Electric control system of anti-explosion lithium battery rack rail vehicle and anti-explosion lithium battery rack rail vehicle

Abstract

The invention provides an explosion-proof lithium battery rack rail vehicle electric control system and an explosion-proof lithium battery rack rail vehicle. The electric control system comprises a vehicle control unit VCU, an auxiliary power box, a cab controller, a power box, an oil pump frequency conversion all-in-one machine, a speed regulation controller and a brake valve, and the auxiliary power box, the cab controller, the power box, the oil pump frequency conversion all-in-one machine, the speed regulation controller and the brake valve are in communication connection with the vehicle control unit VCU through a CAN bus. The power converter is electrically connected with the power box, the oil pump frequency conversion all-in-one machine and the speed regulation controller; and a battery management system BMS, a plurality of storage batteries connected with the battery management system BMS and a contactor are arranged in the power box. According to the electric control system for the anti-explosion lithium battery rack rail vehicle, through the arrangement of the vehicle control unit VCU, the cab controller, the battery management system BMS, the oil pump frequency conversion all-in-one machine, the speed regulation controller and the brake valve, the vehicle control unit VCU can achieve information collection, information transmission and control over all the units through a CAN bus, and the safety of the vehicle control unit VCU is improved. The control precision and the response speed of an electric control system are improved, and the overall reliability of the anti-explosion lithium battery rack rail vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of rack rail vehicles, and in particular to an explosion-proof lithium battery rack rail vehicle electronic control system. The present invention also relates to an explosion-proof lithium battery rack rail vehicle provided with the above-mentioned explosion-proof lithium battery rack rail vehicle electronic control system. Background Art

[0002] With the rapid development of modern industrial technology, the level of mechanized operations in underground engineering fields such as mines and tunnels is increasing. In these special environments, explosion-proof lithium battery rack rail vehicles have been widely used as an efficient and environmentally friendly means of transportation. This type of vehicle can not only meet the needs of material transportation under complex terrain, but also greatly improves the safety of operations because it uses explosion-proof lithium batteries as a power source.

[0003] However, as the core component of the explosion-proof lithium battery rack rail vehicle, the stability and reliability of its performance are directly related to the overall operating efficiency and safety of the vehicle. The traditional explosion-proof lithium battery rack rail vehicle electronic control system adopts a relatively simple control method, such as relay control or analog circuit control. These methods have low system integration, difficult fault diagnosis, low control accuracy, slow response speed, and poor reliability. Summary of the invention

[0004] In view of this, the present invention aims to propose an explosion-proof lithium battery rack railcar electronic control system to improve the control accuracy and response speed of the electronic control system and enhance the overall reliability of the explosion-proof lithium battery rack railcar.

[0005] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0006] An explosion-proof lithium battery rack rail vehicle electronic control system, comprising a vehicle controller VCU, an auxiliary power box connected to the vehicle controller VCU via a CAN bus, a driver's cab controller, a power box, an oil pump frequency conversion integrated machine, a speed controller, a brake valve, and a power converter electrically connected to the power box, the oil pump frequency conversion integrated machine and the speed controller;

[0007] The power box is provided with a battery management system BMS, and a plurality of storage batteries and contactors connected to the battery management system BMS;

[0008] The power box can provide AC220V power to the speed controller and the oil pump frequency conversion integrated machine through the power converter, and provide DC24V power to the auxiliary power box;

[0009] The auxiliary power box can provide DC24V power to the vehicle controller VCU, the driver's cab controller, the battery management system BMS, the oil pump frequency conversion integrated machine, and the speed controller;

[0010] The oil pump frequency conversion integrated machine includes a frequency conversion controller connected to the vehicle controller VCU for communication, and an oil pump motor connected to the vehicle hydraulic system;

[0011] The hydraulic system is provided with a brake valve for controlling a brake, the brake valve is communicatively connected with the vehicle controller VCU, and the brake is used for braking the traction motor;

[0012] The control method for starting and stopping a rack rail vehicle of the explosion-proof lithium battery rack rail vehicle electronic control system comprises the following steps:

[0013] S1, performing a self-test of the explosion-proof lithium battery rack railcar electronic control system, wherein the self-test includes detecting the working status of the driver's cab controller, the hydraulic system and the power box;

