 2 This is a schematic flowchart illustrating the process of obtaining a given frequency from a motor, as provided in an embodiment of this application.

[0032] Figure 3 This is a flowchart of the real-time traction control process provided in the embodiments of this application;

[0033] Figure 4 A flowchart illustrating the real-time traction control method for a distributed power electric locomotive provided in this application embodiment. Detailed Implementation

[0034] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0035] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0036] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. It should also be understood that the term "and / or" as used in this application refers to and includes any or all possible combinations of one or more associated listed items.

[0037] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0038] This application proposes a method and system for real-time control of traction force of a distributed power locomotive to solve the problem of slippage that may occur in power dump trucks under no-load conditions due to insufficient viscous weight.

[0039] The electric locomotive configuration in this application includes one locomotive head, multiple powered dump trucks, multiple unpowered dump trucks, one mortar truck, and multiple segment trucks.

[0040] In this embodiment, the distributed power locomotive traction real-time control system can be simply referred to as the traction real-time control system. This distributed power locomotive traction real-time control system includes a central control unit, a main drive mechanism, and multiple first driven mechanisms located at the locomotive head. It also includes a soil weight monitoring unit and multiple second driven mechanisms located on each powered dump truck. The main drive mechanism and each of the first driven mechanisms are identical drive mechanisms. Each of the second driven mechanisms is identical drive mechanism. The drive mechanisms of the locomotive head and the powered dump trucks are different.

[0041] Specifically, Figure 1 This is a block diagram of a real-time traction control system for a distributed power electric locomotive, provided as an embodiment of this application. Figure 1 As shown, the real-time traction control system of the distributed power electric locomotive includes a central control unit and a first drive mechanism located at the locomotive head. The central control unit is connected to the first drive mechanism. The first drive mechanism includes m drive mechanisms, which are divided into a main drive mechanism and multiple first slave drive mechanisms. The multiple first slave drive mechanisms are first slave drive mechanism A1, ..., first slave drive mechanism Am-1.

[0042] like Figure 1 As shown, there are N powered dump trucks. Each powered dump truck is equipped with a dump weight monitoring unit and a second drive mechanism. The second drive mechanism includes n secondary drive mechanisms, namely secondary drive mechanisms B1, ..., secondary drive mechanisms Bn. The central control unit is connected to both the second drive mechanism and the dump weight monitoring unit.

[0043] In this embodiment, the muck weight monitoring unit is used to monitor the weight of the muck from the powered muck truck. For example... Figure 1 As shown, the construction waste weight monitoring unit includes a construction waste truck weighing unit and a data acquisition unit. The construction waste truck weighing unit is, for example, a weighing sensor.

[0044] In this embodiment, the dump truck weighing unit is connected to the central control unit via the data acquisition unit; the dump truck weighing unit is used to collect the analog quantity of the actual dump weight of the powered dump truck; the data acquisition unit is used to internally call the analog quantity conversion function block FC2 to convert the analog quantity of the actual dump weight into the dump weight data value (i.e., dump weight m2).

[0045] In this embodiment, each drive mechanism in the first and second drive mechanisms includes a motor and a corresponding variable frequency drive control unit. The central control unit is connected to the corresponding motor via each variable frequency drive control unit. The variable frequency drive control unit is, for example, a variable frequency drive.

[0046] In this embodiment, the control mode of the variable frequency drive control unit for the motor of the main drive mechanism (which can be referred to as the main motor) is a vector control mode without speed feedback, and the control mode of the variable frequency drive control unit for the motors of the remaining drive mechanisms (i.e., the first driven mechanism and the second driven mechanism) of the electric locomotive (which can be referred to as the slave motors) is a torque control mode. The motor parameters of the variable frequency drive control unit for the slave motors of the power dump truck are set.

[0047] In this embodiment, as Figure 1 As shown, the traction real-time control system also includes an operation display unit located at the locomotive head. The operation display unit is, for example, a human-machine interface (HMI). The operation display unit is connected to the central control unit; it is used to generate operating commands. The operation display unit is also used to display the output torque of the main motor and the following torque of the slave motors (described later). When the vehicle starts, the driver can send operating commands to the central control unit via the operation display unit. The operating commands carry the operating direction and a given frequency.

