Traction vehicle hover control method and system for dual power permanent magnet system

Abstract

The present application belongs to the technical field of towing vehicles, and provides a hovering control method and system for a towing vehicle with a dual-power permanent magnet system, wherein the method comprises: collecting vehicle information; the vehicle information comprises operating lever state information, whole vehicle state information and motor information; when the collected vehicle information meets the hovering establishment judgment condition, the vehicle will enter the hovering state, and the hovering flag is set; the hovering judgment condition comprises that the operating lever state information, the whole vehicle state information and the motor information all conform to the preset state value; and the target torque and the target rotating speed of the motor are determined. The present application uses a permanent magnet motor as the power output of the towing vehicle, thereby overcoming the defects of the asynchronous motor, such as the inability to automatically adjust, the existence of battery overcurrent and low efficiency, and the difficulty in outputting large torque. Meanwhile, based on the hovering control method of the present embodiment, the vehicle can be accurately moved during the inching process.

Description

Technical Field

[0001] This invention relates to the field of tractor technology, specifically to a tractor hovering control method and system with a dual-power permanent magnet system. Background Technology

[0002] A subway tractor is a transportation vehicle used to provide traction drive during subway construction. Currently, dual-power or multi-power systems for tractors are dominated by asynchronous motor systems. The problem with this system is that the asynchronous motor relies mainly on DC braking for hovering, and the braking current is manually set and cannot be automatically adjusted. This results in defects such as battery overcurrent and low efficiency. Furthermore, the asynchronous motor is difficult to output large torque at low speeds, which also makes it difficult to move the vehicle accurately if the speed is set too high during inching. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a method and system for controlling the hovering of a traction vehicle using a dual-power permanent magnet system, thereby solving the problem that existing subway traction vehicles cannot achieve precise movement during inching.

[0004] In a first aspect, the present invention provides a method for controlling the hovering of a tractor using a dual-power permanent magnet system, comprising: Collect vehicle information; the vehicle information includes control lever status information, overall vehicle status information, and motor information; When the collected vehicle information meets the hovering establishment judgment conditions and the exit hovering flag position is invalid, the vehicle will enter the hovering state and the hovering flag position will be activated; the hovering judgment conditions include the status information of the status bar, the vehicle status information and the motor information all meeting the preset status values; Determine the target torque and target speed of the motor.

[0005] Optionally, the hovering condition includes: The operating lever status information includes the current gear position of the operating lever, which is currently in the N gear. In the vehicle status information, the motor fault information, water pump fault information, and electric information are all in an invalid state; The motor information includes the motor speed, which is not greater than a preset threshold.

[0006] Optionally, when the collected vehicle information meets the hovering establishment judgment condition, the hovering marker position is adjusted after a first delay period.

[0007] Optionally, the method further includes: if the hovering marker exit judgment condition is met, the vehicle exits the hovering state, and the hovering marker becomes invalid at this time; The hovering exit judgment conditions include: the exit hovering flag is valid, the current position of the control lever is not in neutral (N) and the electric information is valid.

[0008] Optionally, when the hover flag is active, the target torque of the motor is determined according to the following method: Create a list of X-axis motor speeds; Establish the maximum drive torque of the motor corresponding to the Y-axis and X-axis rotational speeds; The maximum driving torque at the current motor speed can be obtained by using real-time motor speed two-dimensional interpolation; Determine whether to enter hovering based on the current torque. If hovering is entered, multiply the current maximum drive torque by a scaling factor to obtain the maximum drive limit torque when hovering.

[0009] Optionally, the target speed of the motor is determined based on the current gear position of the operating lever. When the control lever status information is N and / or the hover flag is valid, the target rotation speed is 0; When the operation status information is not N gear, the target speed is the preset speed correlation value of the current gear of the operating lever.

[0010] Optionally, it also includes: when the vehicle is in a hovering state, if forward or backward jogging is effective, the hovering state is exited and the hovering indicator is at position 0.