[0014] S2, after the self-check is completed, the driver's room controller sends a high-voltage power-on instruction to the vehicle controller VCU, so that the vehicle controller VCU controls the contactor to close and completes the high-voltage power-on;

[0015] S3, after the high voltage is powered on, the oil pump frequency conversion integrated machine starts, and the frequency conversion controller controls the start and stop of the oil pump motor to make the pressure of the hydraulic system within a preset range;

[0016] S4, pushing / pulling the handle in the driver's cab controller, so that the vehicle controller VCU sends a starting signal to the speed controller and the brake valve, the speed controller drives the traction motor to establish a starting torque, and the brake valve opens to increase the brake pressure;

[0017] When the brake pressure reaches a preset value, the brake is opened, and the vehicle controller VCU sends a speed instruction to the speed controller according to the angle of the handle to control the speed of the traction motor, so that the rack vehicle is in a driving state;

[0018] S5, when the handle is manipulated to return to the center, the vehicle controller VCU controls the traction motor to decelerate through the speed controller;

[0019] When the speed of the rack rail vehicle approaches 0 km / h, the vehicle controller VCU sends a stop signal to the speed controller and the brake valve, and the brake valve is closed to apply the brake;

[0020] S6. When the rack rail vehicle is in a braking state, the driver's cab controller sends a high-voltage power-off instruction to the vehicle controller VCU to disconnect the contactor and turn off the auxiliary voltage box.

[0021] Furthermore, the speed controller and the traction motor are configured as a plurality of one-to-one correspondences, and each traction motor is provided with the brake; each speed controller includes a host and multiple slaves, and DDCS communication is adopted between the host and the slaves; the host can send a first data packet to each slave, and the first data packet includes a control word, a speed given value, and a torque given value; the slave operates according to the first data packet, and the slave can send a second data packet to the host, and the second data packet includes a status word, a speed actual value and a torque actual value; the host can adjust the speed given value and the torque given value in the first data packet according to the second data packet.

[0022] Furthermore, the voltage converter is connected to an external charger, and the power box is configured as multiple, and the charger can charge the batteries in each power box at the same time; during the charging process, the battery management system BMS can detect the remaining power and temperature value of the battery, and control the charging current input by the charger to the battery according to the temperature value.

[0023] Furthermore, in step S4, the vehicle controller VCU can measure the output power P of the traction motor and the maximum allowable output power P of each power box in real time. max ; The maximum allowable output power P of each power box max =I×U×N, where I is the maximum allowable discharge current of the power box, N is the number of the power boxes currently involved in the work, and U is the voltage of the power boxes involved in the work after being connected in parallel; the vehicle controller VCU controls the speed of the traction motor to keep the output power P of the traction motor less than the maximum allowable output power P of each power box max .

[0024] Furthermore, it also includes an inclination sensor, which is used to detect the inclination of the rack rail vehicle with a horizontal plane and is communicatively connected to the vehicle controller VCU through the CAN bus; in the process of the traction motor establishing the starting torque in step S4, the vehicle controller VCU calculates the starting torque Tm according to the inclination angle θ measured by the inclination sensor, and the calculation formula is: Tm=F×d / (2×i×η), F=(m1+m2)g×(sinθ+μgcosθ); wherein F is the traction force required for starting, d is the diameter of the driving wheel, i is the reduction ratio, η is the transmission efficiency, m1 is the dead weight of the rack rail vehicle, m2 is the load weight, g is the gravitational acceleration, and μ is the drag coefficient.

[0025] Furthermore, when the rack rail vehicle decelerates or is traveling on a downhill section, the vehicle controller VCU can control the speed controller to control the traction motor to enter the regenerative braking mode; in the regenerative braking mode, the traction motor generates a regenerative current which is input into the power box to charge the battery, and the vehicle controller VCU can detect the regenerative current in real time and control the regenerative current within an allowable range by controlling the traction motor.

[0026] Furthermore, it also includes a detection sensor that is communicatively connected to the vehicle controller VCU, the detection sensor includes a pressure transmitter for detecting the brake pressure, a temperature sensor for detecting the cooling water temperature, a level sensor for detecting the hydraulic oil level of the hydraulic system, and a methane sensor for detecting the methane concentration outside the rack rail vehicle; the vehicle control unit VCU reads the information of the detection sensor and issues a fault display box alarm through the driver's cab controller; the vehicle control unit VCU classifies different faults into levels and takes corresponding measures according to the different levels.

