Integrated actuating motor system for special vehicle and control method thereof

Abstract

The invention discloses an integrated actuating motor system for a special vehicle and a control method of the integrated actuating motor system, which are suitable for the special vehicle with an all-electrified auxiliary system. All actuating motor control module direct current ends including a starting and power generation all-in-one machine, a super capacitor and a direct current power supply output voltage end are integrally designed together, and a power matching strategy is adopted, so that the stability of power generation voltage is ensured; meanwhile, the permanent magnet synchronous motor driving control technology is applied, the response speed and speed regulation precision of all the actuating motors are greatly improved, the system installation size is compact, all the actuating motors can independently regulate the speed according to working conditions and efficiently operate, and distributed arrangement can be achieved.

Description

Technical Field

[0001] The present invention relates to the field of special vehicle electrical technology, and in particular to an integrated actuating motor system for a special vehicle and a control method thereof. Background Art

[0002] For a long time, the power source of the power compartment auxiliary systems of special vehicles, such as hydraulic oil pumps, heat dissipation cooling fans, etc., is mainly provided by the engine through mechanical power take-off mechanisms such as belts and gears or hydraulic mechanisms. The starter, dust pump, and heat dissipation water pump are powered by different AC and DC voltage systems. Their speed usually changes linearly with the engine speed or runs at a constant speed with the power on and off. They cannot be adjusted automatically and have the characteristics of low precision, slow response, and low efficiency. With the development of the field of special vehicle electrification technology, a large number of new electronic and electrical equipment are used in special vehicles, and newer heat dissipation requirements, hydraulic oil source requirements and other changes have occurred. While the power is increased, there are also distributed installation problems caused by system design optimization. Summary of the invention

[0003] In order to solve the complex energy supply forms of the auxiliary systems of new electrified special vehicles and the distributed installation requirements of various equipment, and in view of the size constraints and power layout characteristics of the power compartment, the present invention provides an integrated actuator motor system with a high-voltage system, which is suitable for special vehicles with fully electrified auxiliary systems. The system is based on the electric transmission solution of permanent magnet synchronous motors, adopts a digital and integrated design, and integrates the DC ends of all actuator motor control modules including the starter generator with supercapacitors and the DC power supply output voltage end, and adopts a power matching strategy to ensure the stability of the generated voltage; at the same time, the permanent magnet synchronous motor drive control technology is used to greatly improve the response speed and speed regulation accuracy of each actuator motor, so as to achieve the design goals of each actuator motor independently regulating the speed according to the working conditions and operating efficiently, the system installation volume is compact, and it can be distributed.

[0004] The integrated actuating motor system for special vehicles provided by the present disclosure comprises: a starter-generator integrated machine, an integrated motor control device, and a plurality of actuating motors, wherein:

[0005] The integrated starter-generator is in the form of a flywheel, compactly installed between the diesel engine and the gearbox for coaxial transmission;

[0006] The integrated motor control device includes: a high-voltage busbar component, a supercapacitor component for energy storage, and a drive component for each motor including a starter-generator integrated machine, wherein the drive component is arranged between the driven motor and the DC busbar, and the DC end of each drive component is integrated with the supercapacitor and the DC power supply output voltage end on the busbar; the supercapacitor is used to output three-phase AC power to the starter-generator integrated machine through the DC busbar and the drive component during the start-up operation, so as to drive the engine main shaft to rotate and start the ignition; and after the engine is started, when the power generation power of the starter-generator integrated machine is insufficient, the output power is supplemented;

[0007] The AC power generated by the integrated starter generator is controlled by the integrated motor control device to generate electricity, and then the inverter drives each actuator motor to operate independently at a controlled speed.

[0008] The actuating motor includes one or more of an oil pump motor, a dust extraction motor, a water pump motor, and a cooling fan motor.