[0011] Optionally, the exit hover flag includes two states: valid and invalid. The conditions for determining whether the hovering sign position is valid include: the current control lever position is N, both forward and reverse jog are invalid, and the current hovering sign position is valid. When all the above conditions are met, the hovering sign position is valid after a delay of C cycles. The conditions for determining that the exit hover sign is invalid include: the current gear is not in neutral (N), and the forward or reverse jog is valid. When any of the above conditions are met, the exit hover sign position is 0, and the exit hover sign is invalid.

[0012] Secondly, the present invention provides a tractor hovering control system with a dual-power permanent magnet system, comprising: The data acquisition module is used to collect vehicle information, including lever status information, overall vehicle status information, and motor information. The judgment module is used to determine that when the collected vehicle information meets the hovering establishment judgment conditions and the exit hovering flag position is invalid, the vehicle will enter the hovering state and the hovering flag position will be set. The hovering judgment conditions include that the status bar status information, the vehicle status information and the motor information all meet the preset status values. The calculation module is used to determine the target torque and target speed of the motor.

[0013] Optionally, the hovering condition of the judgment module includes: The operating lever status information includes the current gear position of the operating lever, which is currently in the N gear. In the vehicle status information, the motor fault information, water pump fault information, and electric information are all in an invalid state; The motor information includes the motor speed, which is not greater than a preset threshold.

[0014] Optionally, the judgment module, after the collected vehicle information meets the hovering establishment judgment condition, delays for a first period and then sets the hovering marker position.

[0015] Optionally, the judgment module is further configured to: if the hovering marker exit judgment condition is met, the vehicle exits the hovering state, and the hovering marker becomes invalid at this time; The hovering exit judgment conditions include: the exit hovering flag is valid, the current position of the control lever is not in neutral (N) and the electric information is valid.

[0016] Optionally, the calculation module includes a motor target torque module. When the hovering flag is valid, the target torque of the motor is determined according to the following method: Create a list of X-axis motor speeds; Establish the maximum drive torque of the motor corresponding to the Y-axis and X-axis rotational speeds; The maximum driving torque at the current motor speed can be obtained by using real-time motor speed two-dimensional interpolation; Determine whether to enter hovering based on the current torque. If hovering is entered, multiply the current maximum drive torque by a scaling factor to obtain the maximum drive limit torque when hovering.

[0017] Optionally, the calculation module includes a motor target speed module, wherein the target speed of the motor is determined based on the current gear position of the control lever. When the control lever status information is N and / or the hover flag is valid, the target rotation speed is 0; When the operation status information is not N gear, the target speed is the preset speed correlation value of the current gear of the operating lever.

[0018] Optionally, the judgment module is further configured to: when the vehicle is in a hovering state, if forward or backward jogging is effective, then exit the hovering state and the hovering marker position is 0.

[0019] Optionally, in the determination module, the exit hover flag includes two states: valid and invalid. The conditions for determining whether the hovering sign position is valid include: the current control lever position is N, both forward and reverse jog are invalid, and the current hovering sign position is valid. When all the above conditions are met, the hovering sign position is valid after a delay of C cycles. The conditions for determining that the exit hover sign is invalid include: the current gear is not in neutral (N), and the forward or reverse jog is valid. When any of the above conditions are met, the exit hover sign position is 0, and the exit hover sign is invalid.

[0020] By adopting the above technical solution, this application has the following beneficial effects: This invention uses a permanent magnet motor as the power output for the tractor, overcoming the shortcomings of asynchronous motors, such as their inability to automatically adjust, battery overcurrent issues, low efficiency, and difficulty in outputting high torque. Furthermore, the hovering control method in this embodiment enables precise vehicle movement during inching. Attached Figure Description

[0021] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0022] Figure 1 A flowchart of a hovering control method for a dual-power permanent magnet system tractor vehicle on a slope, provided by an embodiment of the present invention, is shown. Figure 2 A flowchart of a hovering control method for a dual-power permanent magnet system tractor vehicle on a slope, provided by an embodiment of the present invention, is shown. Figure 3 The diagram shows a structural block diagram of a hovering control system for a dual-power permanent magnet system tractor vehicle on a slope, provided by an embodiment of the present invention. Detailed Implementation

[0023] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of the present invention and are therefore merely examples, and should not be construed as limiting the scope of protection of the present invention.

