A safety control system for engineering vehicles and a control method thereof

Abstract

The present invention belongs to the technical field of new energy engineering vehicles, and in particular, relates to an engineering vehicle safety control system and a control method thereof; the system comprises: a power module for providing electric energy; a power receiving module electrically connected to the power module; an output module, which is a three-phase permanent magnet synchronous motor, electrically connected to the power receiving module, and provides power for the engineering vehicle to travel; an operation status acquisition module, which is used to acquire operation data in the vehicle and the control system when the vehicle is running; an open circuit protection module, which is used to control the on-off between the power module and the power receiving module; an active protection module, which is used to control the operation status of the output module; and an abnormal data acquisition module, which is used to acquire the operation data of the power module and the output module.

Description

Technical Field

[0001] The present invention belongs to the technical field of new energy engineering vehicles, and in particular relates to an engineering vehicle safety control system and a control method thereof. Background Art

[0002] As new energy engineering vehicles are developing day by day, the safety and reliability of the motors and power distribution systems as their power core are directly related to the overall performance of the engineering vehicles, the temperature tolerance during driving, the safety of surrounding equipment and transfer equipment, and the life safety of drivers and passengers. Summary of the invention

[0003] The purpose of the present invention is to provide a system and a control method thereof which are easy to control, timely and can ensure the safe operation of engineering vehicles in view of the above-mentioned technical problems.

[0004] In view of this, the present invention provides a safety control system for an engineering vehicle, comprising:

[0005] A power module, used for providing electric energy;

[0006] An electrical receiving module is used to electrically connect with the power module;

[0007] The output module is a three-phase permanent magnet synchronous motor, which is electrically connected to the power receiving module to provide power for the engineering vehicle to travel;

[0008] An operating status acquisition module, used to acquire operating data in the vehicle and control system when the vehicle is running;

[0009] The open circuit protection module is used to control the on-off between the power supply module and the power receiving module;

[0010] Active protection module, used to control the operating status of the output module;

[0011] The abnormal data acquisition module is used to obtain the operating data of the power module and the output module.

[0012] In the above technical solution, further, it also includes:

[0013] A data processing module, used for reading and processing the data from the operation status acquisition module and the abnormal data acquisition module;

[0014] A control module controls the open circuit protection module and / or the active protection module according to the data results processed by the data processing module;

[0015] The external response module responds when the data processing module processes abnormal data to prompt the vehicle driver;

[0016] The data upload module uploads the data processed by the data processing module;

[0017] The abnormal data acquisition module includes:

[0018] The power array detection unit obtains the real-time temperature of each part of the power module during power transmission through multi-point detection;

[0019] Environmental detection unit, used to obtain the real-time temperature of the environment where the engineering vehicle is located;

[0020] The output end detection unit is used to obtain the real-time temperature of the output module when it is running.

[0021] A control method for a construction vehicle safety control system comprises the following steps:

[0022] S1, when the system is running, the operating data in the system is obtained through the operating status acquisition module and the abnormal data acquisition module in each time unit, and the data is processed by the data processing module to determine the operating status of the system;

[0023] S2, if the data processing module determines that the processing is abnormal, the control module controls the action of the open circuit protection module and / or the active protection module; if the data processing module determines that the processing is normal, continue with step S1.

[0024] In the above technical solution, it is further characterized in that:

[0025] The operation status acquisition module includes acquiring:

[0026] The voltage and current of the output module after the engineering vehicle is started, the voltage and current output by the power module, and the load of the engineering vehicle;

[0027] The data processing module includes processing:

[0028] Pre-calculate the current and voltage interval values ​​of the output module when it is in normal operation according to the load and the set vehicle speed;

[0029] And according to the real-time temperature of the environment where the engineering vehicle is located and the operating conditions of the vehicle, the temperature range values ​​of the power module and the output module under normal operating conditions are pre-calculated;

[0030] At the same time, the obtained current interval value, voltage interval value and temperature interval value are compared with the real-time data obtained by the operation status acquisition module and the abnormal data acquisition module to judge the operation status of the system.

[0031] In the above technical solution, further,

[0032] If the real-time current or voltage value acquired by the operation status acquisition module is not within the pre-calculated interval value, it is determined that the system circuit is operating abnormally;

[0033] If the real-time temperature value of the power module or the output module acquired by the abnormal data acquisition module is not within the pre-calculated interval value, it is determined that the power module or the output module is operating abnormally;

[0034] The data processing module calculates the duration of abnormal circuit operation, abnormal power module operation or abnormal output module operation, and then determines the action of the control module to control the open circuit protection module and / or the active protection module according to the duration.

[0035] In the above technical solution, further, the data processing module processes the temperature data of the output module including:

[0036] 1. When the engineering vehicle is started, that is, the output module is powered on and the actual temperature T of the output module in the first time period is obtained in real time. RM1 and the actual temperature of the external environment T O1 and the speed S set according to the engineering vehicle B1 Determine the output module current threshold I with load precalculation BM1 and voltage threshold U BM1 ; During the second time period when the output module is powered on, obtain the actual temperature T of the output module during the second time period in real time RM2 and the actual temperature of the external environment T O2 And according to the set speed S of the engineering vehicle B2 Determine the output module current threshold I with load precalculation BM2 and voltage threshold U BM2 ;

[0037] 2. According to the actual temperature T of the internal and external environment in the first time period O1 and the current threshold I of the output module BM1 and voltage threshold U BM1 Pre-calculate the first temperature threshold T of the output module BM1 ; According to the actual temperature T of the external environment in the second time period O2 The current threshold I BM2 and voltage threshold U BM2 Pre-calculate the second temperature threshold T of the output module BM2 ;

[0038] 3. The first temperature threshold T of the pre-calculated output module BM1 The actual temperature T of the output module obtained during the first time period RM1 Compare the pre-calculated second temperature threshold T of the output module BM2 The actual temperature of the output module obtained in the second time period is compared with T RM2 Compare;

[0039] The first temperature threshold of the output module is T BM1 and the second temperature threshold T BM2 All are interval values. If the actual temperature T of the output module in the first time period is RM1 Not at the first temperature threshold T BM1 The actual temperature T of the output module during the first period and / or the second period RM2 Not at the second temperature threshold T BM2 If the output module temperature is below 0.05, it is judged that the operating temperature of the output module is abnormal.