[0027] Furthermore, in the self-check process of step S1, the auxiliary power box is first started, and the vehicle control unit VCU detects the methane concentration outside the rack rail vehicle through the methane sensor; when the methane sensor detects that the methane concentration is normal, the vehicle control unit VCU detects the working status of the driver's cab controller, the hydraulic system and the power box; when the methane sensor detects that the methane concentration is abnormal, the auxiliary power box is turned off to cut off the power to the rack rail vehicle.

[0028] Compared with the prior art, the present invention has the following advantages:

[0029] The present invention discloses a vehicle controller VCU, a cab controller, a battery management system BMS, an oil pump frequency conversion integrated machine, a speed controller, and a brake valve which are connected to the vehicle controller VCU through a CAN bus. The vehicle controller VCU can realize information collection, information transmission, and control of each unit through the CAN bus, realize the start and stop logic control and fault detection of the rack rail vehicle, so as to improve the control accuracy and response speed of the electronic control system, and enhance the overall reliability of the explosion-proof lithium battery rack rail vehicle.

[0030] Another object of the present invention is to provide an explosion-proof lithium battery rack railcar, in which the explosion-proof lithium battery rack railcar is provided with the above-mentioned explosion-proof lithium battery rack railcar electronic control system.

[0031] The explosion-proof lithium battery rack railcar and / or the explosion-proof lithium battery rack railcar electronic control system described in the present invention have the same technical effects as the prior art, and will not be described in detail herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0033] Figure 1 This is a schematic diagram of the architecture of the explosion-proof lithium battery rack railcar electronic control system according to the first embodiment of the present invention;

[0034] Figure 2 This is a flow chart of the self-check process described in Embodiment 1 of the present invention;

[0035] Figure 3 A graph showing the relationship between the temperature value and the remaining power of the battery in the power supply box according to the first embodiment of the present invention;

[0036] Description of reference numerals:

[0037] 1. Vehicle controller VCU;

[0038] 2. Auxiliary power box;

[0039] 3. Power box;

[0040] 4. Oil pump frequency conversion integrated machine;

[0041] 5. Speed ​​controller; 501. Traction motor;

[0042] 6. Brake valve;

[0043] 7. Power converter;

[0044] 8. Explosion-proof junction box; 801. Explosion-proof socket. DETAILED DESCRIPTION

[0045] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0046] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0047] In the description of the present invention, it should be noted that if there are terms indicating orientation or positional relationship such as "upper", "lower", "inner", "outer", etc., they are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, if there are terms such as "first", "second", etc., they are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0048] In addition, in the description of the present invention, unless otherwise clearly defined, the terms "installed", "connected", "connection" and "connector" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood in combination with specific circumstances.

[0049] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0050] Embodiment 1

[0051] This embodiment relates to an explosion-proof lithium battery rack vehicle electronic control system, the overall structure of which is as follows: Figure 1 As shown, the electronic control system includes a vehicle controller VCU1, an auxiliary power box 2, a driver's cab controller, a power box 3, an oil pump frequency converter 4, a speed controller 5, a brake valve 6, and a power converter 7 electrically connected to the power box 3, the oil pump frequency converter 4 and the speed controller 5, which are connected to the vehicle controller VCU1 through a CAN bus.

[0052] Among them, the power box 3 is equipped with a battery management system BMS, and multiple batteries and contactors connected to the battery management system BMS. The power box 3 can provide AC220V power to the speed controller 5 and the oil pump frequency conversion integrated machine 4 through the power converter 7, and provide DC24V power to the auxiliary power box 2. The auxiliary power box 2 can provide DC24V power to the vehicle controller VCU1, the driver's cab controller, the battery management system BMS, the oil pump frequency conversion integrated machine 4, and the speed controller 5; the oil pump frequency conversion integrated machine 4 includes a frequency conversion controller that is communicatively connected to the vehicle controller VCU1, and an oil pump motor connected to the hydraulic system of the vehicle. A brake valve 6 for controlling the brake brake is provided in the hydraulic system. The brake valve 6 is communicatively connected to the vehicle controller VCU1, and the brake brake is used for braking the traction motor 501.