[0024] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application should have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0025] like Figure 1 As shown, this embodiment of the invention provides a hovering control method for a dual-power permanent magnet system tractor vehicle parking on a slope, including: S1. Collect vehicle information; vehicle information includes control lever status information, overall vehicle status information, and motor information.

[0026] See Figure 2 This embodiment is specifically applied to the scenario of a dual-powered subway traction vehicle. The vehicle information collected mainly includes control lever information collection, vehicle status information collection, and motor information collection. Among them, the motor information is mainly obtained based on the CAN bus. The hovering logic is judged based on the above-mentioned vehicle information.

[0027] After the hovering logic is completed, the target torque and target speed of the motor are obtained. At this time, the target torque value and target speed value are sent to the motor controller via CAN to realize the control of the motor.

[0028] S2. When the collected vehicle information meets the hovering condition and the hovering exit flag is invalid, the vehicle will enter the hovering state and the hovering flag will be in position. The hovering condition includes that the status bar status information, vehicle status information and motor information all meet the preset status values.

[0029] For the dual-power tractor in this embodiment, which includes motor 1 and motor 2, the rotational speeds of motor 1 and motor 2 should not exceed a preset limit value, and neither motor 1 nor motor 2 should have any serious fault information.

[0030] Once the collected vehicle information meets the criteria for hovering, it indicates that the vehicle is about to hover.

[0031] Specifically, the conditions for determining whether hovering is valid include: A. The status information of the control lever includes the current gear position of the control lever, which is currently in the N gear. B. In the vehicle status information, the motor fault information, water pump fault information, and electric information are all in an invalid state. C. Motor information includes motor speed, which is not greater than a preset threshold.

[0032] The vehicle information collected above meets the conditions for establishing hovering, that is, AC meets the conditions. At this time, the hovering marker position needs to be determined after a delay of the first cycle.

[0033] S3. Determine the target torque and target speed of the motor.

[0034] The methods for determining the target torque and target speed of the motor are explained below: (1) When the hovering flag is active, the hovering torque is determined by a two-dimensional lookup table function, i.e., the maximum target torque multiplied by a scaling factor, to prevent damage caused by overheating of the motor drive module during hovering. The specific method for determining the target torque is as follows: Create a list of X-axis motor speeds; Establish the maximum driving torque corresponding to the rotational speeds of the Y-axis and X-axis; The maximum driving torque at the current motor speed can be obtained by using real-time motor speed two-dimensional interpolation; Determine whether to enter hovering based on the current torque. If hovering is entered, multiply the current maximum drive torque by the scaling factor to obtain the maximum drive limit torque when hovering.

[0035] The X-axis motor and Y-axis motor control the lateral and longitudinal displacements, respectively. (2) The target speed of the motor is determined based on the current gear position of the operating lever: When the control lever status information is N and / or the hover flag is valid, the target speed is 0; When the lever status information is not in N position, the target speed is the preset speed association value of the current lever position.

[0036] The preset operating lever position corresponds to a specific speed value, such as X1 for first gear, X2 for second gear, X3 for third gear, X4 for fourth gear, and X5 for fifth gear. Based on this, the target speed of the motor is determined by the corresponding value in the appropriate gear position.

[0037] Furthermore, the dual-power tractor hovering control method provided in this embodiment also includes: if the hovering marker exit judgment condition is met, the vehicle exits the hovering state, and the hovering marker becomes invalid at this time; The conditions for exiting hover include: the exit hover flag is valid, the current position of the control lever is not in neutral (N) and the jog information is valid.

[0038] Based on the hover exit judgment conditions, the vehicle can exit the hover state after the conditions are met. The main function of exiting hover is that when the motor is in neutral (N) hover mode, the vehicle enters hover once after the driver performs a hover operation, ensuring that the operation is not repeated after each execution. The vehicle is only determined to be in a hover state after the driver performs a hover operation; otherwise, it does not enter the hover state, thus ensuring the effectiveness of each hover operation by the driver.

[0039] Optionally, the method further includes: when the vehicle is in a hovering state, if forward or backward jogging is effective, then exiting the hovering state at the hovering mark position 0.

