A control method for an electric loader and an electric loader

Abstract

This invention belongs to the field of electric loader technology, and discloses an electric loader control method and an electric loader. When the remaining power of the power battery is greater than a preset power level, the hydraulic motor is controlled to work, consuming the power battery's power. To ensure the electric loader's walking safety, the control oil circuit connecting the hydraulic pump and the working parts needs to be disconnected. During this process, the working parts do not work, causing the hydraulic system to be in a pressurized state. The oil in the overflow oil circuit will overflow to the hydraulic oil tank through the overflow valve, ensuring the safety of the hydraulic system. This achieves the goal of consuming the excess power battery's power through the hydraulic system, preventing the power battery from overcharging. No changes to the overall machine structure or additional hardware are required, keeping costs unchanged. Overcharging of the power battery can be prevented solely through control logic. Operationally, existing operating habits do not need to be changed, reducing the operator's workload and making the machine safer and more reliable.

Description

Technical Field

[0001] This invention relates to the field of electric loader technology, and in particular to an electric loader control method and an electric loader. Background Technology

[0002] During braking, the electric loader's travel controller puts the travel motor into generator mode. In generator mode, the machine, under inertia, pulls the travel motor to rotate, generating electricity. The electrical energy output by the travel motor is stored in the power battery, thus recovering and storing braking energy.

[0003] When an electric loader is traveling down a long slope in first gear, its travel speed is relatively slow, but the travel motor rotates at a high speed. To improve the efficiency of the travel motor, it can be controlled to charge the power battery. However, in practical applications, it has been found that if the power battery is close to full charge, continuing to charge it can easily lead to overcharging. Summary of the Invention

[0004] The purpose of this invention is to provide an electric loader control method and an electric loader that can prevent battery overcharging when the power battery is close to full charge.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] An electric loader control method includes the following steps:

[0007] When the walking motor is dragged in reverse, control the walking motor to charge the power battery;

[0008] The remaining power of the power battery is acquired in real time. When the remaining power of the power battery is greater than or equal to the preset power, the hydraulic motor is controlled to work. At the same time, the control oil circuit connecting the hydraulic pump and the working parts is disconnected, and the overflow oil circuit connecting the hydraulic pump and the overflow valve is connected, so that the oil in the overflow oil circuit can flow back to the hydraulic oil tank through the overflow valve.

[0009] As one possible implementation of the above-mentioned electric loader control method, the ratio of the preset power level to the full power level of the power battery is greater than 96%.

[0010] As one possible implementation of the above-mentioned electric loader control method, the following steps are included before controlling the hydraulic motor to operate:

[0011] The amount of charge generated by the travel motor for the power battery per unit time, and the power consumption of the travel system of the electric loader are obtained.

[0012] When the charging amount per unit time exceeds the power consumption of the walking system, the hydraulic motor is controlled to work.

[0013] As one possible implementation of the above-mentioned electric loader control method, controlling the operation of the hydraulic motor includes the following steps:

[0014] The rotational speed of the hydraulic motor is determined based on the charging amount per unit time and the power consumption of the walking system.

[0015] As one possible implementation of the above-mentioned electric loader control method, the speed of the hydraulic motor is determined based on the charging amount per unit time and the power consumption of the walking system, including the following steps:

[0016] Based on the correspondence between the charging amount per unit time, the power consumption of the walking system, and the rotational speed of the hydraulic motor, query the rotational speed of the hydraulic motor corresponding to the obtained charging amount per unit time and the obtained power consumption of the walking system.

[0017] Control the speed of the hydraulic motor to the queried speed.

[0018] As one possible implementation of the above-mentioned electric loader control method, the speed of the hydraulic motor is determined based on the charging amount per unit time and the power consumption of the walking system, including the following steps:

[0019] The power consumption of the hydraulic system is obtained, which is equal to the difference between the charging amount per unit time and the power consumption of the walking system.

[0020] Based on the relationship between the power consumption of the hydraulic system and the speed of the hydraulic motor, the speed of the hydraulic motor corresponding to the power consumption of the hydraulic system is queried and calculated.

[0021] As one possible implementation of the above-mentioned electric loader control method, the hydraulic motor is controlled to stop working when the charging amount per unit time is not greater than the power consumption of the walking system.

[0022] As one possible implementation of the above-mentioned electric loader control method, if the remaining power of the power battery is not greater than the preset minimum power, the generator is controlled to work to charge the power battery, and the preset minimum power is less than the preset power.

[0023] As one possible implementation of the above-mentioned electric loader control method, when the electric loader is in the down-breaking working condition, the travel motor is dragged in reverse.

[0024] To achieve the above objectives, the present invention also provides an electric loader that employs the electric loader control method described in any of the above-mentioned schemes.

