Control method and device of energy recovery equipment, energy recovery equipment and medium

Abstract

The embodiment of the invention discloses a control method and device of energy recovery equipment, the energy recovery equipment and a medium, and belongs to the technical field of energy recovery. The energy recovery equipment comprises a tension motor, a tension wheel, a power battery and a friction energy consumption device, the friction energy consumption device comprises a brake device and a friction disc, and the control method of the energy recovery equipment comprises the steps that a tension mode starting instruction is responded; obtaining a target tension value of the tension wheel, the actual residual electric quantity of the power battery and the recycled target residual electric quantity of the power battery; determining a size relationship between the actual residual electric quantity and the recovered target residual electric quantity; under the condition that the actual residual electric quantity is smaller than or equal to the recycled target residual electric quantity, the motor torque is determined based on the target tension value, and the torque of a tension motor is controlled based on the motor torque; and under the condition that the actual residual electric quantity is larger than the recycled target residual electric quantity, the surplus torque is determined based on the target tension value, and the brake device is controlled to clamp the friction disc based on the surplus torque.

Description

Technical Field

[0001] The present application relates to the field of energy recovery technology, and specifically to a control method and device for energy recovery equipment, energy recovery equipment and medium. Background Art

[0002] The tension machine is a device used for tensioning transmission lines and erecting aerial ropeways. Usually, the tension machine includes devices such as a tension wheel and a tension motor. During the operation and debugging process, the tension wheel needs to actively rotate forward or reverse, and the stator of the tension motor generates a rotating magnetic field to drive the rotor, that is, the tension motor is in a power-consuming state of converting electrical energy into mechanical energy. During the wire-laying operation, the tension wheel needs to provide tension, and the stator of the tension motor generates a fixed magnetic field to enable the rotor to obtain a holding torque. The tension wheel rotates due to the traction force of the wire-laying, and then drives the rotor of the tension motor to rotate and cut the stator magnetic field to generate electricity, that is, the tension motor is in a power generation state of converting mechanical energy into electrical energy.

[0003] The electricity generated by the tension motor in the power generation state can be consumed by various electrical components, and the surplus electricity is absorbed by the power battery. Ideally, all the excess electricity generated by the tension motor will be absorbed by the power battery. However, in the actual tension machine energy recovery scenario, the power battery's ability to recover energy and the surplus electricity that needs to be recovered are constantly changing. The power battery's recovered energy is less than the surplus electricity. The continuous surplus electricity is prone to faults such as component overvoltage and thermal runaway, which in turn causes equipment damage. In addition, the power battery will stop absorbing energy when it is fully charged, further resulting in continuous surplus electricity and causing equipment damage. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a control method, device, energy recovery device and medium for energy recovery equipment, so as to solve the problem of equipment damage caused by continuous surplus of electricity in the prior art.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a control method of an energy recovery device, the energy recovery device includes a tension motor, a tension wheel, a power battery and a friction energy dissipation device, the friction energy dissipation device includes a brake device and a friction disk, the friction disk is connected to the tension wheel, and the control method of the energy recovery device includes:

[0006] In response to the tension mode start command, the target tension value of the tension wheel, the actual remaining power of the power battery and the target remaining power of the power battery for recycling are obtained;

[0007] When the actual remaining power is less than or equal to the recovery target remaining power, determining the motor torque based on the target tension value, and controlling the torque of the tension motor based on the motor torque;

[0008] When the actual remaining power is greater than the recovery target remaining power, a surplus torque is determined based on the target tension value, and the brake device is controlled to clamp the friction disk based on the surplus torque.

[0009] In an embodiment of the present application, the control method of the energy recovery device further includes:

[0010] Based on the recovery current of the energy recovery device and the recovery current of the power battery, a surplus current of the energy recovery device is obtained;

[0011] Update the motor torque according to the surplus current to obtain an updated motor torque;

[0012] Based on the updated motor torque, the torque of the tension motor is controlled.

[0013] In an embodiment of the present application, updating the motor torque according to the surplus current to obtain the updated motor torque includes:

[0014] When the surplus current is greater than or equal to zero, the motor torque is reduced based on the preset torque adjustment equivalent to obtain an updated motor torque;

[0015] When the surplus current is less than zero, the motor torque is increased based on the preset torque adjustment equivalent to obtain an updated motor torque.