[0048] In this embodiment, as Figure 1 As shown, the traction real-time control system also includes an operating handle located at the locomotive head; the operating handle is connected to the central control unit; the operating handle is used to generate a start command. The start command carries the gear position switch quantity and gear value.

[0049] In this embodiment, the central control unit is equipped with a frequency setting module, a torque distribution function block, and a frequency limiting function block.

[0050] In this embodiment, the central control unit is used to call the frequency setting module FC1, generate the running direction and the given frequency based on the received running instructions, and send the running direction, the given frequency and the received start instructions to the variable frequency drive control unit in the main drive mechanism.

[0051] In this embodiment, the central control unit is also used to, upon receiving the main motor output torque F0 and the given frequency after the ramp (described later) sent by the main drive mechanism, and the weight of the dump truck monitored by the dump truck weight monitoring unit, call the torque distribution function block FC3 to obtain the slave motor following torque of the drive mechanism based on the main motor output torque, the empty weight of the dump truck, the weight of the dump truck, the rated weight of the dump truck at full load, and the rated torque of the motors of each drive mechanism, and send the slave motor following torque to the frequency converter drive control unit in the slave drive mechanism. The main motor output torque F0 is the given output torque after the main motor speed closed-loop adjustment, and the slave motor following torque includes the first slave motor following torque of the first slave drive mechanism and the second slave motor following torque of the second slave drive mechanism.

[0052] Specifically, in this embodiment, the torque distribution function block FC3 is called to obtain the follower torque of the slave motor of the drive mechanism based on the main motor output torque, the empty weight of the power dump truck, the weight of the dump truck, the rated weight of the power dump truck under full load, and the rated torque of the motors of each drive mechanism, including:

[0053] Since the power of the slave motor and the main motor of the locomotive are the same, for the first slave drive mechanism, the following torque F1 of the first slave motor is made equal to the output torque F0 of the main motor (i.e., F1 = F0) to obtain the following torque of the first slave motor of the first slave drive mechanism.

[0054] Because the power of the slave motor of the power dump truck is different from that of the main motor of the locomotive, the torque distribution function block FC3 obtains the distribution coefficient according to two proportions (i.e. two ratios).

[0055] For the second driven mechanism, the actual load capacity of the power dump truck (i.e., m1+m2) is obtained based on the empty load weight m1 and the load weight m2 of the dump truck. If the actual load capacity of the power dump truck is equal to the rated full load weight m3 of the power dump truck, the corresponding second driven motor following torque is obtained based on the rated torque of the motor of each driven mechanism and the output torque of the main motor. If the actual load capacity of the power dump truck is not equal to the rated full load weight of the power dump truck, the corresponding second driven motor following torque is obtained based on the output torque of the main motor, the actual load capacity of the power dump truck, the rated full load weight of the power dump truck, and the rated torque of the motor of each driven mechanism.

[0056] In this embodiment, the rated torque of each motor in each drive mechanism within the locomotive head is equal; that is, the rated torque of each individual motor in the locomotive head of the electric locomotive can be expressed as F. 0额 This indicates that the rated torque of each motor in the second drive mechanism is equal, meaning that the rated torque of each individual motor in the power dump truck can be represented by F. 2额 express.

[0057] Specifically, if the actual load capacity of the power dump truck is equal to the rated full load capacity of the power dump truck, then the corresponding second slave motor following torque is obtained based on the rated torque of the motors of each drive mechanism and the output torque of the main motor, including: the first ratio of the rated torque of a single motor of the computer head to the rated torque of a single motor of the power dump truck, and the corresponding second slave motor following torque is obtained based on the product of the first ratio and the output torque of the main motor.

[0058] The first ratio is the first distribution coefficient, which satisfies: k1 = F 0额 / F 2额 .

[0059] The second ratio is the second distribution coefficient, which satisfies: k2=(m1+m2) / m3.

[0060] If the actual load capacity of the power dump truck is equal to the rated full load capacity of the power dump truck, i.e., k2 = 1, the following torque F2 of the second slave motor is equal to the output torque F0 of the main motor multiplied by the first distribution coefficient k1, i.e., F2 = F0 * k1.