[0040] In the above technical solution, further, the data processing module processes the temperature data of the power module including:

[0041] 1. When the engineering vehicle is started, i.e., during the first period of time when the power module is discharged, the actual temperature T of the power module in the first period of time is obtained in real time. RP1 and the actual temperature of the external environment T O1 and the speed S set according to the engineering vehicle B1 The current threshold I of the power module is determined by the load BP1 and voltage threshold U BP1 ; During the second time period when the power module is powered on, obtain the actual temperature T of the power module in the second time period in real time RP2 and the actual temperature of the external environment T O2 and the speed S set according to the engineering vehicle B2 The current threshold I of the power module is determined by the load BP2 and voltage threshold U BP2 ;

[0042] 2. According to the actual temperature T of the internal and external environment in the first time period O1 And the current threshold I of the power module BP1 and voltage threshold U BP1 Pre-calculate the first temperature threshold T of the power module BP1 ; According to the actual temperature T of the external environment in the second time period O2 The current threshold I BP2 and voltage threshold U BP2 Pre-calculate the second temperature threshold T of the power module BP2 ;

[0043] 3. The pre-calculated first temperature threshold T of the power module BP1 The actual temperature T of the power module obtained in the first time period RP1 Compare the pre-calculated second temperature threshold T of the power module BP2 Compare the actual temperature of the power module obtained in the second time period with the actual temperature of the power module obtained in the second time period. RP2 Compare;

[0044] The first temperature threshold of the power module is T BP1 and the second temperature threshold T BP2 All are interval values. If the actual temperature T of the power module in the first time period is RP1 Not at the first temperature threshold T BP1 The actual temperature T of the power module during the first period and / or the second period RP2 Not at the second temperature threshold T BP2 If the temperature is below 0.05, it is judged that the operating temperature of the power module is abnormal.

[0045] In the above technical solution, further, the data processing module processes the operation data of the output module including:

[0046] 1. When the engineering vehicle is started, that is, during the first period of time when the output module is powered on, the actual current I of the output module during the first period of time is obtained in real time. RM1 and the actual voltage U RM1 ; During the second time period when the output module is powered on, obtain the actual current I of the output module during the second time period in real time RM2 and the actual voltage U RM2 ;

[0047] 2. Output the actual current I of the module in the first time period RM1 and the actual voltage U RM1 The current threshold I of the output module in the first time period BM1 and voltage threshold U BM1 Compare the actual current I of the output module in the second time period RM2 and the actual voltage U RM2 The current threshold I of the output module in the second time period BM2 and voltage threshold U BM2 Make comparisons;

[0048] The current threshold of the output module I BM1 , voltage threshold U BM1 , current threshold I BM2 and voltage threshold U BM2 All are interval values. If the actual current I of the output module in the first time period is RM1 Not at current threshold I BM1 The actual current I of the output module during the period or the second period RM2 Not at current threshold I BM2 If the actual voltage U of the output module is within the first time period, then the operating current of the output module is judged to be abnormal; RM1 Not at voltage threshold U BM1 The actual voltage U of the output module during the first period and / or the second period RM2 Not at voltage threshold U BM2In all cases, it is judged that the operating voltage of the output module is abnormal.

[0049] In the above technical solution, further, the data processing module processes the operation data of the power module including:

[0050] 1. When the engineering vehicle is started, that is, during the first period of time when the power module is discharged, the actual current I of the power module during the first period of time is obtained in real time. RP1 and the actual voltage U RP1 ; During the second time period when the power module is powered on, the actual current I of the power module during the second time period is obtained in real time RP2 and the actual voltage U RP2 ;

[0051] 2. The actual current I of the power module in the first time period RP1 and the actual voltage U RP1 The current threshold I of the power module in the first time period BP1 and voltage threshold U BP1 Compare the actual current I of the power module in the second time period RP2 and the actual voltage U RP2 The current threshold I of the power module in the second time period BP2 and voltage threshold U BP1 Make comparisons;

[0052] The current threshold of the power module is BP1 , voltage threshold U BP1 , current threshold I BP2 and voltage threshold U BP2 All of them are interval values. If the actual current I of the power module in the first time period is RP1 Not at current threshold I BP1 The actual current I of the power module during the period and / or the second period RP2 Not at current threshold I BP2 If the actual voltage U RP1 Not at voltage threshold U BP1 The actual voltage U of the power module during the first period and / or the second period RP2 Not at voltage threshold U BP2 In all cases, it is determined that the operating voltage of the power module is abnormal.

[0053] In the above technical solution, it is further characterized in that the data processing module can also process the operating data obtained by the operating status acquisition module, and make judgments including abnormal increase in circuit resistance, zero current during operation, vehicle failure, towing, system insulation to ground, MOS tube upper bridge arm short circuit, MOS tube lower bridge arm short circuit, MOS tube upper and lower bridge arms straight through, motor stall, motor torque control failure and vehicle ramp failure parking.