[0009] Furthermore, the integrated motor control device further comprises: a voltage sensor component, a current sensor component, and a DSP control circuit component, wherein:

[0010] The DSP control circuit is used to calculate the phase currents of each motor collected by the current sensor component and the bus voltage collected by the voltage sensor component according to the working conditions of each actuator motor, and to control the orderly switching of each power component by controlling each of the driving components to control the engine starting, the power generation of the starter generator, the speed regulation operation of each actuator motor, and the power matching during the operation of the system.

[0011] Furthermore, the drive assembly adopts a three-phase full-bridge drive module; in addition, the integrated motor control device also includes: a filter capacitor group and a high-voltage contactor; wherein:

[0012] The high-voltage contactor is arranged between the supercapacitor and the positive line of the DC busbar, and is used to control the supercapacitor to be connected to the busbar or disconnected from the busbar; one of its contacts is connected to the "positive" pole of the supercapacitor, and the other contact is connected to the positive line of the DC busbar with the "+" pole of the filter capacitor group and each three-phase full-bridge drive module;

[0013] The filter capacitor group, the “-” pole of each three-phase full-bridge drive module and the “-” point of the supercapacitor are all connected to the negative line of the DC busbar;

[0014] The three-phase AC ends of each three-phase full-bridge drive module are respectively connected to the three-phase AC ends of the motor driven by it.

[0015] Furthermore, the busbar adopts a 900V high voltage system.

[0016] The engine starting method using the above system comprises the following steps:

[0017] The supercapacitor outputs high voltage current to the DC busbar, which is then inverted by the drive component to output three-phase AC power to the starter generator;

[0018] The current sensor component collects the three-phase current signal of the starter-generator integrated machine, and the rotor position sensor of the starter-generator integrated machine collects the rotor position signal and sends it to the DSP control circuit;

[0019] The DSP control circuit obtains the current rotor position of the starter-generator, the amplitude, frequency, and phase of the three-phase AC power, and performs torque closed-loop PI control after coordinate transformation and space vector pulse width modulation.

[0020] According to the difference between the set values ​​of the AC and DC axis currents obtained by converting the set torque and the actual AC and DC axis currents, the duty cycle of the PWM waveform opened by the drive component is calculated and adjusted in real time, so as to stably output the given starting torque to the engine main shaft and execute the engine starting action.

[0021] The power generation control method applied to the above system comprises the following steps:

[0022] The starter generator is driven by the engine and outputs three-phase AC power from the three-phase winding to the drive components;

[0023] The current sensor component collects three-phase current signals, and the motor's built-in rotor position sensor collects rotor position signals and sends them to the DSP control circuit;

[0024] The DSP control circuit obtains the current rotor position of the starter-generator, the amplitude, frequency and phase of the three-phase AC power, and performs coordinate transformation and space vector pulse width modulation, and then performs dual closed-loop PI control of current and voltage;

[0025] According to the difference between the given voltage and the actual generated voltage, the duty cycle of the PWM waveform of the drive component is calculated and adjusted in real time, so as to stably output a DC voltage consistent with the set voltage between the positive and negative lines of the DC busbar.

[0026] The speed regulating operation control method of the actuator motor applied to the above system comprises the following steps:

[0027] Output high-voltage direct current from the DC busbar to each drive component, and invert and output three-phase alternating current to the three-phase winding of each actuator motor;

[0028] The current sensor component collects three-phase current signals and sends them to the DSP control circuit;

[0029] The DSP control circuit calculates the amplitude, frequency, and phase of the three-phase AC power, and after coordinate transformation and space vector pulse width modulation, obtains the current rotor position of each actuator motor and performs dual closed-loop PI control of current and speed;

[0030] According to the difference between the set speed and the actual speed, the duty cycle of the PWM waveform of the drive component is calculated and adjusted in real time, so as to stably output the actuating motor speed consistent with the set speed.