[0061] If the actual load capacity of the power dump truck is not equal to the rated full load capacity of the power dump truck, then the corresponding second follower torque is obtained from the follower motor following torque of the drive mechanism based on the output torque of the main motor, the actual load capacity of the power dump truck, the rated full load capacity of the power dump truck, and the rated torque of the motors of each drive mechanism. This includes: calculating the second ratio between the actual load capacity of the power dump truck and the rated full load capacity of the power dump truck; and obtaining the corresponding second follower torque based on the product of the first ratio, the second ratio, and the output torque of the main motor.

[0062] If the actual load capacity of the power dump truck is not equal to the rated full load capacity of the power dump truck, that is, when k2≠1, the following torque F2 of the second slave motor is equal to the output torque F0 of the main motor multiplied by the first distribution coefficient k1 and the second distribution coefficient k2, that is, F2=F0*k1*k2.

[0063] In this embodiment, the central control unit is also used to obtain the given frequency of the slave motor based on the given frequency after the ramp and the jog setting frequency, and send the given frequency of the slave motor to the variable frequency drive control unit in the slave drive mechanism.

[0064] Specifically, the frequency limiting function block FC4 is called to obtain the slave motor's given frequency based on the given frequency after the ramp and the jog setting frequency. This includes: determining whether the given frequency after the ramp is less than or equal to the jog setting frequency; if so, obtaining the slave motor's given frequency based on the jog setting frequency; otherwise, obtaining the slave motor's given frequency based on the given frequency after the ramp.

[0065] Figure 2This is a flowchart illustrating the process of obtaining a given frequency from a motor, as provided in an embodiment of this application.

[0066] like Figure 2 As shown, after the central control unit (also known as the locomotive controller) sends a start command, as well as the corresponding running direction and given frequency to the variable frequency drive control unit of the main motor, it determines whether the given frequency of the main motor after the ramp is less than or equal to the jogging setting frequency. If so, the given frequency of the motor is equal to the jogging setting frequency + 1Hz; otherwise, the given frequency of the motor is equal to the given frequency after the ramp + 2Hz.

[0067] like Figure 2 As shown, the central control unit sends the first slave motor following torque F1, the second slave motor following torque F2, and the slave motor given frequency to the corresponding slave motor variable frequency drive control unit via communication.

[0068] In this embodiment, the variable frequency drive control unit within the main drive mechanism starts the motor of the main drive mechanism based on a start command, calculates the main motor output torque F0 based on the running direction and a given frequency, controls the operation of the main drive mechanism motor using the main motor output torque, obtains the given frequency after the ramp based on the given frequency, and sends the main motor output torque F0 and the given frequency after the ramp to the central control unit. The central control unit uses the main motor output torque F0 as the initial given value for the torque control of all slave motors.

[0069] In this embodiment, the variable frequency drive control unit within the drive mechanism is used to control the operation of the motor in the drive mechanism based on the follower torque of the motor and the given frequency of the motor.

[0070] In this embodiment, when the locomotive is running, the frequency conversion drive control unit of each motor sends the actual torque value (such as the output torque F0 of the main motor, the following torque F1 of the first slave motor, and the following torque F2 of the second slave motor) to the locomotive controller in real time. The locomotive controller stores the data in the internal controller and sends it to the host computer human-machine interface for display.

[0071] Figure 3 This is a flowchart illustrating the real-time traction control process provided in an embodiment of this application.

[0072] Specifically, in combination Figure 3 The real-time traction control process of the distributed power electric locomotive is as follows:

[0073] The locomotive controller receives start and run commands;

[0074] The locomotive controller calls the frequency setting function block FC1;

[0075] The locomotive controller sends the running direction, given frequency, and received start command to the locomotive head main motor frequency converter driver;

[0076] The main motor frequency converter driver calls the internal control module to output the main motor output torque and the given frequency after the ramp, and sends them to the locomotive controller.

[0077] The data acquisition unit calls the analog-to-analog conversion function block FC2 to calculate the weight of the slag and soil.

[0078] The locomotive controller calls the torque distribution function block FC3 to distribute torque to the slave motor;

[0079] The locomotive controller calls the frequency limiting function block FC4;

[0080] The locomotive controller will distribute the torque and the given frequency to each slave motor;

[0081] The real-time torque is sent from the motor inverter driver to the locomotive controller and displayed on the host computer human-machine interface.