[0054] The beneficial effects of the present invention are:

[0055] 1. When the vehicle or system is abnormal, the open circuit protection contactor and / or the main protection contactor can be forcibly driven to protect the power module and the output module, thereby preventing the power module from short-circuiting and causing continuous heating or even burning, thereby protecting the safety of the surrounding of the engineering vehicle, the driver and the operator;

[0056] 2. By monitoring the temperature of the power module and the output module, the safety of the operation of the power module and the output module can be better guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 It is the electrical schematic diagram of the control system of the present invention;

[0058] Figure 2 The control principle of the control method of the present invention is Figure Ⅰ ;

[0059] Figure 3 The control principle of the control method of the present invention is Figure II ;

[0060] The markings in the figure are: 1-power module, 2-power receiving module, 3-output module, 4-open circuit protection module, 5-active protection module. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0062] Embodiment 1:

[0063] This embodiment provides a safety control system for an engineering vehicle, including:

[0064] A power module 1, used for providing electric energy;

[0065] The electrical receiving module 2 is electrically connected to the power supply module 1;

[0066] The output module 3 is a three-phase permanent magnet synchronous motor, which is electrically connected to the power receiving module 2 to provide power for the engineering vehicle to travel;

[0067] An operating status acquisition module, used to acquire operating data in the vehicle and control system when the vehicle is running;

[0068] The open circuit protection module 4 is used to control the connection and disconnection between the power supply module 1 and the power receiving module 2;

[0069] An active protection module 5, used to control the operating state of the output module 3;

[0070] The abnormal data acquisition module is used to obtain the operating data of the power module 1 and the output module 3.

[0071] In this embodiment, the power module 1 is a battery pack of a new energy engineering vehicle; the power receiving module 2 includes a MOS tube inverter circuit, a filter capacitor circuit and a fast discharge circuit; the open circuit protection module 4 is an open circuit protection contactor, and its normally open contacts are respectively arranged on the connection lines of the positive and negative poles of the power module 1. When the contacts are closed, the positive and negative poles of the power module 1 are connected to the circuit, and when the contacts are disconnected, the connection between the positive and negative poles of the power module 1 and the circuit is cut off; the active protection module 5 is a main protection contactor, and its normally open contacts are respectively arranged on the three-phase connection lines of the three-phase permanent magnet synchronous motor, and connected to any two phases of the three phases. When the normally open contacts are closed, the three-phase windings of the three-phase permanent magnet synchronous motor are short-circuited; the operation status acquisition module includes multiple data detection units, which are distributed in the control The control system and the engineering vehicle include the data used to obtain the voltage and current values ​​output by the power module 1, the voltage and current values ​​of the output module 3, the current and voltage values ​​of the MOS tube inverter circuit, the preset speed and actual speed of the engineering vehicle, the rotation speed of the output module 3, and the resistance value and grounding resistance value in the circuit of the control system; the abnormal data acquisition module is mainly used to obtain the operating temperature of the power module 1 and the output module 3; when the data is abnormal, the open circuit protection contactor and / or the main protection contactor can be forcibly driven to protect the power module 1 and the output module 3, thereby preventing the power module 1 from short-circuiting and causing continuous heating or even burning, thereby protecting the safety of the surrounding of the engineering vehicle, the driver and the operator.

[0072] Embodiment 2:

[0073] This embodiment provides a safety control system for an engineering vehicle, which, in addition to the technical solutions of the above embodiments, also has the following technical features.

[0074] Also includes:

[0075] A data processing module, used for reading and processing the data from the operation status acquisition module and the abnormal data acquisition module;

[0076] A control module controls the open circuit protection module 4 and / or the active protection module 5 according to the data results processed by the data processing module;

[0077] The external response module responds when the data processing module processes abnormal data to prompt the vehicle driver;

[0078] The data upload module uploads the data processed by the data processing module;

[0079] The abnormal data acquisition module includes:

[0080] The power array detection unit obtains the real-time temperature of each part of the power module 1 under the condition of power transmission by means of multi-point detection;

[0081] Environmental detection unit, used to obtain the real-time temperature of the environment where the engineering vehicle is located;

[0082] The output end detection unit is used to obtain the real-time temperature of the output module 3 when it is running.

[0083] In this embodiment, the data processing module reads and processes the data of the operation status acquisition module and the abnormal data acquisition module, thereby obtaining the operation status of the engineering vehicle, such as normal operation of the engineering vehicle, abnormal temperature of the power module 1, abnormal voltage and / or current of the power module 1, abnormal temperature of the output module 3, abnormal current and / or voltage of the output module 3, abnormal increase in circuit resistance, zero current during operation, vehicle failure, and makes judgments on towing, system insulation to ground, short circuit of the upper bridge arm of the MOS tube, short circuit of the lower bridge arm of the MOS tube, direct connection of the upper and lower bridge arms of the MOS tube, motor stall, motor torque control failure, and vehicle ramp failure parking. The control module is used to control the on-off of the coil of the open circuit protection module 4 and / or the active protection module 5, so as to realize the on-off of the power module 1 and the system circuit and / or the short circuit of the three-phase winding of the output module 3. The external response module can be a touch screen set in the cab of the car, and the abnormal situation of the engineering vehicle can be displayed through the touch screen. For example, when the vehicle data runs abnormally, such as the temperature of the power module 1 and / or the output module 3 is slightly greater than the temperature threshold, the display module can be used to issue an early warning, and the driver can determine whether to stop the operation of the engineering vehicle according to the actual operation of the engineering vehicle. If the temperature of the power module 1 and / or the output module 3 is slightly greater than the temperature threshold and lasts for a long time, the control module will control the on and off of the coil of the open circuit protection module 4 and / or the active protection module 5. The data upload module is used to upload the data processed by the data processing module and upload it to the host computer, which can be set in the control room for the owner of the engineering vehicle; one host computer can be used to receive data from multiple engineering vehicles, and the host computer is connected to a display to display the driving data of each engineering vehicle; so that a timely response can be made when the vehicle is abnormal, such as notifying personnel to clean up the surrounding area of ​​the engineering vehicle to reduce the safety of surrounding equipment, shipping equipment and goods caused by the engineering vehicle; it can also notify the driver to respond when the driver does not notice it in time. The abnormal data acquisition module performs multi-point temperature monitoring on the power module 1 through the power array detection unit, so as to ensure the accuracy of temperature monitoring; the output end detection unit is used to monitor the temperature of the output module 3, and the data processing module estimates the normal operating temperature of the power module 1 and the output module 3 according to the temperature detected by the environmental detection unit and the vehicle operation conditions.