[0053] The control method of the explosion-proof lithium battery rack rail vehicle electronic control system of the present embodiment for controlling the start and stop of the rack rail vehicle comprises the following steps:

[0054] S1, perform a self-test of the explosion-proof lithium battery rack railcar electronic control system, the self-test includes testing the working status of the driver's cab controller, the hydraulic system and the power supply box 3.

[0055] S2, after the self-test is completed, a high-voltage power-on command is sent to the vehicle controller VCU1 through the driver's room controller, so that the vehicle controller VCU1 controls the contactor to close and complete the high-voltage power-on.

[0056] S3, after the high voltage is powered on, the oil pump frequency conversion integrated machine 4 starts, and the frequency conversion controller controls the start and stop of the oil pump motor to make the pressure of the hydraulic system within a preset range.

[0057] S4, push / pull the handle in the driver's cab controller to make the vehicle controller VCU1 send a starting signal to the speed controller 5 and the brake valve 6. The speed controller 5 drives the traction motor 501 to establish a starting torque, and the brake valve 6 opens to increase the braking pressure.

[0058] When the brake pressure reaches the preset value, the brake is opened, and the vehicle controller VCU1 sends a speed instruction to the speed controller 5 according to the angle of the handle to control the speed of the traction motor 501, so that the rack rail vehicle is in a driving state.

[0059] S5. When the operating handle returns to the center, the vehicle controller VCU1 controls the traction motor 501 to decelerate through the speed controller 5.

[0060] When the speed of the rack rail vehicle approaches 0 km / h, the vehicle controller VCU1 sends a stop signal to the speed controller 5 and the brake valve 6, and the brake valve 6 is closed to apply the brake.

[0061] S6. When the rack rail vehicle is in a braking state, the driver's cab controller sends a high-voltage power-off command to the vehicle controller VCU1 to disconnect the contactor and turn off the auxiliary voltage box.

[0062] As described above, through the vehicle controller VCU1, and the driver's cab controller, battery management system BMS, oil pump frequency conversion integrated machine 4, speed controller 5, and brake valve 6 connected to the vehicle controller VCU1 through the CAN bus, the vehicle controller VCU1 can realize information collection, information transmission, and control of each unit through the CAN bus, realize the start and stop logic control and fault detection of the rack rail vehicle, so as to improve the control accuracy and response speed of the electronic control system, and enhance the overall reliability of the explosion-proof lithium battery rack rail vehicle.

[0063] Based on the above overall introduction, specifically, the driver's cab controller of this embodiment includes an operating table and a display arranged in the cab, the operating table is provided with a handle for controlling the start and stop of the rack rail vehicle, and the vehicle controller VCU1 can display information such as the operating status and fault alarm of the rack rail vehicle through the display.

[0064] Since the rack vehicle includes multiple traction-connected frames, each frame is provided with a driving device. In order to ensure the overall power output of the rack vehicle, the speed controller 5 and the traction motor 501 of this embodiment are configured as multiple corresponding one-to-one, and each traction motor 501 is provided with a brake. Each speed controller 5 includes a host and multiple slaves, and DDCS communication is adopted between the host and the slaves. The host can send a first data packet to each slave, and the first data packet includes a control word, a speed given value, and a torque given value. The slave operates according to the first data packet, and the slave can send a second data packet to the host, and the second data packet includes a status word, a speed actual value, and a torque actual value. The host can adjust the speed given value and the torque given value in the first data packet according to the second data packet.

[0065] Specifically, the master monitors the status word, actual speed value and actual torque value of the slave at all times, and adjusts the correction term gain of the slave speed and torque in real time. It ensures that the speed of the slave and the master is basically the same, and the output power of the traction motor 501 cooperates with each other to ensure the smooth operation of the locomotive. Therefore, by setting multiple speed controllers 5 and traction motors 501, and realizing DDCS communication between each speed controller 5, the communication between each speed controller 5 can be used to ensure the synchronization of the speed and torque of each traction motor 501, and ensure the coordinated work between each traction motor 501, so as to effectively drive the rack vehicle to travel smoothly.

[0066] In this embodiment, the voltage converter is connected to an external charger, and the power supply box 3 is configured as a plurality of power supply boxes 3, and the charger can simultaneously charge the batteries in each power supply box 3. During the charging process, the battery management system BMS can detect the remaining power and temperature value of the battery, and control the charging current input by the charger to the battery according to the temperature value, so as to improve the charging efficiency of the rack rail vehicle.