[0040] For subway tractors, in conjunction with the parking system, in order to enable the tractor to move slightly and stop at a fixed point, once the forward or reverse electric motor is effective, if the vehicle is in a hovering state, it will exit the hovering state at this time, and the hovering mark position will be 0.

[0041] This embodiment also includes hover time judgment conditions, which are respectively for judging whether the exit hover flag is valid and judging whether the exit hover flag is invalid.

[0042] The conditions for determining whether the hovering position is valid include: the current lever position is N, both forward and reverse jog are invalid, and the current hovering position is valid. When all the above conditions are met, the hovering position is valid after a delay of C cycles.

[0043] The conditions for determining that the exit hover sign is invalid include: the current gear is not in neutral (N), and the forward or reverse jog is valid. When any of the above conditions are met, the exit hover sign position is 0, and the exit hover sign is invalid.

[0044] In one embodiment, such as Figure 3 As shown, a tractor hovering control system 40 with a dual-power permanent magnet system is provided, comprising: The acquisition module 401 is used to acquire vehicle information; the vehicle information includes control lever status information, vehicle status information, and motor information. The judgment module 402 is used to determine that when the collected vehicle information meets the hovering establishment judgment conditions and the exit hovering flag position is invalid, the vehicle will enter the hovering state and the hovering flag position will be set. The hovering judgment conditions include that the status bar status information, the vehicle status information and the motor information all meet the preset status values. The calculation module 403 is used to determine the target torque and target speed of the motor.

[0045] The tractor hovering control device 20 of the dual-power permanent magnet system provided in this application embodiment adopts the same inventive concept as the tractor hovering control method of the dual-power permanent magnet system described above, and can achieve the same beneficial effects, so it will not be described again here.

[0046] Optionally, the hovering condition of the judgment module includes: The operating lever status information includes the current gear position of the operating lever, which is currently in the N gear. In the vehicle status information, the motor fault information, water pump fault information, and electric information are all in an invalid state; The motor information includes the motor speed, which is not greater than a preset threshold.

[0047] Optionally, the judgment module, after the collected vehicle information meets the hovering establishment judgment condition, delays for a first period and then sets the hovering marker position.

[0048] Optionally, the judgment module is further configured to: if the hovering marker exit judgment condition is met, the vehicle exits the hovering state, and the hovering marker becomes invalid at this time; The hovering exit judgment conditions include: the exit hovering flag is valid, the current position of the control lever is not in neutral (N) and the electric information is valid.

[0049] Optionally, the calculation module includes a motor target torque module. When the hovering flag is valid, the target torque of the motor is determined according to the following method: Create a list of X-axis motor speeds; Establish the maximum drive torque of the motor corresponding to the Y-axis and X-axis rotational speeds; The maximum driving torque at the current motor speed can be obtained by using real-time motor speed two-dimensional interpolation; Determine whether to enter hovering based on the current torque. If hovering is entered, multiply the current maximum drive torque by a scaling factor to obtain the maximum drive limit torque when hovering.

[0050] Optionally, the calculation module includes a motor target speed module, wherein the target speed of the motor is determined based on the current gear position of the control lever. When the control lever status information is N and / or the hover flag is valid, the target rotation speed is 0; When the operation status information is not N gear, the target speed is the preset speed correlation value of the current gear of the operating lever.

[0051] Optionally, the judgment module is further configured to: when the vehicle is in a hovering state, if forward or backward jogging is effective, then exit the hovering state and the hovering marker position is 0.

[0052] Optionally, in the determination module, the exit hover flag includes two states: valid and invalid. The conditions for determining whether the hovering sign position is valid include: the current control lever position is N, both forward and reverse jog are invalid, and the current hovering sign position is valid. When all the above conditions are met, the hovering sign position is valid after a delay of C cycles. The conditions for determining that the exit hover sign is invalid include: the current gear is not in neutral (N), and the forward or reverse jog is valid. When any of the above conditions are met, the exit hover sign position is 0, and the exit hover sign is invalid.