[0084] Embodiment 3:

[0085] This embodiment provides a control method for an engineering vehicle safety control system, comprising the steps of:

[0086] S1, when the system is running, the operating data in the system is obtained through the operating status acquisition module and the abnormal data acquisition module in each time unit, and the data is processed by the data processing module to determine the operating status of the system;

[0087] S2, if the data processing module determines that the data is abnormal after processing, the control module controls the action of the open circuit protection module 4 and / or the active protection module 5; if the data processing module determines that the data is normal after processing, continue with step S1.

[0088] In this embodiment, the data processing module obtains the operating data in the system obtained by the operating status acquisition module and the abnormal data acquisition module once in each time unit, and each time unit can be 3 seconds to 5 seconds; the data processing module processes the detected data to judge the operation of the engineering vehicle. If the data processing module judges it to be abnormal, the control module controls the open circuit protection module 4 to connect the power module 1 with the system circuit and / or controls the active protection module 5 to short-circuit the three-phase winding of the output module 3; thereby ensuring the safety and reliability of the engineering vehicle. When the motor stops working, the short-circuiting of the three-phase winding can utilize the reverse electromagnetic torque generated during the rotation of the motor to limit the vehicle's slipping speed and improve safety; it can also protect the motor to a certain extent, prevent abnormal rotation of the motor caused by external factors, and thus avoid damage to the motor.

[0089] Embodiment 4:

[0090] This embodiment provides a control method for an engineering vehicle safety control system, which, in addition to the technical solutions of the above embodiments, also has the following technical features.

[0091] It is characterized in that

[0092] The operation status acquisition module includes acquiring:

[0093] The voltage and current of the output module 3, the voltage and current output by the power module 1 and the load of the engineering vehicle after the engineering vehicle is started;

[0094] The data processing module includes processing:

[0095] Pre-calculate the current and voltage interval values ​​of the output module 3 when it is in normal operation according to the load and the set vehicle speed;

[0096] And according to the real-time temperature of the environment where the engineering vehicle is located and the operation status of the vehicle, the temperature range values ​​of the power module 1 and the output module 3 under normal operation are pre-calculated;

[0097] At the same time, the obtained current interval value, voltage interval value and temperature interval value are compared with the real-time data obtained by the operation status acquisition module and the abnormal data acquisition module to judge the operation status of the system.

[0098] In this embodiment, the operating status acquisition module also includes obtaining data such as the vehicle speed set in the engineering vehicle cab and the actual vehicle speed, and the resistance value and ground resistance value in the control system circuit; the data processing module can also calculate the working resistance, output power and torque of the output module 3 according to the current and voltage values ​​of the output module 3, so as to judge whether the vehicle and the control system are abnormal based on the calculated series of data, and judge the problems of the engineering vehicle and the control system based on the abnormal data when abnormal.

[0099] Embodiment 5:

[0100] This embodiment provides a control method for an engineering vehicle safety control system, which, in addition to the technical solutions of the above embodiments, also has the following technical features.

[0101] If the real-time current or voltage value acquired by the operation status acquisition module is not within the pre-calculated interval value, it is determined that the system circuit is operating abnormally;

[0102] If the real-time temperature value of the power module 1 or the output module 3 acquired by the abnormal data acquisition module is not within the pre-calculated interval value, it is determined that the power module 1 or the output module 3 is operating abnormally;

[0103] The data processing module calculates the duration of abnormal circuit operation, abnormal power module 1 operation or abnormal output module 3 operation, and then determines whether to control the action of the open circuit protection module 4 and / or the active protection module 5 through the control module according to the duration.

[0104] In this embodiment, the motion status acquisition module also obtains the current and voltage of the MOS tube inverter circuit, the filter capacitor circuit, the power module 1 and the output module 3 during operation, so as to judge the operation status of each electrical component. When the current and voltage values ​​are not within the interval value of the expected number, it is judged that the operation of the electrical component at the location is abnormal. The abnormal data acquisition module is mainly used to obtain the operating temperature of the power module 1 and the output module 3 as the core, and compares the actual temperature with the pre-calculated temperature to judge whether the operation of the power module 1 or the output module 3 is abnormal. And the data processing module calculates the duration of the abnormal data. When the duration is greater than 10-15 seconds, it can be judged that the engineering vehicle or the system circuit has an abnormality, and then the control module controls the road protection module and / or the active protection module 5 to act, and disconnects the connection between the power module 1 and the circuit or disconnects the connection between the power module 1 and the circuit and short-circuits the three-phase winding of the output module 3.

[0105] Embodiment 6:

[0106] This embodiment provides a control method for an engineering vehicle safety control system, which, in addition to the technical solutions of the above embodiments, also has the following technical features.