[0031] The power matching control method applied to the above system comprises the following steps:

[0032] 1) Starting conditions

[0033] The high-voltage contactor is closed and the supercapacitor is connected. When the DC voltage on the busbar meets the working voltage U1, the starter-generator enters the starting condition and outputs the starting torque.

[0034] After the engine is ignited and started within the supercapacitor output time t1, when the speed further rises to the set value n1, the starter-generator unit exits the starting condition and the dust extraction motor starts working;

[0035] Until the engine speed exceeds the power generation speed setting value n2, it enters the power generation condition, and the water pump motor and oil pump motor start working;

[0036] The fan motor works according to the heat dissipation requirements of the power compartment;

[0037] 2) Shutdown conditions

[0038] The engine is shut down first. When the engine speed is detected to be lower than the set value n3, it is considered that the engine has been shut down, and the starter generator stops generating electricity.

[0039] The oil pump motor stops, and the parking brake is completed with the residual pressure of the hydraulic system; the water pump motor keeps running, and the fan motor runs at idle speed, maintaining a cooling time of the set value t2 after the engine stops;

[0040] After the heat dissipation is completed, the fan motor stops, the supercapacitor is disconnected, and the water pump motor runs at a low speed to discharge the busbar voltage below the safe voltage, thus completing the shutdown and high-voltage charge discharge work;

[0041] 3) Engine speed drops suddenly

[0042] When the engine speed suddenly drops to a speed n4 which is significantly lower than the idle speed, according to the importance of each actuator motor, the fan motor is set to a given speed of 0, and the oil pump motor is slowed down to maintain the speed n5 required for the braking and steering systems until the engine speed is restored.

[0043] Compared with the prior art, the beneficial effects of the present disclosure are: (1) based on the permanent magnet synchronous motor technology and the integrated motor controller integrated design, each motor and super capacitor bus adopts an integrated busbar, which reduces the volume and weight, and can provide a compact all-electric power compartment auxiliary system for special vehicles;

[0044] (2) Each actuator motor can independently adjust speed according to working conditions and operate efficiently. The system installation volume is compact and each actuator motor can be arranged in a distributed manner.

[0045] (3) Supercapacitors are used instead of high-voltage power batteries, and the capacity is designed to meet starting requirements, reducing the cost and maintenance difficulty of the all-electric system;

[0046] (4) Adopt power matching strategy to ensure the stability of power generation voltage. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The above and other objects, features and advantages of the present disclosure will become more apparent through a more detailed description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present disclosure.

[0048] Figure 1 is a schematic diagram of the structure of an exemplary integrated actuation system according to the present disclosure;

[0049] Figure 2 This is the power generation control schematic diagram;

[0050] Figure 3 This is the schematic diagram of the starting control;

[0051] Figure 4 This is the principle diagram of the speed control of the actuator motor;

[0052] Figure 5 System startup / shutdown strategy;

[0053] Figure 6 It is the power matching strategy for the engine speed sudden drop condition. DETAILED DESCRIPTION

[0054] The preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present disclosure more thorough and complete, and to fully convey the scope of the present disclosure to those skilled in the art.

[0055] The present disclosure provides an integrated actuating motor system for special vehicles, which is suitable for special vehicles with fully electrified auxiliary systems.

[0056] According to an exemplary embodiment of the present disclosure, Figure 1 As shown, it mainly includes:

[0057] It consists of 1 set of high-voltage busbars, 1 integrated starter generator, 1 super capacitor, 1 high-voltage contactor, multiple three-phase full-bridge drive modules, 1 oil pump motor, 1 water pump motor, 1 dust extraction motor, 2 cooling fan motors, multiple filter capacitors, DSP control circuit, multiple current sensors, 1 voltage sensor, etc. This integrated actuation system is used to provide distributed air cooling, water cooling, hydraulic oil source, dust extraction air pressure and engine starting functions for the engine, gearbox, active suspension system, brake system, steering mechanism, high-power electronic and electrical equipment when the special vehicle is in normal operation.