[0082] The following are embodiments of the method of this application. For details not disclosed in the embodiments of the method of this application, please refer to the system embodiments of this application. The method embodiments of this application propose a real-time control method for the traction force of a distributed power electric locomotive. This real-time control method for the traction force of a distributed power electric locomotive utilizes the real-time control system for the traction force of a distributed power electric locomotive described in the above system embodiments. The real-time control method for the traction force of a distributed power electric locomotive of this application can be simply referred to as the traction force real-time control method.

[0083] Figure 4 A flowchart illustrating the real-time traction control method for a distributed power electric locomotive provided in this application embodiment.

[0084] like Figure 4 As shown, the real-time traction control method for the distributed power electric locomotive includes:

[0085] Step S101: When the running command and start command are received, the central control unit generates the running direction and given frequency based on the received running command, and sends the running direction, given frequency and the received start command to the frequency conversion drive control unit in the main drive mechanism.

[0086] In step S102, the variable frequency drive control unit in the main drive mechanism starts the motor of the main drive mechanism based on the start command, calculates the output torque of the main motor based on the running direction and the given frequency, controls the motor operation of the main drive mechanism using the output torque of the main motor, obtains the given frequency after the ramp based on the given frequency, and sends the output torque of the main motor and the given frequency after the ramp to the central control unit.

[0087] In step S103, the central control unit obtains the follower motor torque of the drive mechanism based on the main motor output torque, the empty weight of the power dump truck, the weight of the dump truck, the rated weight of the power dump truck when fully loaded, and the rated torque of the motors of each drive mechanism, and sends the follower motor torque to the frequency conversion drive control unit in the drive mechanism.

[0088] In step S104, the central control unit obtains the given frequency of the slave motor based on the given frequency after the ramp and the jog setting frequency, and sends the given frequency of the slave motor to the variable frequency drive control unit in the slave drive mechanism.

[0089] Step S105: The variable frequency drive control unit in the drive mechanism controls the operation of the motor in the drive mechanism based on the follower torque of the motor and the given frequency of the motor.

[0090] In some embodiments, the follower torque of the slave motor includes the first follower torque of the first slave drive mechanism and the second follower torque of the second slave drive mechanism. The central control unit in step S103 obtains the follower torque of the slave drive mechanism based on the main motor output torque, the empty weight of the power dump truck, the weight of the dump truck, the rated weight of the power dump truck at full load, and the rated torque of the motors of each drive mechanism. This includes: for the first slave drive mechanism, setting the first follower torque of the slave motor equal to the output torque of the main motor to obtain the first follower torque of the first slave drive mechanism; for the second slave drive mechanism, based on the main motor output torque, setting the first follower torque of the slave drive mechanism ... and for the second follower mechanism, based on the main motor output torque, setting the first follower torque of the slave drive mechanism equal to the output torque of the main motor to obtain the first follower torque of the first slave drive mechanism. The actual load capacity of the powered dump truck is obtained from the empty load weight and the weight of the dump truck. If the actual load capacity of the powered dump truck is equal to the rated full load weight of the powered dump truck, the corresponding second slave motor following torque is obtained based on the rated torque of the motors of each drive mechanism and the output torque of the main motor. If the actual load capacity of the powered dump truck is not equal to the rated full load weight of the powered dump truck, the corresponding second slave motor following torque is obtained based on the output torque of the main motor, the actual load capacity of the powered dump truck, the rated full load weight of the powered dump truck, and the rated torque of the motors of each drive mechanism.

[0091] In some embodiments, the rated torque of each motor in each drive mechanism within the locomotive head is equal, and the rated torque of each motor in the second driven mechanism is equal. If the actual load capacity of the power dump truck is equal to the fully loaded rated weight of the power dump truck, the corresponding second driven motor following torque is obtained based on the rated torque of each drive mechanism motor and the output torque of the main motor, including: calculating the first ratio of the rated torque of a single motor in the locomotive head to the rated torque of a single motor in the power dump truck, and obtaining the corresponding second driven motor following torque based on the product of the first ratio and the output torque of the main motor.

[0092] In some embodiments, if the actual load capacity of the power dump truck is not equal to the rated full load capacity of the power dump truck, the corresponding second follower torque is obtained by obtaining the follower motor following torque of the drive mechanism based on the output torque of the main motor, the actual load capacity of the power dump truck, the rated full load capacity of the power dump truck, and the rated torque of the motors of each drive mechanism. This includes: calculating a second ratio between the actual load capacity of the power dump truck and the rated full load capacity of the power dump truck; and obtaining the corresponding second follower torque based on the product of the first ratio, the second ratio, and the output torque of the main motor.