[0107] The data processing module processes the temperature data of the output module 3 including:

[0108] 1. When the engineering vehicle is started, that is, when the output module 3 is powered on and running for the first time period, the actual temperature T of the output module 3 in the first time period is obtained in real time. RM1 and the actual temperature of the external environment T O1 and the speed S set according to the engineering vehicle B1 The current threshold I of output module 3 is determined by precalculation with the load BM1 and voltage threshold U BM1 ; During the second time period when the output module 3 is powered on, the actual temperature T of the output module 3 during the second time period is obtained in real time RM2 and the actual temperature of the external environment T O2 And according to the set speed S of the engineering vehicle B2 The current threshold I of output module 3 is determined by precalculation with the load BM2 and voltage threshold U BM2 ;

[0109] 2. According to the actual temperature T of the internal and external environment in the first time period O1 and the current threshold I of output module 3 BM1 and voltage threshold U BM1 Pre-calculate the first temperature threshold T of the output module 3 BM1 ; According to the actual temperature T of the external environment in the second time period O2 The current threshold I of output module 3 BM2 and voltage threshold U BM2 Pre-calculate the second temperature threshold T of the output module 3 BM2 ;

[0110] 3. The pre-calculated first temperature threshold T of the output module 3 BM1 The actual temperature T of the output module 3 obtained in the first time period RM1 The pre-calculated second temperature threshold T of the output module 3 is compared; BM2 The actual temperature of the output module 3 obtained in the second time period is compared with the actual temperature of the output module 3 in the second time period. RM2 Compare;

[0111] The first temperature threshold T of the output module 3 BM1 and the second temperature threshold T BM2 All of them are interval values. If the actual temperature T of the output module 3 in the first time period is RM1 Not at the first temperature threshold T BM1 The actual temperature T of the output module 3 within the first period and / or within the second period RM2 Not at the second temperature threshold T BM2 It is determined that the operating temperature of the output module 3 is abnormal.

[0112] In this embodiment, the first time period of the output module 3 when it is powered on is within 120 seconds of powering on, and the second time period is from 120 seconds after the output module 3 is powered on to the output module 3 stopping running; because the temperature of the output module 3 when the vehicle is just started, that is, when it is just powered on, is slightly different from the temperature data after long-term operation, the temperature of the output module 3 is detected differently through two time periods, thereby improving the accuracy of the temperature monitoring of the output module 3; and the data processing module determines the current threshold and voltage threshold of the output module 3 according to the load and speed of the engineering vehicle, and pre-calculates the temperature of the output module 3 in normal operation according to the temperature of the environment in which the engineering vehicle is located, and compares the pre-calculated temperature threshold with the data of the output module 3 obtained by the abnormal data acquisition module to determine whether the operating temperature of the output module 3 is abnormal. If the temperature is abnormal, the data processing module will simultaneously compare the actual current and voltage of the output module 3 with the pre-calculated current threshold and voltage threshold, so as to accurately determine the specific cause of the abnormal temperature of the output module 3, and drive the open circuit protection module 4 and / or the active protection module 5 according to the abnormal cause, and help the later inspection and maintenance of the engineering vehicle.

[0113] Embodiment 7:

[0114] This embodiment provides a control method for an engineering vehicle safety control system, which, in addition to the technical solutions of the above embodiments, also has the following technical features.

[0115] The data processing module processes the temperature data of the power module 1 including:

[0116] 1. When the engineering vehicle is started, i.e., during the first time period of the discharge operation of the power module 1, the actual temperature T of the power module 1 during the first time period is obtained in real time. RP1 and the actual temperature of the external environment T O1 and the speed S set according to the engineering vehicle B1 The current threshold I of power module 1 is determined by the load BP1 and voltage threshold U BP1 ; During the second time period when the power module 1 is powered on, the actual temperature T of the power module 1 during the second time period is obtained in real time RP2 and the actual temperature of the external environment T O2 and the speed S set according to the engineering vehicle B2 The current threshold I of power module 1 is determined by the load BP2 and voltage threshold U BP2 ;

[0117] 2. According to the actual temperature T of the internal and external environment in the first time period O1 And the current threshold I of power module 1 BP1 and voltage threshold U BP1Pre-calculate the first temperature threshold T of the power module 1 BP1 ; According to the actual temperature T of the external environment in the second time period O2 The current threshold I of power module 1 BP2 and voltage threshold U BP2 Pre-calculate the second temperature threshold T of the power module 1 BP2 ;

[0118] 3. The pre-calculated first temperature threshold T of the power module 1 BP1 The actual temperature T of the power module 1 obtained in the first time period RP1 The pre-calculated second temperature threshold T of the power module 1 is compared; BP2 The actual temperature of the power module 1 obtained in the second time period is compared with T RP2 Compare;

[0119] The first temperature threshold T of the power module 1 BP1 and the second temperature threshold T BP2 All of them are interval values. If the actual temperature T of the power module 1 in the first time period is RP1 Not at the first temperature threshold T BP1 The actual temperature T of the power module 1 during the first period and / or the second period RP2 Not at the second temperature threshold T BP2 It is determined that the operating temperature of power module 1 is abnormal.

[0120] In this embodiment, the first time period of the discharge operation of the power module 1 is within 120 seconds of the discharge; and the second time period is from 120 seconds after the discharge operation of the power module 1 to the stop of the discharge; because the temperature of the engineering vehicle when the power module 1 is just started, that is, when it is just discharged, is slightly different from the temperature data of the long-term discharge, the temperature of the power module 1 is detected differently through two time periods, so as to improve the accuracy of the temperature monitoring of the power module 1; and the data processing module determines the current threshold and voltage threshold of the power module 1 according to the load and speed of the engineering vehicle, and pre-calculates the temperature of the power module 1 during normal discharge according to the temperature of the environment in which the engineering vehicle is located, and compares the temperature threshold calculated in advance with the data of the power module 1 obtained by the abnormal data acquisition module, so as to determine whether the operating temperature of the power module 1 is abnormal. If the temperature is abnormal, the data processing module will simultaneously compare the actual current and voltage of the power module 1 with the pre-calculated current threshold and voltage threshold, so as to accurately determine the specific cause of the abnormal temperature of the power module 1, and drive the open circuit protection module 4 and / or the active protection module 5 according to the abnormal cause, and help the later inspection and maintenance of the engineering vehicle.