[0058] This system adopts an integrated design method, and designs the starter generator into a flywheel form, which is compactly installed between the diesel engine and the gearbox for coaxial transmission. The advantage is that it can be installed in a newly designed power compartment, or it can be retrofitted to an old power compartment with sufficient space. The AC power generated by it is controlled by the integrated motor controller to generate electricity, and then the inverter drives each actuator motor to operate independently with speed regulation.

[0059] The integrated motor controller consists of a high-voltage busbar assembly, a filter capacitor assembly, a supercapacitor assembly, a three-phase full-bridge drive module assembly, a voltage sensor assembly, a current sensor assembly, a DSP control circuit assembly, and a high-voltage contactor assembly. The DC end of all actuator motor control modules, including the starter generator, and the supercapacitor and DC power supply output voltage end are integrated on the busbar; the busbar uses a 900V high-voltage system, which reduces the current of the power module, so smaller power devices can be selected, the power circuit volume is compressed, and the power density is increased.

[0060] In the starting condition, the integrated motor controller of this system draws power from the supercapacitor to drive the starter generator into the starting condition, provide starting torque, and drive the engine to start the ignition. When shutting down, the fan motor runs the charge discharge strategy to quickly discharge the high voltage to a safe voltage.

[0061] This system receives the working conditions of each actuator motor sent by the host computer through the DSP control circuit, and solves the phase current of each motor collected by the current sensor component and the bus voltage collected by the voltage sensor component. Control each power component to switch on and off in an orderly manner according to the given switch duty cycle, output a stable bus voltage and drive each actuator motor to operate at a controlled speed; and when the starter generator stops generating electricity, maintain the fan motor and water pump motor running for a certain period of time. Finally, disconnect the supercapacitor and control the water pump motor component to discharge the high-voltage charge to below the safe voltage.

[0062] The design of each functional unit is as follows:

[0063] (1) The integrated actuation system is composed of a fan motor F1, a fan motor F2, a starter-generator integrated machine G, an oil pump motor P1, a water pump motor P2, a dust extraction motor P3, a three-phase full-bridge drive module assembly M1, M2, M3, M4, M5, M6, a filter capacitor group C, a super capacitor assembly U, a high-voltage busbar BUS, a voltage sensor assembly LV, a current sensor assembly LA, a high-voltage contactor KM, and a DSP control circuit. It is characterized in that the DC end of all actuation motor control modules including the starter-generator integrated machine is integrated with the super capacitor and the DC power supply output voltage end on the busbar.

[0064] The "+" poles of the filter capacitor group C, the three-phase full-bridge drive module components M1, M2, M3, M4, M5, and M6, and the "1" point of the high-voltage contactor T are all connected to the positive line of the DC busbar BUS.

[0065] The “-” poles of the filter capacitor group C, the three-phase full-bridge drive module components M1, M2, M3, M4, M5, and M6, and the “-” point of the supercapacitor U are all connected to the negative line of the DC busbar BUS.

[0066] Point "2" of the high-voltage contactor KM is connected to the "positive" pole of the supercapacitor.

[0067] The three-phase AC ends of the three-phase full-bridge drive modules M1, M2, M3, M4, M5, and M6 are respectively connected to the three-phase AC ends of the fan motor F1, fan motor F2, starter generator G, oil pump motor P1, water pump motor P2, and dust extraction motor P3.

[0068] The current sensor component LA collects the working current signals of all motor AC phase currents, the voltage sensor component LV collects the voltage signals between the positive and negative lines of the DC busbar BUS, and the rotor position sensor of the starter generator collects the rotor position signal and transmits it to the DSP control circuit for calculation. The DSP control circuit sends control instructions to the three-phase full-bridge drive modules M1, M2, M3, M4, M5, and M6 according to the calculation results.