[0025] The beneficial effects of this invention are:

[0026] The electric loader control method and electric loader provided by this invention, once the remaining power of the power battery exceeds a preset power level, will control the hydraulic motor to operate, consuming the power battery's power. To ensure the electric loader's walking safety, the control oil circuit connecting the hydraulic pump and the working parts needs to be disconnected. That is, during this process, the working parts do not work, causing the hydraulic system to be in a pressurized state. The oil in the overflow oil circuit will overflow to the hydraulic oil tank through the overflow valve, ensuring the safety of the hydraulic system and consuming the excess power of the power battery through the hydraulic system, thus avoiding overcharging of the power battery.

[0027] Furthermore, based on existing electric loaders, this invention does not require changes to the overall machine structure or the addition of extra hardware, and the cost remains unchanged. It can prevent overcharging of the power battery simply by controlling the logic. In terms of operation, it does not require changes to existing operating habits, reducing the workload of operators and making it safer and more reliable. Attached Figure Description

[0028] Figure 1 This is a simplified schematic diagram of the electric loader provided in an embodiment of the present invention;

[0029] Figure 2 This is the flow chart of the electric loader control method provided in the embodiments of the present invention. Figure 1 ;

[0030] Figure 3 This is the flow chart of the electric loader control method provided in the embodiments of the present invention. Figure 2 . Detailed Implementation

[0031] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0032] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0033] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0034] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0035] like Figure 1 As shown, this embodiment provides an electric loader, which includes a hydraulic system. The hydraulic system includes a hydraulic motor, a hydraulic pump driven by the hydraulic motor, a control valve, working parts, an overflow valve, and a hydraulic oil tank. The hydraulic pump and the hydraulic motor are mechanically connected. The hydraulic motor provides power for the operation of the hydraulic pump. The hydraulic pump can control the movement of the working parts through the control valve. The outlet of the hydraulic pump is connected to the hydraulic oil tank through the overflow valve.

[0036] When the working parts need to operate, the hydraulic motor can be controlled to drive the hydraulic pump, and the hydraulic pump can be controlled by the control valve to control the movement of the working parts. It should be noted that the working parts are such as working cylinders, and the type of control valve and how to adjust the state of the control valve to control the working parts are all existing technologies in this field and will not be described in detail here.

[0037] The electric loader also includes a walking system, which comprises a walking motor and a transmission unit. The walking motor and transmission unit are mechanically connected. The walking motor provides power to the transmission unit, which transmits the power to the wheels of the electric loader, thereby enabling the electric loader to move. It should be noted that the structure of the transmission unit is prior art in this field and will not be described in detail here.

[0038] The electric loader also includes a braking system for braking the loader. It should be noted that the specific structure of the braking system is prior art in this field and will not be described in detail here.

[0039] The electric loader also includes a power battery, a travel controller, and a multi-functional controller. The power battery and multi-functional controller are communicatively connected, as are the travel controller and the travel motor. The travel controller controls the state of the travel motor, enabling it to switch between generator mode and travel mode. When the travel motor is in generator mode, it charges the power battery and utilizes the reverse torque generated to brake the electric loader. When the electric loader is going downhill, the travel motor is in generator mode, and the transmission unit reverse-drives the travel motor to charge the power battery. When the travel motor is in travel mode, it provides power to the transmission unit, enabling the electric loader to move.

[0040] The controller for the hydraulic motor and the vehicle controller are integrated to form the all-in-one controller. The all-in-one controller is communicatively connected to the travel controller so that they can transmit signals to each other. The all-in-one controller is also communicatively connected to the hydraulic motor, and controls the start and stop of the hydraulic motor.

[0041] This embodiment also provides a control method for an electric loader, used in the aforementioned electric loader. For example... Figure 2 As shown, the electric loader includes the following steps:

[0042] S1. When the walking motor is being dragged in reverse, control the walking motor to charge the power battery.

[0043] When the electric loader is going downhill, the travel motor is dragged in the opposite direction. The reverse torque of the travel motor is used to decelerate the electric loader. At the same time, the travel motor is used to charge the power battery, making full use of the braking energy of the electric loader when going downhill.

[0044] The electric loader is equipped with a slope sensor. This sensor detects the slope of the road the loader is traveling on, while a distance sensor or map detects the loader's gliding distance. If the slope measured by the slope sensor is greater than a preset slope, and the gliding distance is also greater than a preset distance, then the electric loader is determined to be in downhill working condition. When the electric loader is in downhill working condition, in order to fully utilize the potential energy of the height, the travel controller switches the travel motor to generator mode, thus enabling the travel motor to be towed in reverse.