[0067] In specific implementation, when the vehicle controller VCU1 monitors the charging current of the battery in any power box 3 in parallel charging and reaches the current maximum allowable charging current, the battery management system BMS controls the charger output current to stop rising through CAN bus communication to ensure that each power box 3 is in the optimal charging condition during the parallel charging process. After a single power box 3 is fully charged, the charging ends independently without affecting the continued charging of other power boxes 3. After all power boxes 3 are fully charged, the charging process stops automatically. The vehicle controller VCU1 can, based on the battery temperature value and remaining power monitored by the battery management system BMS, Figure 3The relationship between the battery temperature and the remaining power is shown in the chart to determine the current maximum allowable charging current of the battery.

[0068] In addition, the power converter 7 of this embodiment includes a DC-DC module and a DC-AC module to ensure that the high-voltage direct current of the power box 3 can be converted into the low-voltage direct current required by the vehicle controller VCU1 and other components, and the alternating current required by the traction motor 501. And the power converter 7 is arranged inside the explosion-proof junction box 8, and the explosion-proof junction box 8 is provided with an explosion-proof socket 801 for connecting a charger, thereby improving the explosion-proof effect of the electric control system.

[0069] In order to ensure the safety of the electronic control system during the running of the rack rail vehicle, in step S4 of this embodiment, the vehicle controller VCU1 can measure the output power P of the traction motor 501 and the maximum allowable output power P of each power box 3 in real time. max The maximum permissible output power P of each power supply box 3 max =I×U×N, where I is the maximum allowable discharge current of the power supply box 3, N is the number of power supply boxes 3 currently involved in the work, and U is the voltage of the power supply boxes 3 involved in the work after being connected in parallel. The vehicle controller VCU1 controls the speed of the traction motor 501 to keep the output power P of the traction motor 501 less than the maximum allowable output power P of each power supply box 3. max By monitoring the output power of the traction motor 501, the vehicle controller VCU1 can ensure that the motor does not draw power from the battery pack that exceeds its maximum allowable power. This can prevent the battery pack from being damaged due to over-power discharge, extend its service life, and protect the traction motor 501 and the power box 3.

[0070] As a specific implementation form, this embodiment further includes an inclination sensor, which is used to detect the inclination of the rack rail vehicle and the horizontal plane, and is communicatively connected with the vehicle controller VCU1 via the CAN bus.

[0071] In the process of the traction motor 501 establishing the starting torque in step S4, the vehicle controller VCU1 calculates the starting torque Tm according to the inclination angle θ measured by the inclination sensor, and the calculation formula is: Tm = F × d / (2 × i × η), F = (m1 + m2) g × (sinθ + μgcosθ). Among them, F is the traction force required for starting, d is the diameter of the driving wheel, i is the reduction ratio, η is the transmission efficiency, m1 is the dead weight of the rack vehicle, m2 is the load weight, g is the acceleration of gravity, and μ is the resistance coefficient.

[0072] By setting the inclination sensor, when the rack rail vehicle starts on a slope, the vehicle controller VCU1 calculates the appropriate starting torque Tm according to the inclination angle θ measured by the inclination sensor, so that before the brake is opened, the static torque output by the traction motor 501 meets the minimum requirement for the rack rail vehicle to start smoothly at the corresponding slope, thereby ensuring the smooth start of the rack rail vehicle.

[0073] Furthermore, when the rack rail vehicle is decelerating or traveling on a downhill section, the vehicle controller VCU1 can control the speed controller 5 to control the traction motor 501 to enter the regenerative braking mode. In the regenerative braking mode, the traction motor 501 generates a regenerative current which is input into the power supply box 3 to charge the battery, and the vehicle controller VCU1 can detect the regenerative current in real time and control the regenerative current within the allowable range by controlling the traction motor 501. Thus, during the deceleration process of the rack rail vehicle, the traction motor 501 can be used to convert the kinetic energy of the rack rail vehicle into electrical energy and input it back into the battery, thereby improving the overall energy efficiency of the rack rail vehicle and reducing energy waste.

[0074] In addition, the electronic control system of this embodiment also includes a detection sensor that is communicatively connected to the vehicle controller VCU1, and the detection sensor includes a pressure transmitter for detecting brake pressure, a temperature sensor for detecting cooling water temperature, a level sensor for detecting the hydraulic oil level of the hydraulic system, and a methane sensor for detecting the methane concentration outside the rack rail vehicle.