[0069] (2) Starting control method

[0070] During the start-up operation, the supercapacitor outputs high voltage current to the DC busbar, and then the three-phase full-bridge drive module inverts and outputs three-phase AC power to the starter generator, outputs the starting torque, drives the engine main shaft to rotate, and starts the engine. The current sensor component collects the three-phase current signal, and the rotor position sensor of the motor collects the rotor position signal and sends it to the DSP control circuit. The DSP control circuit obtains the current rotor position of the starter generator, the amplitude, frequency, and phase of the three-phase AC power, and performs coordinate transformation and space vector pulse width modulation, and then performs torque closed-loop PI control. According to the difference between the given value of the AC and DC axis current converted by the given torque and the actual AC and DC axis current, the PWM waveform duty cycle opened by the three-phase full-bridge drive module is calculated and adjusted in real time, so as to stably output the given starting torque to the engine main shaft and execute the engine starting action.

[0071] As attached Figure 3 As shown, the starting control process of the DSP control circuit is:

[0072] 1) The starting operation can only be performed when the DC bus voltage collected by the voltage sensor component meets the starting voltage requirement.

[0073] 2) After receiving the starting command, the DSP control circuit queries the maximum torque-current ratio data table to obtain the AC and DC axis given currents required for the given starting torque, and obtains the actual AC and DC axis currents through coordinate transformation with the three-phase current values ​​collected by the current sensor component. The difference is adjusted by the PI regulator to output the AC and DC axis voltages.

[0074] 3) The AC and DC axis voltages are transformed into three-phase AC voltages through coordinate transformation, and then the three-phase voltage PWM switching waveform is obtained through space vector pulse width modulation calculation, which is input into the three-phase full-bridge power ratio and then output to the three-phase winding of the starter generator to generate three-phase current.

[0075] 4) The rotor position required for coordinate transformation is acquired by the rotor position sensor provided in the starter-generator integrated machine.

[0076] 5) After the torque loop PI control, the DSP control circuit can control the three-phase full-bridge drive module to be turned on in an orderly manner, thereby stably outputting the starting torque.

[0077] (3) Power generation control method

[0078] During the power generation operation, the starter generator is driven by the engine, and outputs three-phase AC power from the three-phase winding to the three-phase full-bridge drive module. The current sensor component collects the three-phase current signal, and the rotor position sensor of the motor collects the rotor position signal and sends it to the DSP control circuit. The DSP control circuit obtains the current rotor position of the starter generator, the amplitude, frequency, and phase of the three-phase AC power, and performs coordinate transformation and space vector pulse width modulation, and performs current and voltage dual closed-loop PI control. According to the difference between the given voltage and the actual power generation voltage, the PWM waveform duty cycle opened by the three-phase full-bridge drive module is calculated and adjusted in real time, so as to stably output a DC voltage consistent with the given voltage to the positive and negative lines of the DC busbar BUS.

[0079] As attached Figure 2 As shown, the power generation control process of the DSP control circuit is:

[0080] 1) The actual DC voltage of the DC bus collected by the voltage sensor component is compared with the given power generation voltage, the difference is adjusted by the PI regulator, and the output is the given AC and DC axis current.

[0081] 2) The three-phase current values ​​collected by the current sensor assembly are transformed into actual AC and DC axis currents. After being compared with the given AC and DC axis currents, the difference is adjusted by the PI regulator to output AC and DC axis voltages.

[0082] 3) The AC and DC axis voltages are transformed into three-phase AC voltages through coordinate transformation, and then the three-phase voltage PWM switching waveform is obtained through space vector pulse width modulation calculation, which is input into the three-phase full-bridge drive module and then output to the three-phase winding of the starter generator to generate three-phase current.

[0083] 4) The rotor position required for coordinate transformation is acquired by the rotor position sensor provided in the starter-generator integrated machine.

[0084] 5) After the current and voltage dual closed-loop PI control, the DSP control circuit can control the three-phase full-bridge drive module to open in an orderly manner, thereby stabilizing the output voltage at the required power generation voltage.