[0093] In some embodiments, obtaining the slave motor's given frequency based on the given frequency after the ramp and the jogging setting frequency in step S104 includes: determining whether the given frequency after the ramp is less than or equal to the jogging setting frequency; if so, obtaining the slave motor's given frequency based on the jogging setting frequency; otherwise, obtaining the slave motor's given frequency based on the given frequency after the ramp.

[0094] In some embodiments, the real-time traction control method for distributed power electric locomotives further includes displaying the output torque of the main motor and the following torque of the slave motor through an operation display unit.

[0095] It should be noted that the foregoing explanation of the embodiment of the real-time traction control system for distributed power electric locomotives also applies to the real-time traction control method for distributed power electric locomotives in this embodiment, and will not be repeated here.

[0096] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0097] The real-time traction control method and system for a distributed power locomotive according to embodiments of this application include a locomotive head and multiple powered dump trucks. The real-time traction control system includes a central control unit, a main drive mechanism, and multiple first driven mechanisms located at the locomotive head, as well as a dump weight monitoring unit and multiple second driven mechanisms located at each powered dump truck. Each drive mechanism includes a motor and a corresponding variable frequency drive control unit. The central control unit is used to generate a running direction and a given frequency based on received running instructions, and sends the running direction, given frequency, and received start instructions to the variable frequency drive control unit in the main drive mechanism. It is also used to obtain the second driven force based on the main motor output torque, the empty weight of the powered dump truck, the dump weight, the fully loaded rated weight of the powered dump truck, and the rated torque of the motors of each drive mechanism. The driven mechanism's follower motor torque is used; it is also used to obtain the follower motor's given frequency based on the given frequency after the ramp and the jog setting frequency, and to send the follower motor's follower torque and the follower motor's given frequency to the variable frequency drive control unit in the driven mechanism; the variable frequency drive control unit in the main drive mechanism is used to start the motor of the main drive mechanism based on the start command, calculate the main motor's output torque based on the running direction and the given frequency, control the motor operation of the main drive mechanism using the main motor's output torque, and also obtain the given frequency after the ramp based on the given frequency, and send the main motor's output torque and the given frequency after the ramp to the central control unit; the muck weight monitoring unit is used to monitor the muck weight of the powered muck truck; the variable frequency drive control unit in the driven mechanism is used to control the operation of the driven mechanism's motor based on the follower motor's follower torque and the follower motor's given frequency. In this configuration, the central control unit, main drive mechanism, and multiple first driven mechanisms integrated at the locomotive head, along with the soil weight monitoring unit and multiple second driven mechanisms installed on each powered dump truck, generate the running direction and given frequency based on the running command to obtain the output torque of the main motor. The follow-up torque of the driven motors is obtained by comprehensively considering the main motor output torque, the empty weight of the powered dump truck, the weight of the soil, the rated weight of the powered dump truck under full load, and the rated torque of the motors in each drive mechanism. Furthermore, the given frequency of the driven motors is determined based on the given frequency after the slope and the jogging setting frequency. The motor operation of the driven motors is controlled using the follow-up torque and the given frequency of the driven motors. Therefore, the output of each motor in the distributed power locomotive can be controlled in real time according to the actual weight of the soil, avoiding the problem of slippage due to insufficient adhesion when the powered dump truck is unloaded, and improving the stability of the vehicle during operation.

[0098] The method described in this application controls the traction force of the distributed power locomotive by distributing the motor torque according to the actual load of the locomotive, achieving real-time control of the motor torque; ensuring the balance of output and the stability of the locomotive; and enabling real-time detection of the actual output force, i.e., the torque value, of the drive motor, providing a strong guarantee for the analysis of the locomotive's status and operating parameters; it also enables the synchronous operation of drive motors with different power, resulting in more stable and reliable speed control. Furthermore, it makes the distributed power locomotive's braking efficiency faster, braking effect better, and reliability stronger.

[0099] The accompanying drawings show structural schematic diagrams according to embodiments disclosed in this invention. These drawings are not drawn to scale, and some details have been enlarged for clarity, and some details may have been omitted. The shapes of the various regions and layers shown in the drawings, as well as their relative sizes and positional relationships, are merely exemplary and may deviate from reality due to manufacturing tolerances or technical limitations. Furthermore, those skilled in the art can design regions / layers with different shapes, sizes, and relative positions as needed.