[0045] S2. Real-time acquisition of the remaining power of the power battery. When the remaining power of the power battery is greater than or equal to the preset power, control the hydraulic motor to work, and at the same time control the control oil circuit connecting the hydraulic pump and the working parts to disconnect, and at the same time control the overflow oil circuit connecting the hydraulic pump and the overflow valve to connect, so that the oil in the overflow oil circuit can flow back to the hydraulic oil tank through the overflow valve.

[0046] During the charging process of the power battery, if the remaining charge of the power battery exceeds the preset charge, continuing to charge it may lead to overcharging and damage. Therefore, once the remaining charge of the power battery exceeds the preset charge, the hydraulic motor can be controlled to operate, consuming the power battery's charge. To ensure the safe operation of the electric loader, the control oil circuit connecting the hydraulic pump and the working parts must be disconnected. During this process, the working parts are not operating, causing the hydraulic system to be in a pressurized state. The oil in the overflow oil circuit will overflow through the overflow valve to the hydraulic oil tank, ensuring the safety of the hydraulic system and consuming the excess power battery through the hydraulic system, thus preventing overcharging.

[0047] Furthermore, this embodiment does not require any changes to the overall structure of the existing electric loader, nor does it require any additional hardware, thus maintaining the same cost. Overcharging of the power battery can be avoided simply through control logic. Operationally, it does not require any changes to existing operating habits, reducing the workload of operators and making it safer and more reliable.

[0048] In this embodiment, the ratio of the preset charge to the full charge of the power battery is greater than 96%. In other words, for example, the preset charge is 98% of the full charge of the power battery. In other embodiments, the preset charge can also be any one of 96.5%, 97%, and 97.5% of the full charge of the power battery.

[0049] Furthermore, before controlling the hydraulic motor to operate, the electric loader control method also includes the following steps:

[0050] The amount of charge generated by the travel motor for the power battery per unit time, and the power consumption of the travel system of the electric loader are obtained.

[0051] When the charging amount per unit time exceeds the power consumption of the walking system, the hydraulic motor is controlled to work.

[0052] Although the travel motor primarily relies on the electric loader's travel for reverse towing at this time, the entire travel system still requires power from the battery and consumes its energy. When the charging amount per unit time exceeds the power consumption of the travel system, it indicates that the increase in battery charge per unit time is greater than the power consumed by the travel system per unit time. In this case, the hydraulic motor can be controlled to operate, utilizing the electric loader's hydraulic system to consume the battery's energy, thus preventing the battery from being overcharged.

[0053] It should be noted that the methods for calculating the charging amount per unit time and the power consumption of the walking system are existing technologies in this field.

[0054] Furthermore, controlling the operation of the hydraulic motor includes the following steps:

[0055] The speed of the hydraulic motor is determined based on the charging amount per unit time and the power consumption of the walking system.

[0056] Specifically, based on the correspondence between the charging amount per unit time, the power consumption of the walking system, and the speed of the hydraulic motor, the speed of the hydraulic motor corresponding to the obtained charging amount per unit time and the obtained power consumption of the walking system is queried.

[0057] Control the speed of the hydraulic motor to the queried speed.

[0058] When an electric loader goes downhill, the travel motor is dragged in the opposite direction, causing it to charge the power battery. Under this condition, through repeated experiments, the correlation between the amount of charge per unit time, the power consumption of the travel system, and the speed of the hydraulic motor is obtained, such as through data tables or maps. This correlation is embedded in the all-in-one controller. By querying this correlation, the corresponding speed of the hydraulic motor can be obtained for the acquired amount of charge per unit time and the acquired power consumption of the travel system.

[0059] In other embodiments, the rotational speed of the hydraulic motor can also be determined in other ways. Specifically, the rotational speed of the hydraulic motor can be determined based on the charging amount per unit time and the power consumption of the traveling system, including the following steps: obtaining the power consumption of the hydraulic system, which is equal to the difference between the charging amount per unit time and the power consumption of the traveling system; and querying and calculating the rotational speed of the hydraulic motor corresponding to the power consumption of the hydraulic system based on the correspondence between the power consumption of the hydraulic system and the rotational speed of the hydraulic motor. When the electric loader is going downhill, the main power consumption of the power battery is by the hydraulic system and the traveling system. The difference between the charging amount per unit time and the power consumption of the traveling system is the excess power. This excess power can be consumed by controlling the hydraulic motor to make the traveling system consume the power. It should be noted that the correspondence between the power consumption of the hydraulic system and the rotational speed of the hydraulic motor refers to the condition under which the electric loader is going downhill, the traveling motor is being dragged in the opposite direction, and the traveling motor is controlling the charging of the power battery. This condition is obtained through repeated experiments, such as data tables or maps, and this relationship is embedded in the all-in-one controller.

[0060] Furthermore, when the charging amount per unit time is not greater than the power consumption of the walking system, the hydraulic motor is controlled to stop working. This indicates that the charging amount per unit time is equal to or insufficient to offset the power consumption of the walking system, meaning the remaining charge of the power battery will not continue to increase. In this case, there is no need to control the hydraulic motor to consume additional power from the power battery.