[0075] The vehicle control unit VCU reads the information of the detection sensor and issues a fault display box alarm through the driver's cab controller; the vehicle control unit VCU classifies different faults into different levels and handles them accordingly. Through the setting of the detection sensor, the vehicle control unit VCU can monitor the working condition of the rack rail vehicle and take corresponding measures when a fault occurs to ensure the safe operation of the rack rail vehicle.

[0076] Specifically, the fault level is divided into 4 levels, including fault warning, fault braking, fault high-voltage power off and fault vehicle power off.

[0077] Among them, fault warning: the lowest level fault, the fault only occurs to remind the driver to deal with it in time to avoid causing more serious faults, such as hydraulic oil level ≤50%, cooling water temperature ≥70℃, power less than 30%, motor temperature>90℃, etc.

[0078] Fault braking: The fault of the locomotive has affected the normal operation of the locomotive. At this time, protective measures need to be taken to brake the locomotive to avoid dangerous conditions. For example: rack rail vehicle overspeed, traction motor 501 temperature> 110℃; brake pressure < 10Mpa, speed controller 5 failure, and communication failure, etc.

[0079] Fault high-voltage power off: When an abnormality occurs in the high-voltage circuit, the locomotive will first perform fault braking. After the locomotive brakes smoothly, the contactors of each power box 3 will be controlled to disconnect. For example, when the vehicle insulation monitoring system alarms or the power supply fails, the vehicle controller will take high-voltage power-off protection measures.

[0080] Faulty vehicle power off: When the methane sensor detects that the methane concentration outside the rack rail vehicle is higher than the dangerous value, the rack rail vehicle will first brake, then the high voltage power will be cut off, and finally the power supply of the auxiliary power box 2 will be cut off. Ensure that all components of the locomotive are in a power-off state.

[0081] In addition, the vehicle controller VCU1 collects data from relevant components through the CAN bus for each fault status information, and publishes the information on the display screen through the CAN bus again.

[0082] Finally, in the self-check process of step S1 of this embodiment, the auxiliary power box 2 is first started, and the vehicle control unit VCU detects the methane concentration outside the rack rail vehicle through the methane sensor. When the methane sensor detects that the methane concentration is normal, the vehicle control unit VCU detects the working status of the driver's cab controller, the hydraulic system and the power box 3. When the methane sensor detects that the methane concentration is abnormal, the auxiliary power box 2 is turned off to cut off the power of the rack rail vehicle. It can be understood that when the methane concentration is abnormal, that is, when the methane concentration exceeds the dangerous value, the methane outside the rack rail vehicle is easily ignited and exploded by the electric sparks generated by the components on the rack rail vehicle, such as the contactor. Therefore, in order to ensure the safety of the rack rail vehicle, when the rack rail vehicle is started, the auxiliary power box 2 supplies power to the vehicle control unit VCU and performs methane concentration detection. When the methane concentration is abnormal, the power is immediately cut off to ensure that the methane gas will not be ignited due to the high voltage power-on, thereby ensuring the safe operation of the rack rail vehicle.

[0083] In specific implementation, the vehicle control unit VCU of this embodiment detects the working state of the driver's cab controller, including the communication state of the operating console, the communication state of the display screen, and the communication state of the inclination sensor. The detection of the hydraulic system includes the detection of the hydraulic oil level state, the hydraulic oil temperature state, the system pressure state, the brake pressure state, and the cooling water temperature state. The working state of the power box 3 is detected, including the contactor state, the battery state, and the charging state.

[0084] When the working state of the driver's room controller and the hydraulic system is abnormal, the vehicle control unit VCU sends an alarm message to the display. When the working state of the power box 3 is abnormal, high voltage power-on is prohibited.

[0085] In summary, the explosion-proof lithium battery rack rail vehicle electronic control system of this embodiment, through the vehicle controller VCU1, and the driver's cab controller, battery management system BMS, oil pump frequency conversion integrated machine 4, speed controller 5, and brake valve 6 connected to the vehicle controller VCU1 through the CAN bus, the vehicle controller VCU1 can realize information collection, information transmission, and control of each unit through the CAN bus, realize the start and stop logic control and fault detection of the rack rail vehicle, so as to improve the control accuracy and response speed of the electronic control system, and improve the overall reliability of the explosion-proof lithium battery rack rail vehicle.