[0053] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for controlling the hovering of a tractor using a dual-power permanent magnet system, characterized in that, include: Collect vehicle information; the vehicle information includes control lever status information, overall vehicle status information, and motor information; When the collected vehicle information meets the hovering establishment judgment conditions and the exit from the hovering position is invalid, the vehicle will enter the hovering state and the hovering position will be set; the hovering establishment judgment conditions include the control lever status information, the vehicle status information and the motor information all meeting the preset status values; Determine the target torque and target speed of the motor; When the hovering flag is active, the target torque of the motor is determined according to the following method: Create a list of X-axis motor speeds; Establish the maximum drive torque of the motor corresponding to the Y-axis and X-axis rotational speeds; The maximum driving torque at the current motor speed can be obtained by using real-time motor speed two-dimensional interpolation; Determine whether to enter hovering based on the current torque. If hovering is entered, multiply the current maximum drive torque by the scaling factor to obtain the maximum drive limit torque when hovering. The X-axis motor and Y-axis motor control the lateral and longitudinal displacements, respectively.

2. The method according to claim 1, characterized in that, The conditions for determining whether hovering is established include: The operating lever status information includes the current gear position of the operating lever, which is currently in the N gear. In the vehicle status information, the motor fault information, water pump fault information, and electric information are all in an invalid state; The motor information includes the motor speed, which is not greater than a preset threshold.

3. The method according to claim 2, characterized in that, Once the collected vehicle information meets the conditions for establishing hovering, the hovering marker position is determined after a first delay period.

4. The method according to claim 2, characterized in that, The method further includes: if the hovering sign exit judgment condition is met, the vehicle exits the hovering state, and the hovering sign becomes invalid at this time; The conditions for determining whether the hovering marker position is exiting include: the hovering marker position exit is valid, the current position of the control lever is not in neutral (N), and the electric information is valid.

5. The method according to claim 1, characterized in that, The target speed of the motor is determined based on the current gear position of the control lever. When the control lever status information is N and / or the hover flag is valid, the target rotation speed is 0; When the operating lever status information is not in the N position, the target speed is the preset speed correlation value of the current position of the operating lever.

6. The method according to any one of claims 1-5, characterized in that, Also includes: When the vehicle is in a hovering state, if the forward or backward jogging is effective, the hovering will be disengaged and the hovering indicator will be at position 0.

7. The method according to claim 6, characterized in that, The exit hover flag has two states: valid and invalid. The conditions for determining whether the hovering sign position is valid include: the current control lever position is N, both forward and reverse jog are invalid, and the current hovering sign position is valid. When all the above conditions are met, the hovering sign position is valid after a delay of C cycles. The conditions for determining that the exit hover sign is invalid include: the current gear is not in neutral (N), and the forward or reverse jog is valid. When any of the above conditions are met, the exit hover sign position is 0, and the exit hover sign is invalid.

8. A tractor hovering control system with a dual-power permanent magnet system, characterized in that, include: The data acquisition module is used to collect vehicle information, including lever status information, overall vehicle status information, and motor information. The judgment module is used to determine that when the collected vehicle information meets the hovering establishment judgment conditions and the exit hovering flag position is invalid, the vehicle will enter the hovering state and the hovering flag position will be set. The hovering establishment judgment conditions include that the control lever status information, the vehicle status information and the motor information all meet the preset status values. The calculation module is used to determine the target torque and target speed of the motor; Also used for: When the hovering flag is active, the target torque of the motor is determined according to the following method: Create a list of X-axis motor speeds; Establish the maximum drive torque of the motor corresponding to the Y-axis and X-axis rotational speeds; The maximum driving torque at the current motor speed can be obtained by using real-time motor speed two-dimensional interpolation; Determine whether to enter hovering based on the current torque. If hovering is entered, multiply the current maximum drive torque by the scaling factor to obtain the maximum drive limit torque when hovering. The X-axis motor and Y-axis motor control the lateral and longitudinal displacements, respectively.

9. The system according to claim 8, characterized in that, In the judgment module, the conditions for determining whether hovering is successful include: The operating lever status information includes the current gear position of the operating lever, which is currently in the N gear. In the vehicle status information, the motor fault information, water pump fault information, and electric information are all in an invalid state; The motor information includes the motor speed, which is not greater than a preset threshold.

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