[0085] (4) Actuator motor speed control method

[0086] When the fan motor, water pump motor, dust extraction motor, and oil pump motor are driven to adjust the speed, high-voltage DC is output from the DC busbar to each three-phase full-bridge drive module, and the inverter outputs three-phase AC current to the three-phase winding of each actuator motor. The current sensor component collects the three-phase current signal and sends it to the DSP control circuit. The DSP control circuit calculates the amplitude, frequency, and phase of the three-phase AC power, and after coordinate transformation and space vector pulse width modulation, obtains the current rotor position of each actuator motor, and performs dual closed-loop PI control of current and speed. According to the difference between the given speed and the actual speed, the PWM waveform duty cycle opened by the three-phase full-bridge drive module is calculated and adjusted in real time, so as to stably output the fan speed consistent with the given speed.

[0087] As attached Figure 4 As shown in the figure, the speed control process of the actuator motor of the DSP control circuit is:

[0088] 1) The three-phase current values ​​collected by the current sensor assembly are solved by the position sensorless rotor position observer to obtain the rotor position and speed, which are compared with the given speed, and the difference is adjusted by the PI regulator to output the given AC and DC axis currents.

[0089] 2) The three-phase current values ​​collected by the current sensor assembly are transformed into actual AC and DC axis currents. After being compared with the given AC and DC axis currents, the difference is adjusted by the PI regulator to output AC and DC axis voltages.

[0090] 3) The AC and DC axis voltages are transformed into three-phase AC voltages through coordinate transformation, and then the three-phase voltage PWM switching waveform is obtained through space vector pulse width modulation calculation, which is input into the three-phase full-bridge drive module and then output to the three-phase windings of each actuator motor to generate three-phase current.

[0091] 4) The rotor position required for coordinate transformation is obtained by calculating the three-phase current values ​​collected by the current sensor assembly through the position sensorless rotor position observer in the software.

[0092] 5) After the current and speed dual closed-loop PI control, the DSP control circuit can control the three-phase full-bridge drive module to open in an orderly manner, thereby stabilizing the output speed at the required speed.

[0093] (5) Power matching control method

[0094] Since the main energy source of this integrated actuator motor system comes from the mechanical energy transmitted by the rotation of the engine main shaft, it is converted into AC power through the starter generator. During vehicle operation, the engine speed will fluctuate over a wide range. In special cases, it will drop from high speed to below idle speed in a very short time. At this time, if each actuator motor still maintains a high speed, that is, high speed output, the load will be much greater than the power generation power. Power-type supercapacitors alone cannot make up for this power flow imbalance process, so each actuator motor needs to be actively decelerated. Since each actuator motor serves the engine auxiliary system, it is necessary to plan the importance and derating operation time of each actuator motor and formulate a corresponding power matching strategy.

[0095] In addition, corresponding control strategies have been formulated for the intervention of supercapacitors, power generation operation of the starting generator, and speed regulation operation of the actuator motor during the start / stop process.

[0096] 1) Start / Stop Strategy

[0097] As attached Figure 5 As shown, during the starting condition, the high-voltage contactor is first energized and the supercapacitor is connected. When the DC voltage on the busbar meets the working voltage U1, the starter-generator integrated machine enters the starting condition and outputs the starting torque. After the engine is ignited and started within the supercapacitor output time t1, the speed further rises to n1, the starter-generator integrated machine exits the starting condition, and the dust extraction motor starts working. Until the engine speed exceeds the power generation speed n2, it enters the power generation condition, and the water pump motor and oil pump motor start working. The fan motor works according to the heat dissipation requirements of the power compartment.