[0086] Embodiment 2

[0087] The present embodiment relates to an explosion-proof lithium battery rack railcar, in which the explosion-proof lithium battery rack railcar electronic control system as described in the first embodiment is provided.

[0088] The explosion-proof lithium battery rack railcar of this embodiment, through the setting of the above-mentioned explosion-proof lithium battery rack railcar electronic control system, uses the vehicle controller VCU1 to realize information collection, information transmission, and control of each unit through the CAN bus, realizes the start and stop logic control and fault detection of the rack railcar, improves the control accuracy and response speed, and improves the overall reliability of the explosion-proof lithium battery rack railcar.

[0089] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An explosion-proof lithium battery rack rail vehicle electronic control system, characterized in that: The invention comprises a vehicle control unit (VCU) (1), an auxiliary power supply box (2) connected to the vehicle control unit (VCU) (1) via a CAN bus, a driver's cab controller, a power supply box (3), an oil pump frequency conversion integrated machine (4), a speed control controller (5), a brake valve (6), and a power supply converter (7) electrically connected to the power supply box (3), the oil pump frequency conversion integrated machine (4) and the speed control controller (5); The power box (3) is provided with a battery management system BMS, and a plurality of storage batteries and contactors connected to the battery management system BMS; The power supply box (3) can provide AC220V power to the speed control controller (5) and the oil pump frequency conversion integrated machine (4) through the power converter (7), and provide DC24V power to the auxiliary power supply box (2); The auxiliary power box (2) can provide a DC24V power supply to the vehicle controller VCU (1), the driver's cab controller, the battery management system BMS, the oil pump frequency conversion integrated machine (4), and the speed controller (5); The oil pump frequency conversion integrated machine (4) comprises a frequency conversion controller connected to the vehicle controller VCU (1) for communication, and an oil pump motor connected to the hydraulic system of the vehicle; The hydraulic system is provided with a brake valve (6) for controlling a brake, the brake valve (6) is communicatively connected with the vehicle controller VCU (1), and the brake is used for braking the traction motor (501); The control method for starting and stopping a rack rail vehicle of the explosion-proof lithium battery rack rail vehicle electronic control system comprises the following steps: S1, performing a self-test of the explosion-proof lithium battery rack rail vehicle electric control system, wherein the self-test includes detecting the working status of the driver's cab controller, the hydraulic system and the power supply box (3); S2, after the self-check is completed, a high-voltage power-on instruction is sent to the vehicle controller VCU (1) through the driver's room controller, so that the vehicle controller VCU (1) controls the contactor to close, thereby completing the high-voltage power-on; S3, after the high voltage is powered on, the oil pump frequency conversion integrated machine (4) starts, and the frequency conversion controller controls the start and stop of the oil pump motor to keep the pressure of the hydraulic system within a preset range; S4, pushing / pulling the handle in the driver's cab controller, so that the vehicle controller VCU (1) sends a starting signal to the speed controller (5) and the brake valve (6), the speed controller (5) drives the traction motor (501) to establish a starting torque, and the brake valve (6) opens to increase the brake pressure; When the brake pressure reaches a preset value, the brake is opened, and the vehicle controller VCU (1) sends a speed instruction to the speed controller (5) according to the angle of the handle to control the rotation speed of the traction motor (501), so that the rack vehicle is in a driving state; S5, when the handle is manipulated to return to the center, the vehicle controller VCU (1) controls the traction motor (501) to decelerate through the speed controller (5); When the speed of the rack rail vehicle approaches 0 km / h, the vehicle controller VCU (1) sends a stop signal to the speed controller (5) and the brake valve (6), and the brake valve (6) is closed to brake the brake; S6. When the rack rail vehicle is in a braking state, the driver's cab controller sends a high voltage power-off command to the vehicle controller VCU (1), so that the contactor is disconnected and the auxiliary voltage box is turned off.