[0016] In an embodiment of the present application, the control method of the energy recovery device further includes:

[0017] Update the surplus torque according to the updated motor torque and the target tension value to obtain an updated surplus torque;

[0018] Based on the updated surplus torque, the brake device is controlled to clamp the friction disk.

[0019] In an embodiment of the present application, the energy recovery device further includes an electrical device, and the friction energy consumption device further includes a torque sensor;

[0020] The control method of the energy recovery device also includes:

[0021] When the feedback torque of the friction disk obtained by the torque sensor is greater than the preset safety torque for a period exceeding a preset period, a friction torque over-limit instruction is generated;

[0022] When the mode of the electric device is not a high energy consumption mode, responding to the friction torque over-limit instruction, the electric device is switched to a high energy consumption mode to control the electric device to consume energy;

[0023] When the mode of the electric device is a high energy consumption mode, the target tension value is reduced in response to the friction torque over-limit instruction.

[0024] In an embodiment of the present application, the friction energy dissipation device further includes a proportional relief valve;

[0025] Based on the surplus torque, the brake device is controlled to clamp the friction disk, including:

[0026] When the surplus torque is greater than zero, the opening of the proportional relief valve is controlled based on the surplus torque to control the brake device to clamp the friction disk;

[0027] Obtain feedback operating parameters of the proportional relief valve;

[0028] The opening of the proportional relief valve is controlled based on the feedback operating parameters to control the brake device to clamp the friction disk.

[0029] In an embodiment of the present application, the control method of the energy recovery device further includes:

[0030] When the surplus torque is less than or equal to zero, the proportional relief valve is closed.

[0031] A second aspect of the present application provides a control device, comprising:

[0032] a memory configured to store instructions;

[0033] The processor is configured to call instructions from the memory and implement the above-mentioned control method of the energy recovery device when executing the instructions.

[0034] The third aspect of the present application provides an energy recovery device, including a tension motor, a tension wheel, a power battery, a friction energy dissipation device and the above-mentioned control device, the friction energy dissipation device includes a brake device and a friction disk, and the friction disk is connected to the tension wheel;

[0035] a tension motor configured to convert mechanical energy into electrical energy in a power generation state;

[0036] The brake device is configured to clamp the friction disc to provide tension to the tension wheel.

[0037] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the above-mentioned control method for the energy recovery device.

[0038] The present application provides a control method for an energy recovery device, the energy recovery device includes a tension motor, a tension wheel, a power battery and a friction energy dissipation device, the friction energy dissipation device includes a brake device and a friction disk, the friction disk is connected to the tension wheel, and the control method for the energy recovery device includes: responding to a tension mode start instruction, obtaining a target tension value of the tension wheel, an actual remaining power of the power battery and a target remaining power of the power battery for recovery; determining the size relationship between the actual remaining power and the target remaining power for recovery; when the actual remaining power is less than or equal to the target remaining power for recovery, determining the motor torque based on the target tension value, and controlling the torque of the tension motor based on the motor torque; when the actual remaining power is greater than the target remaining power for recovery, determining the surplus torque based on the target tension value, and controlling the brake device to clamp the friction disk based on the surplus torque. After the power battery completes energy recovery, the tension motor no longer provides tension, that is, the tension motor is turned off and the brake device is controlled to clamp the friction disk based on the surplus torque, so as to provide tension for the tension wheel through the friction energy dissipation device. On the basis of ensuring that the power battery recovers energy with high efficiency, the change of power consumption is dynamically adjusted, so as to realize the rapid control of the recovered power and avoid equipment damage caused by continuous surplus power.