[0098] During the shutdown condition, the engine is shut down first. When it is detected that the engine speed is lower than n3, it is considered that the engine has been shut down and the starter generator stops generating electricity; the oil pump motor is shut down, and the parking brake is completed with the residual pressure of the hydraulic system; the water pump motor keeps running, and the fan motor runs at idle speed to maintain a cooling time of t2 after the engine is shut down; after the cooling is completed, the fan motor is shut down, the supercapacitor is disconnected, and the water pump motor is used to run at a low speed to discharge the busbar voltage to a safety voltage below 36V, thus completing the shutdown and high-voltage charge discharge work.

[0099] 2) Engine speed sudden drop power matching strategy

[0100] As attached Figure 6As shown in the figure, after the engine starts, the starter generator generates electricity, and each actuator motor operates at a stable speed. When the engine speed suddenly drops to a speed n4 that is significantly lower than the idle speed, the power generated by the starter generator is far lower than the idle load capacity, and the power gap exceeds the part that can be supplemented by the supercapacitor. To ensure power matching, according to the importance analysis of each actuator motor, the fan motor is set to a given speed of 0, and the oil pump motor is slowed down to the speed n5 required to maintain the braking and steering systems until the engine speed is restored.

[0101] The above technical scheme is only an exemplary embodiment of the present invention. For those skilled in the art, it is easy to make various types of improvements or modifications based on the application methods and principles disclosed in the present invention, and it is not limited to the method described in the above specific embodiment of the present invention. Therefore, the method described above is only preferred and does not have a restrictive meaning.

Claims

1. An integrated actuating motor system for a special vehicle, characterized in that: include: The integrated starter generator has an integrated motor control device and several actuating motors, including: The integrated starter-generator is in the form of a flywheel, compactly installed between the diesel engine and the gearbox for coaxial transmission; The integrated motor control device includes: a high-voltage busbar component, a supercapacitor component for energy storage, and a drive component for each motor including a starter-generator integrated machine, wherein the drive component is arranged between the driven motor and the DC busbar, and the DC end of each drive component is integrated with the supercapacitor and the DC power supply output voltage end on the busbar; the supercapacitor is used to output three-phase AC power to the starter-generator integrated machine through the DC busbar and the drive component during the start-up operation, so as to drive the engine main shaft to rotate and start the ignition; and after the engine is started, when the power generation power of the starter-generator integrated machine is insufficient, the output power is supplemented; The AC power generated by the integrated starter generator is controlled by the integrated motor control device to generate electricity, and then the inverter drives each actuator motor to operate independently at a controlled speed. The actuating motor includes one or more of an oil pump motor, a dust extraction motor, a water pump motor, and a cooling fan motor.

2. The system according to claim 1, characterized in that The integrated motor control device further comprises: a voltage sensor component, a current sensor component, and a DSP control circuit component, wherein: The DSP control circuit is used to calculate the phase currents of each motor collected by the current sensor component and the bus voltage collected by the voltage sensor component according to the working conditions of each actuator motor, and to control the orderly switching of each power component by controlling each of the driving components to control the engine starting, the power generation of the starter generator, the speed regulation operation of each actuator motor, and the power matching during the operation of the system.

3. The system according to claim 2, characterized in that The drive assembly adopts a three-phase full-bridge drive module; in addition, the integrated motor control device also includes: a filter capacitor group and a high-voltage contactor; wherein: The high-voltage contactor is arranged between the supercapacitor and the DC bus positive line, and is used to control the supercapacitor to be connected to the bus or disconnected from the bus; one of its contacts is connected to the "positive" pole of the supercapacitor, and the other contact is connected to the "+" pole of the filter capacitor group and each three-phase full-bridge drive module on the DC bus positive line; The filter capacitor group, the "-" pole of each three-phase full-bridge drive module and the "-" point of the supercapacitor are all connected to the negative line of the DC busbar; The three-phase AC ends of each three-phase full-bridge drive module are respectively connected to the three-phase AC ends of the motor driven by it.