[0100] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this application can be achieved, and this application does not impose any restrictions here.

[0101] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A real-time traction control system for a distributed power electric locomotive, characterized in that, The electric locomotive is equipped with a locomotive head and multiple powered dump trucks. The real-time traction control system includes a central control unit, a main drive mechanism, and multiple first driven mechanisms located at the locomotive head. It also includes a dump weight monitoring unit and multiple second driven mechanisms located at each powered dump truck. Each drive mechanism includes a motor and a corresponding frequency conversion drive control unit. The central control unit is used to generate the running direction and given frequency based on the received running instructions, and sends the running direction, the given frequency and the received start instructions to the variable frequency drive control unit in the main drive mechanism; It is also used to obtain the follow torque of the slave motor of the drive mechanism based on the output torque of the main motor, the empty weight of the power dump truck, the weight of the dump truck, the rated weight of the power dump truck under full load, and the rated torque of the motor of each drive mechanism; it is also used to obtain the given frequency of the slave motor based on the given frequency after the slope and the jog setting frequency, and send the follow torque of the slave motor and the given frequency of the slave motor to the frequency conversion drive control unit in the slave drive mechanism. The variable frequency drive control unit in the main drive mechanism is used to start the motor of the main drive mechanism based on the start command, calculate the output torque of the main motor based on the running direction and the given frequency, control the motor operation of the main drive mechanism using the output torque of the main motor, obtain the given frequency after the ramp based on the given frequency, and send the output torque of the main motor and the given frequency after the ramp to the central control unit. The muck weight monitoring unit is used to monitor the weight of muck from the power-operated muck truck. The variable frequency drive control unit within the drive mechanism is used to control the operation of the motor in the drive mechanism based on the following torque of the slave motor and the given frequency of the slave motor.

2. The real-time traction control system for distributed power locomotives according to claim 1, characterized in that, The follower torque of the driven motor includes the first follower torque of the first driven mechanism and the second follower torque of the second driven mechanism. The process of obtaining the follower torque of the driven mechanism based on the main motor output torque, the empty weight of the power dump truck, the weight of the dump truck, the rated weight of the power dump truck at full load, and the rated torque of each driven mechanism's motor includes: For the first slave drive mechanism, the following torque of the first slave motor is made equal to the output torque of the master motor to obtain the following torque of the first slave motor of the first slave drive mechanism; For the second driven mechanism, the actual load capacity of the powered dump truck is obtained based on the empty load weight of the dump truck and the weight of the dump truck. If the actual load capacity of the powered dump truck is equal to the rated full load weight of the powered dump truck, the corresponding second driven motor following torque is obtained based on the rated torque of the motor of each driven mechanism and the output torque of the main motor. If the actual load capacity of the powered dump truck is not equal to the rated full load weight of the powered dump truck, the corresponding second driven motor following torque is obtained based on the output torque of the main motor, the actual load capacity of the powered dump truck, the rated full load weight of the powered dump truck, and the rated torque of the motor of each driven mechanism.

3. The real-time traction control system for distributed power locomotives according to claim 2, characterized in that, The rated torque of each motor in each drive mechanism inside the locomotive head is equal, and the rated torque of each motor in each drive mechanism in the second drive mechanism is equal. If the actual load capacity of the power dump truck is equal to the rated full load capacity of the power dump truck, then the corresponding second slave motor following torque is obtained based on the rated torque of the motors of each drive mechanism and the output torque of the main motor, including: The first ratio of the rated torque of a single motor of the computer-controlled truck head to the rated torque of a single motor of the power dump truck is used to obtain the corresponding second follower torque of the slave motor based on the product of the first ratio and the output torque of the main motor.

4. The real-time traction control system for distributed power locomotives according to claim 3, characterized in that, If the actual load capacity of the power dump truck is not equal to its full-load rated weight, then the second follower torque is obtained by calculating the follower motor torque of the drive mechanism based on the main motor output torque, the actual load capacity of the power dump truck, the full-load rated weight of the power dump truck, and the rated torque of each drive mechanism motor. This includes: Calculate the second ratio between the actual load capacity of the power dump truck and the rated full load capacity of the power dump truck; The corresponding second slave motor following torque is obtained by multiplying the first ratio, the second ratio, and the output torque of the main motor.