[0121] Embodiment 8:

[0122] This embodiment provides a control method for an engineering vehicle safety control system, which, in addition to the technical solutions of the above embodiments, also has the following technical features.

[0123] The data processing module processes the operation data of the output module 3 including:

[0124] 1. When the engineering vehicle is started, that is, when the output module 3 is powered on for the first time period, the actual current I of the output module 3 in the first time period is obtained in real time. RM1 and the actual voltage U RM1 ; During the second time period when the output module 3 is powered on, the actual current I of the output module 3 during the second time period is obtained in real time RM2 and the actual voltage U RM2 ;

[0125] 2. Output the actual current I of module 3 in the first time period RM1 and the actual voltage U RM1 The current threshold I of the output module 3 in the first time period BM1 and voltage threshold U BM1 The actual current I of the output module 3 in the second time period is compared; RM2 and the actual voltage U RM2 The current threshold I of the output module 3 in the second time period BM2 and voltage threshold U BM2 Make comparisons;

[0126] The current threshold of output module 3 is I BM1 , voltage threshold U BM1 , current threshold I BM2 and voltage threshold U BM2 All of them are interval values. If the actual current I of the output module 3 in the first time period is RM1 Not at current threshold I BM1 The actual current I of the output module 3 during the period or the second period RM2 Not at current threshold I BM2 If the actual voltage U of the output module 3 is within the first time period, then the operating current of the output module 3 is judged to be abnormal; RM1 Not at voltage threshold U BM1 The actual voltage U of the output module 3 within the first period and / or within the second period RM2 Not at voltage threshold U BM2 It is determined that the operating voltage of the output module 3 is abnormal.

[0127] In this embodiment, since the current and voltage of the output module 3 may fluctuate when it is just powered on, the current and voltage of the output module 3 are monitored in two time periods, thereby improving the accuracy of monitoring the output module 3; and the current threshold and voltage threshold of the output module 3 are estimated under normal conditions according to the load and speed of the engineering vehicle, and the current threshold and voltage threshold are compared with the actual current and voltage obtained by the operation status acquisition module, so as to determine whether the current and / or voltage of the output module 3 are abnormal when it is running. If the current and / or voltage are abnormal, the data processing module will simultaneously compare the actual temperature of the output module 3 with the pre-calculated temperature threshold, so as to accurately determine the specific reason why the current and / or voltage of the output module 3 are abnormal; and drive the open circuit protection module 4 and / or the active protection module 5 according to the abnormal reason.

[0128] Embodiment 9:

[0129] This embodiment provides a control method for an engineering vehicle safety control system, which, in addition to the technical solutions of the above embodiments, also has the following technical features.

[0130] The data processing module processes the operation data of the power module 1 including:

[0131] 1. When the engineering vehicle is started, that is, during the first time period of the power module 1 discharging operation, the actual current I of the power module 1 during the first time period is obtained in real time. RP1 and the actual voltage U RP1 ; During the second time period when the power module 1 is powered on, the actual current I of the power module 1 during the second time period is obtained in real time RP2 and the actual voltage U RP2 ;

[0132] 2. The actual current I of the power module 1 in the first time period RP1 and the actual voltage U RP1 The current threshold I of the power module 1 in the first time period BP1 and voltage threshold U BP1 Compare the actual current I of the power module 1 in the second time period RP2 and the actual voltage U RP2 The current threshold I of the power module 1 in the second time period BP2 and voltage threshold U BP1 Make comparisons;

[0133] The current threshold of power module 1 is I BP1 , voltage threshold U BP1 , current threshold I BP2 and voltage threshold U BP2 All of them are interval values. If the actual current I of the power module 1 in the first time period is RP1Not at current threshold I BP1 The actual current I of the power module 1 within the first period and / or within the second period RP2 Not at current threshold I BP2 If the actual voltage U RP1 Not at voltage threshold U BP1 The actual voltage U of the power module 1 within the first period and / or within the second period RP2 Not at voltage threshold U BP2 It is determined that the operating voltage of power module 1 is abnormal.

[0134] In this embodiment, since the current and voltage of the power module 1 may fluctuate when it is just discharged, the current and voltage of the power module 1 are monitored in two time periods, thereby improving the accuracy of monitoring the power module 1; and the current threshold and voltage threshold of the power module 1 when it is running under normal conditions are estimated according to the load and speed of the engineering vehicle, and the current threshold and voltage threshold are compared with the actual current and voltage obtained by the operation status acquisition module, thereby determining whether the current and / or voltage of the power module 1 when it is running is abnormal. If the current and / or voltage are abnormal, the data processing module will simultaneously compare the actual temperature of the power module 1 with the pre-calculated temperature threshold, thereby accurately determining the specific cause of the abnormal current and / or voltage of the power module 1; and drive the open circuit protection module 4 and / or the active protection module 5 according to the abnormal cause.

[0135] Embodiment 10:

[0136] This embodiment provides a control method for an engineering vehicle safety control system, which, in addition to the technical solutions of the above embodiments, also has the following technical features.

[0137] The data processing module can also process the operation data obtained by the operation status acquisition module, and make judgments including abnormal increase in circuit resistance, zero current during operation, vehicle failure, towing, system insulation to ground, MOS upper bridge arm short circuit, MOS lower bridge arm short circuit, MOS upper and lower bridge arms straight through, motor stall, motor torque control failure and vehicle ramp failure parking.