4. The system according to any one of claims 1 to 3, characterized in that: The busbar adopts 900V high voltage system.

5. An engine starting method according to any one of claims 2 to 4, comprising the following steps: The supercapacitor outputs high voltage current to the DC busbar, and then the drive component inverts and outputs three-phase AC power to the starter-generator integrated machine; The current sensor component collects the three-phase current signal of the starter-generator integrated machine, and the rotor position sensor of the starter-generator integrated machine collects the rotor position signal and sends it to the DSP control circuit; The DSP control circuit obtains the current rotor position of the starter-generator, the amplitude, frequency, and phase of the three-phase AC power, and performs torque closed-loop PI control after coordinate transformation and space vector pulse width modulation. According to the difference between the set values ​​of the AC and DC axis currents obtained by converting the set torque and the actual AC and DC axis currents, the duty cycle of the PWM waveform opened by the drive component is calculated and adjusted in real time, so as to stably output the given starting torque to the engine main shaft and execute the engine starting action.

6. A power generation control method according to any one of claims 2 to 4, comprising the following steps: The starter generator is driven by the engine and outputs three-phase AC power from the three-phase winding to the drive components; The current sensor component collects three-phase current signals, and the motor's built-in rotor position sensor collects rotor position signals and sends them to the DSP control circuit; The DSP control circuit obtains the current rotor position of the starter-generator, the amplitude, frequency and phase of the three-phase AC power, and performs coordinate transformation and space vector pulse width modulation, and then performs dual closed-loop PI control of current and voltage; According to the difference between the given voltage and the actual generated voltage, the duty cycle of the PWM waveform of the drive component is calculated and adjusted in real time, so as to stably output a DC voltage consistent with the set voltage between the positive and negative lines of the DC busbar.

7. A method for controlling the speed regulation of an actuating motor of a system according to any one of claims 2 to 4, comprising the following steps: Output high-voltage direct current from the DC busbar to each drive component, and invert and output three-phase alternating current to the three-phase winding of each actuator motor; The current sensor component collects three-phase current signals and sends them to the DSP control circuit; The DSP control circuit calculates the amplitude, frequency, and phase of the three-phase AC power, and after coordinate transformation and space vector pulse width modulation, obtains the current rotor position of each actuator motor and performs dual closed-loop PI control of current and speed; According to the difference between the set speed and the actual speed, the duty cycle of the PWM waveform opened by the drive component is calculated and adjusted in real time, so as to stably output the actuating motor speed consistent with the set speed.

8. A power matching control method of a system according to any one of claims 2 to 4, comprising the following steps: 1) Starting conditions The high-voltage contactor is closed and the supercapacitor is connected. When the DC voltage on the busbar meets the working voltage U1, the starter-generator enters the starting condition and outputs the starting torque. After the engine is ignited and started within the supercapacitor output time t1, when the speed further rises to the set value n1, the starter generator exits the starting condition and the dust extraction motor starts working; Until the engine speed exceeds the power generation speed setting value n2, it enters the power generation condition, and the water pump motor and oil pump motor start working; The fan motor works according to the heat dissipation requirements of the power compartment; 2) Shutdown conditions The engine is shut down first. When the engine speed is detected to be lower than the set value n3, it is considered that the engine has been shut down, and the starter generator stops generating electricity. The oil pump motor stops, and the parking brake is completed with the residual pressure of the hydraulic system; the water pump motor keeps running, and the fan motor runs at idle speed, maintaining a cooling time of the set value t2 after the engine stops; After the heat dissipation is completed, the fan motor stops, the supercapacitor is disconnected, and the water pump motor runs at a low speed to discharge the busbar voltage below the safe voltage, thus completing the shutdown and high-voltage charge discharge work; 3) Engine speed drops suddenly When the engine speed suddenly drops to a speed n4 which is significantly lower than the idle speed, according to the importance of each actuator motor, the fan motor is set to a given speed of 0, and the oil pump motor is slowed down to maintain the speed n5 required for the braking and steering systems until the engine speed is restored.

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