5. The real-time traction control system for distributed power locomotives according to claim 1, characterized in that, The process of obtaining the slave motor's given frequency based on the given frequency after the ramp and the jogging setting frequency includes: Determine whether the given frequency after the ramp is less than or equal to the jog setting frequency. If so, obtain the given frequency of the slave motor based on the jog setting frequency; otherwise, obtain the given frequency of the slave motor based on the given frequency after the ramp.

6. The real-time traction control system for distributed power locomotives according to claim 1, characterized in that, The traction real-time control system also includes an operation display unit and an operation handle located at the locomotive head; the operation display unit and the operation handle are respectively connected to the central control unit; the operation handle is used to generate start commands; the operation display unit is used to generate running commands and also to display the output torque of the main motor and the following torque of the slave motor.

7. The real-time traction control system for distributed power locomotives according to claim 1, characterized in that, The waste soil weight monitoring unit includes a waste soil truck weighing unit and a data acquisition unit. The waste soil truck weighing unit is connected to the central control unit via the data acquisition unit. The weighing unit for the dump truck is used to collect a simulated amount of the actual weight of the dump truck's excavated soil. The data acquisition unit is used to convert the simulated amount of the actual weight of the construction waste into a data value of the construction waste weight.

8. A real-time traction control method based on the real-time traction control system for a distributed power electric locomotive according to any one of claims 1-7, characterized in that, include: When a running command and a start command are received, the central control unit generates a running direction and a given frequency based on the received running command, and sends the running direction, the given frequency, and the received start command to the variable frequency drive control unit in the main drive mechanism. The variable frequency drive control unit in the main drive mechanism starts the motor of the main drive mechanism based on the start command, calculates the output torque of the main motor based on the running direction and the given frequency, controls the operation of the motor of the main drive mechanism using the output torque of the main motor, obtains the given frequency after the ramp based on the given frequency, and sends the output torque of the main motor and the given frequency after the ramp to the central control unit. The central control unit obtains the follower motor torque of the drive mechanism based on the main motor output torque, the empty weight of the power dump truck, the weight of the dump truck, the rated weight of the power dump truck when fully loaded, and the rated torque of the motors of each drive mechanism, and sends the follower motor torque to the frequency conversion drive control unit in the drive mechanism. The central control unit obtains the slave motor's given frequency based on the given frequency after the ramp and the jog setting frequency, and sends the slave motor's given frequency to the variable frequency drive control unit in the slave drive mechanism; The variable frequency drive control unit within the drive mechanism controls the operation of the motor in the drive mechanism based on the follower torque of the slave motor and the given frequency of the slave motor.

9. The real-time traction control method according to claim 8, characterized in that, The follower torque of the driven motor includes the first follower torque of the first driven motor and the second follower torque of the second driven motor. The central control unit obtains the follower torque of the driven motor based on the main motor output torque, the empty weight of the power dump truck, the weight of the dump truck, the rated weight of the power dump truck at full load, and the rated torque of the motors of each drive mechanism. For the first slave drive mechanism, the following torque of the first slave motor is made equal to the output torque of the master motor to obtain the following torque of the first slave motor of the first slave drive mechanism; For the second driven mechanism, the actual load capacity of the powered dump truck is obtained based on the empty load weight of the powered dump truck and the weight of the dump truck. If the actual load capacity of the powered dump truck is equal to the rated full load weight of the powered dump truck, the corresponding second driven motor following torque is obtained based on the actual load capacity of the powered dump truck, the rated full load weight of the powered dump truck, and the output torque of the main motor. If the actual load capacity of the powered dump truck is not equal to the rated full load weight of the powered dump truck, the corresponding second driven motor following torque is obtained based on the output torque of the main motor, the actual load capacity of the powered dump truck, the rated full load weight of the powered dump truck, and the rated torque of the motors of each driven mechanism.

10. The real-time traction control method according to claim 9, characterized in that, The process of obtaining the slave motor's given frequency based on the given frequency after the ramp and the jogging setting frequency includes: Determine whether the given frequency after the ramp is less than or equal to the jog setting frequency. If so, obtain the given frequency of the slave motor based on the jog setting frequency; otherwise, obtain the given frequency of the slave motor based on the given frequency after the ramp.

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