[0138] In this embodiment, when the circuit resistance increases abnormally, the current is zero during operation, the vehicle fails, the trailer is carried out, the system is insulated to the ground, the temperature of the power module 1 is abnormal, the current of the power module 1 is abnormal, and the voltage of the power module 1 is abnormal, the control module controls to disconnect the open circuit protection module 4, that is, disconnect the connection between the power module 1 and the system circuit; wherein the vehicle fails, the trailer can be operated by the driver in the cab through the touch screen. When the upper bridge arm of the MOS tube is short-circuited, the lower bridge arm of the MOS tube is short-circuited, the upper and lower bridge arms of the MOS tube are directly connected, the motor stalls, the motor torque control fails, the vehicle stops due to a ramp fault, the power supply of the output module 3 is abnormal, the current of the output module 3 is abnormal, and the temperature of the output module 3 is abnormal, the controller controls to disconnect the open circuit protection module 4 and forcefully connect the active protection module 5, that is, disconnect the connection between the power module 1 and the system circuit and short-circuit the three-phase winding of the output module 3. Thereby better protecting the power module 1 and the output module 3, and ensuring the safety around the engineering vehicle.

[0139] The embodiments of the present application are described above in conjunction with the accompanying drawings. In the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A control method for an engineering vehicle safety control system, characterized in that: The system comprises: A power module (1), used for providing electric energy; An electrical receiving module (2) is electrically connected to the power module (1); The output module (3) is a three-phase permanent magnet synchronous motor, which is electrically connected to the power receiving module (2) to provide power for the engineering vehicle to travel; An operating status acquisition module, used to acquire vehicle operating data; An open circuit protection module (4) is used to control the on / off connection between the power supply module (1) and the power receiving module (2); An active protection module (5), used to control the operating state of the output module (3); An abnormal data acquisition module, used to acquire operating data of the power module (1) and the output module (3); A data processing module, used for reading and processing the data from the operation status acquisition module and the abnormal data acquisition module; A control module, which controls the open circuit protection module (4) and / or the active protection module (5) according to the data results processed by the data processing module; The external response module responds when the data processing module processes abnormal data to prompt the vehicle driver; The data upload module uploads the data processed by the data processing module; The abnormal data acquisition module includes: A power array detection unit, which obtains the real-time temperature of each part of the power module (1) when transmitting power through a multi-point detection method; Environmental detection unit, used to obtain the real-time temperature of the environment where the engineering vehicle is located; An output end detection unit, used to obtain the real-time temperature of the output module (3) when it is running; The control method comprises the following steps: S1, when the system is running, the operating data in the system is obtained through the operating status acquisition module and the abnormal data acquisition module in each time unit, and the data is processed by the data processing module to determine the operating status of the system; S2, if the data processing module determines that the data is abnormal after processing, the control module controls the action of the open circuit protection module (4) and / or the active protection module (5); if the data processing module determines that the data is normal after processing, continue with step S1; The operation status acquisition module includes acquiring: The voltage and current of the output module (3), the voltage and current output by the power module (1), and the load of the engineering vehicle after the engineering vehicle is started; The data processing module includes processing: Pre-calculate the current and voltage interval values ​​of the output module (3) when it is in normal operation according to the load and the vehicle speed; And based on the real-time temperature of the environment in which the engineering vehicle is located and the operating conditions of the vehicle, the temperature range values ​​of the power module (1) and the output module (3) under normal operating conditions are pre-calculated; At the same time, the obtained current interval value, voltage interval value and temperature interval value are compared with the real-time data obtained by the operation status acquisition module and the abnormal data acquisition module to judge the operation status of the system; The data processing module processes the temperature data of the output module (3) including:

1. During the first time period when the engineering vehicle is started, i.e. when the output module (3) is powered on, the actual temperature T of the output module (3) during the first time period is obtained in real time. RM1 and the actual temperature of the external environment T O1 and the speed S set according to the engineering vehicle B1 The current threshold I of the output module (3) is determined by the load BM1 and voltage threshold U BM1 ; During the second time period when the output module (3) is powered on, the actual temperature T of the output module (3) during the second time period is obtained in real time. RM2 and the actual temperature of the external environment T O2 And according to the set speed S of the engineering vehicle B2 The current threshold I of the output module (3) is determined by the load BM2 and voltage threshold U BM2 ; 2. According to the actual temperature T of the internal and external environment in the first time period O1 and the current threshold I of the output module (3) BM1 and voltage threshold U BM1 Pre-calculate the first temperature threshold T of the output module (3) BM1 ; According to the actual temperature T of the external environment in the second time period O2 The current threshold I of the output module (3) BM2 and voltage threshold U BM2 Pre-calculate the second temperature threshold T of the output module (3) BM2 ; 3. The first temperature threshold T of the output module (3) calculated in advance BM1 The actual temperature T of the output module (3) obtained during the first time period RM1 Compare; the pre-calculated second temperature threshold T of the output module (3) BM2 The actual temperature T of the output module (3) obtained during the second time period RM2 Make comparisons; The first temperature threshold T of the output module (3) BM1 and the second temperature threshold T BM2 are all interval values. If the actual temperature T of the output module (3) in the first time period RM1 Not at the first temperature threshold T BM1 The actual temperature T of the output module (3) within the first period of time and / or within the second period of time RM2 Not at the second temperature threshold T BM2 It is determined that the operating temperature of the output module (3) is abnormal.