2. The explosion-proof lithium battery rack railcar electronic control system according to claim 1, characterized in that: The speed controller (5) and the traction motor (501) are configured in a one-to-one correspondence, and each traction motor (501) is provided with the brake; Each of the speed control controllers (5) comprises a host and a plurality of slaves, wherein the host and the slaves communicate with each other using DDCS; The host can send a first data packet to each of the slaves, wherein the first data packet includes a control word, a speed given value, and a torque given value; The slave operates according to the first data packet, and the slave is capable of sending a second data packet to the master, wherein the second data packet includes a status word, a speed actual value, and a torque actual value; The host can adjust the speed given value and the torque given value in the first data packet according to the second data packet.

3. The explosion-proof lithium battery rack railcar electronic control system according to claim 1, characterized in that: The voltage converter is connected to an external charger, and the power supply box (3) is configured in multiple numbers, and the charger can charge the batteries in each of the power supply boxes (3) at the same time; During the charging process, the battery management system BMS can detect the remaining power and temperature value of the battery, and control the charging current input by the charger to the battery according to the temperature value.

4. The explosion-proof lithium battery rack railcar electronic control system according to claim 3, characterized in that: In step S4, the vehicle controller VCU (1) is capable of measuring in real time the output power P of the traction motor (501) and the maximum allowable output power P of each power supply box (3). max ; The maximum permissible output power P of each power supply box (3) max =I×U×N, wherein I is the maximum allowable discharge current of the power supply box (3), N is the number of the power supply boxes (3) currently involved in the work, and U is the voltage of the power supply boxes (3) involved in the work after being connected in parallel; The vehicle controller VCU (1) controls the rotation speed of the traction motor (501) to keep the output power P of the traction motor (501) less than the maximum allowable output power P of each power supply box (3). max .

5. The explosion-proof lithium battery rack railcar electronic control system according to claim 1, characterized in that: The rack rail vehicle also includes an inclination sensor, which is used to detect the inclination of the rack rail vehicle with respect to a horizontal plane and is communicatively connected to the vehicle controller VCU (1) via the CAN bus; In the process of the traction motor (501) establishing the starting torque in step S4, the vehicle controller VCU (1) calculates the starting torque Tm according to the inclination angle θ measured by the inclination sensor, and the calculation formula is: Tm=F×d / (2×i×η), F=(m1+m2)g×(sinθ+μgcosθ); Wherein, F is the traction force required for starting, d is the diameter of the driving wheel, i is the reduction ratio, η is the transmission efficiency, m1 is the dead weight of the rack vehicle, m2 is the load weight, g is the acceleration due to gravity, and μ is the drag coefficient.

6. The explosion-proof lithium battery rack railcar electronic control system according to claim 5, characterized in that: When the rack rail vehicle is decelerating or traveling on a downhill section, the vehicle controller VCU (1) can control the speed controller (5) to control the traction motor (501) to enter a feedback braking mode; In the regenerative braking mode, the traction motor (501) generates a regenerative current which is input into the power supply box (3) to charge the battery, and the vehicle controller VCU (1) is capable of detecting the regenerative current in real time and controlling the regenerative current within an allowable range by controlling the traction motor (501).

7. The explosion-proof lithium battery rack railcar electronic control system according to any one of claims 1 to 6, characterized in that: The vehicle control unit (VCU) (1) further comprises a detection sensor connected to the vehicle control unit (VCU) (1), wherein the detection sensor comprises a pressure transmitter for detecting the brake pressure, a temperature sensor for detecting the cooling water temperature, a level sensor for detecting the hydraulic oil level of the hydraulic system, and a methane sensor for detecting the methane concentration outside the rack rail vehicle; The vehicle control unit VCU reads the information of the detection sensor and issues a fault display box alarm through the driver's cab controller; The vehicle control unit VCU classifies different faults into different levels and takes corresponding measures according to the different levels.

8. The explosion-proof lithium battery rack railcar electronic control system according to claim 7, characterized in that: In the self-checking process of step S1, the auxiliary power box (2) is first started, and the vehicle control unit VCU detects the methane concentration outside the rack rail vehicle through the methane sensor; When the methane sensor detects that the methane concentration is normal, the vehicle control unit VCU detects the working status of the driver's cab controller, the hydraulic system and the power box (3); When the methane sensor detects that the methane concentration is abnormal, the auxiliary power box (2) is turned off to cut off the power supply to the entire rack rail vehicle.

9. An explosion-proof lithium battery rack vehicle, characterized in that: The explosion-proof lithium battery rack railcar is provided with an explosion-proof lithium battery rack railcar electronic control system according to any one of claims 1 to 8.

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