[0061] Furthermore, when the remaining charge of the power battery is no greater than the preset minimum charge, the generator is controlled to charge the power battery.

[0062] When the travel motor is being towed in reverse and the hydraulic motor is not working, if the remaining charge of the power battery is not greater than the preset minimum charge, it means that the charging amount per unit time is insufficient to offset the power consumption of the travel system. If the electric loader continues to work, the power battery is very likely to run out of power. At this time, the generator is controlled to work to charge the power battery to ensure that the remaining charge of the power battery does not continue to decrease.

[0063] It should be noted that the aforementioned preset minimum power level is a known value determined through repeated experiments, and will not be specifically limited here.

[0064] like Figure 3 As shown, the electric loader control method specifically includes the following steps:

[0065] S101, The walking motor is being dragged in reverse, so the walking motor is controlled to charge the power battery;

[0066] S102. Obtain the remaining power of the power battery in real time;

[0067] S103. Determine whether the remaining power of the power battery is greater than or equal to the preset power. If yes, proceed to S104; otherwise, proceed to S108.

[0068] S104. Obtain the amount of power charged by the travel motor to the power battery per unit time, and the power consumed by the travel system of the electric loader.

[0069] S105. Determine whether the charging amount per unit time is greater than the power consumption of the walking system. If yes, proceed to S106; otherwise, proceed to S107.

[0070] S106. Control the hydraulic motor to work, and at the same time control the overflow oil circuit connecting the hydraulic pump and the overflow valve to be connected, so that the oil in the overflow oil circuit can flow back to the hydraulic oil tank through the overflow valve.

[0071] S107, Control the hydraulic motor to stop working, and execute S108;

[0072] S108. When the remaining power of the power battery is not greater than the preset minimum power, control the generator to work and charge the power battery.

[0073] The present invention also provides an electric loader that uses the above-described electric loader control method. The beneficial effects of this electric loader are the same as those of the above-described electric loader control method, and will not be repeated here.

[0074] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A control method for an electric loader, characterized in that, Includes the following steps: When the walking motor is dragged in reverse, control the walking motor to charge the power battery; The remaining power of the power battery is acquired in real time. When the remaining power of the power battery is greater than or equal to the preset power, the hydraulic motor is controlled to work. At the same time, the control oil circuit connecting the hydraulic pump and the working parts is disconnected, and the overflow oil circuit connecting the hydraulic pump and the overflow valve is connected, so that the oil in the overflow oil circuit can flow back to the hydraulic oil tank through the overflow valve. Before controlling the hydraulic motor to operate, the following steps are also included: The amount of charge generated by the travel motor for the power battery per unit time, and the power consumption of the travel system of the electric loader are obtained. When the charging amount per unit time exceeds the power consumption of the walking system, the hydraulic motor is controlled to work; Controlling the operation of a hydraulic motor includes the following steps: The rotational speed of the hydraulic motor is determined based on the charging amount per unit time and the power consumption of the walking system. The speed of the hydraulic motor is determined based on the charging amount per unit time and the power consumption of the walking system, including the following steps: Based on the correspondence between the charging amount per unit time, the power consumption of the walking system, and the rotational speed of the hydraulic motor, query the rotational speed of the hydraulic motor corresponding to the obtained charging amount per unit time and the obtained power consumption of the walking system. Control the speed of the hydraulic motor to the queried speed.

2. The electric loader control method according to claim 1, characterized in that, The ratio of the preset power level to the full power level of the power battery is greater than 96%.

3. The electric loader control method according to claim 1, characterized in that, The speed of the hydraulic motor is determined based on the charging amount per unit time and the power consumption of the walking system, including the following steps: The power consumption of the hydraulic system is obtained, which is equal to the difference between the charging amount per unit time and the power consumption of the walking system. Based on the relationship between the power consumption of the hydraulic system and the speed of the hydraulic motor, the speed of the hydraulic motor corresponding to the power consumption of the hydraulic system is queried and calculated.

4. The electric loader control method according to claim 1, characterized in that, When the charging amount per unit time is not greater than the power consumption of the walking system, the hydraulic motor is controlled to stop working.

5. The electric loader control method according to claim 1, characterized in that, If the remaining charge of the power battery is not greater than the preset minimum charge, then the generator is controlled to work to charge the power battery. The preset minimum charge is less than the preset charge.

6. The electric loader control method according to any one of claims 1 to 5, characterized in that, When the electric loader is in the down-breaking mode, the travel motor is dragged in the opposite direction.

7. An electric loader, characterized in that, The electric loader control method as described in any one of claims 1 to 6 is adopted.

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