2. The control method according to claim 1, characterized in that: If the real-time current or voltage value acquired by the operation status acquisition module is not within the pre-calculated interval value, it is determined that the system circuit is operating abnormally; If the real-time temperature value of the power module (1) or the output module (3) acquired by the abnormal data acquisition module is not within the pre-calculated interval value, it is determined that the power module (1) or the output module (3) is operating abnormally; The data processing module calculates the duration of the circuit operation abnormality, the power module (1) operation abnormality or the output module (3) operation abnormality, and then determines the action of the control module to control the open circuit protection module (4) and / or the active protection module (5) according to the duration.

3. The control method according to claim 1, characterized in that: The data processing module processes the temperature data of the power module (1) including:

1. During the first time period of the start-up of the engineering vehicle, i.e., the discharge operation of the power module (1), the actual temperature T of the power module (1) during the first time period is obtained in real time. RP1 and the actual temperature of the external environment T O1 and the speed S set according to the engineering vehicle B1 The current threshold I of the power module (1) is determined by the load BP1 and voltage threshold U BP1 ; During the second time period when the power module (1) is powered on, the actual temperature T of the power module (1) during the second time period is obtained in real time. RP2 and the actual temperature of the external environment T O2 and the speed S set according to the engineering vehicle B2 The current threshold I of the power module (1) is determined by the load BP2 and voltage threshold U BP2 ; 2. According to the actual temperature T of the internal and external environment in the first time period O1 and the current threshold I of the power module (1) BP1 and voltage threshold U BP1 Pre-calculate the first temperature threshold T of the power module (1) BP1 ; According to the actual temperature T of the external environment in the second time period O2 The current threshold I of the power module (1) BP2 and voltage threshold U BP2 Pre-calculate the second temperature threshold T of the power module (1) BP2 ; 3. The pre-calculated first temperature threshold T of the power module (1) BP1 The actual temperature T of the power module (1) obtained during the first time period RP1 Compare; the pre-calculated second temperature threshold T of the power module (1) BP2 The actual temperature T of the power module (1) obtained during the second time period RP2 Make comparisons; The first temperature threshold T of the power module (1) BP1 and the second temperature threshold T BP2 are all interval values. If the actual temperature T of the power module (1) in the first time period RP1 Not at the first temperature threshold T BP1 The actual temperature T of the power module (1) during the first period and / or the second period RP2 Not at the second temperature threshold T BP2 If the temperature of the power module (1) is abnormal, 4. The control method according to claim 1, characterized in that: The data processing module processes the operation data of the output module (3) including:

1. During the first time period when the engineering vehicle is started, i.e. when the output module (3) is powered on, the actual current I of the output module (3) during the first time period is obtained in real time. RM1 and the actual voltage U RM1 ; During the second time period when the output module (3) is powered on, the actual current I of the output module (3) during the second time period is obtained in real time RM2 and the actual voltage U RM2 ; 2. Output the actual current I of the output module (3) during the first time period. RM1 and the actual voltage U RM1 The current threshold I of the output module (3) during the first time period BM1 and voltage threshold U BM1 Compare the actual current I of the output module (3) in the second time period RM2 and the actual voltage U RM2 and the current threshold I of the output module (3) during the second time period BM2 and voltage threshold U BM2 Make comparisons; The current threshold of the output module (3) is BM1 , voltage threshold U BM1 , current threshold I BM2 and voltage threshold U BM2 are all interval values. If the actual current I of the output module (3) in the first time period is RM1 Not at current threshold I BM1 The actual current I of the output module (3) during the period or the second period RM2 Not at current threshold I BM2 If the actual voltage U of the output module (3) is within the first time period, then it is determined that the operating current of the output module (3) is abnormal; if the actual voltage U of the output module (3) is within the first time period RM1 Not at voltage threshold U BM1 The actual voltage U of the output module (3) during the first period and / or the second period RM2 Not at voltage threshold U BM2 It is determined that the operating voltage of the output module (3) is abnormal.

5. The control method according to claim 1, characterized in that: The data processing module processes the operating data of the power module (1) including:

1. When the engineering vehicle is started, i.e., during the first time period of the discharge operation of the power module (1), the actual current I of the power module (1) during the first time period is obtained in real time. RP1 and the actual voltage U RP1 ; During the second time period when the power module (1) is powered on, the actual current I of the power module (1) during the second time period is obtained in real time RP2 and the actual voltage U RP2 ; 2. The actual current I of the power module (1) in the first time period RP1 and the actual voltage U RP1 The current threshold I of the power module (1) during the first time period BP1 and voltage threshold U BP1 Compare the actual current I of the power module (1) in the second time period RP2 and the actual voltage U RP2 and the current threshold I of the power module (1) during the second time period BP2 and voltage threshold U BP1 Make comparisons; The current threshold of the power module (1) is BP1 , voltage threshold U BP1 , current threshold I BP2 and voltage threshold U BP2 are all interval values. If the actual current I RP1 Not at current threshold I BP1 The actual current I of the power module (1) during the first period and / or the second period RP2 Not at current threshold I BP2 During the first time period, the operating current of the power module (1) is judged to be abnormal; if the actual voltage U RP1 Not at voltage threshold U BP1 The actual voltage U of the power module (1) during the first period and / or the second period RP2 Not at voltage threshold U BP2 It is determined that the operating voltage of the power module (1) is abnormal.

6. The control method according to any one of claims 1 to 5, characterized in that: The data processing module can also process the operation data obtained by the operation status acquisition module, and make judgments including abnormal increase in circuit resistance, zero current during operation, vehicle failure, towing, system insulation to ground, MOS upper bridge arm short circuit, MOS lower bridge arm short circuit, MOS upper and lower bridge arms straight through, motor stall, motor torque control failure and vehicle ramp failure parking.

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