[0039] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0041] Figure 1 A schematic diagram of a flow chart of a control method of a first energy recovery device according to an embodiment of the present application is schematically shown;

[0042] Figure 2 A schematic diagram of a flow chart of a second method for controlling an energy recovery device according to an embodiment of the present application is shown;

[0043] Figure 3 An example diagram schematically shows the relationship between input pressure and output torque of a braking device according to an embodiment of the present application;

[0044] Figure 4 The schematic diagram shows the structure of the first energy recovery device according to the embodiment of the present application;

[0045] Figure 5 The schematic diagram of the structure of the second energy recovery device according to the embodiment of the present application is shown;

[0046] Figure 6The schematic diagram shows the structure of a tension machine according to an embodiment of the present application.

[0047] Description of Reference Numerals

[0048] 200-energy recovery equipment; 210-tension motor, 220-tension wheel, 230-power battery, 240-friction energy consumption device, 250-control device, 260-electricity consumption device, 270-motor controller; 241-brake device, 242-friction disc, 243-torque sensor, 244-proportional relief valve, 245-energy consumption controller. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0050] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application are in compliance with the relevant provisions of national laws and regulations. In the embodiments of this application, some existing solutions in the industry such as certain software, components, and models may be mentioned, which should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use the solution.

[0051] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0052] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0053] Figure 1 The schematic diagram of the control method of the first energy recovery device according to the embodiment of the present application is shown. The energy recovery device includes a tension motor, a tension wheel, a power battery and a friction energy dissipation device, the friction energy dissipation device includes a brake device and a friction disk, the friction disk is connected to the tension wheel, such as Figure 1 As shown, an embodiment of the present application provides a control method for an energy recovery device, and the control method for the energy recovery device includes:

[0054] S110, responding to the tension mode start instruction, obtaining the target tension value of the tension wheel, the actual remaining power of the power battery, and the target remaining power of the power battery for recycling.

[0055] In this embodiment, an energy recovery device for a tension machine is provided, the energy recovery device includes a tension motor, a tension wheel, a power battery and a friction energy dissipation device, the friction energy dissipation device includes a brake device and a friction disk, and the friction disk is connected to the tension wheel. In the energy recovery process, the tension motor and the tension motor are the power generation part, the friction energy dissipation device is the energy consumption part, and the power battery is the power supply and energy recovery storage part.

[0056] The tension machine can be set to traction mode and tension mode. When the tension mode needs to be turned on for the tension wire-releasing operation, the tension wheel establishes tension, and external forces such as traction force cause the tension wheel to rotate. The stator of the tension motor generates a fixed magnetic field so that the rotor obtains a holding torque. The tension wheel rotates due to the wire-releasing traction force, and then drives the rotor of the tension motor to rotate and cut the stator magnetic field to generate electricity, that is, the tension motor is in a power generation state that converts mechanical energy into electrical energy. When the user needs to switch the tension machine to tension mode, respond to the tension mode start command to obtain the target tension value of the tension wheel, the actual remaining power of the power battery, and the target remaining power of the power battery for recycling. It should be understood that the target tension value is the tension value of the tension wheel set by the user according to demand, and the target tension value can be read directly from the control panel of the tension machine. The value of the target tension value is set according to actual needs and is not limited here.

[0057] S120 , when the actual remaining power is less than or equal to the recovery target remaining power, determining the motor torque based on the target tension value, and controlling the torque of the tension motor based on the motor torque.

[0058] SOC (State of Charge) refers to the ratio of the remaining power of a battery after it has been used for a period of time, or has been left unused for a long time, to the capacity of the battery when it is fully charged. The actual remaining power of the power battery and the target remaining power of the energy recovery device when the tension motor is in the power generation state are obtained. In this embodiment, the relationship between the actual remaining power and the target remaining power of recovery is determined by SOC. When the actual SOC value of the power battery is 0, it is determined that the power battery is fully discharged. When the actual SOC value of the power battery is 1, it is determined that the power battery is fully charged. The recovery SOC is the expected power battery recovery power set by the user. The value of the recovery SOC is set according to actual needs and is not limited here.

[0059] Based on the relationship between the actual remaining power and the target remaining power, it can be determined whether the power battery should perform energy recovery or not. Due to physical characteristics, the charging capacity of power batteries at different temperatures and voltages is different, which makes the energy recovered by power batteries change dynamically. When the actual remaining power is less than or equal to the target remaining power, it is determined that the battery should perform energy recovery, and the motor torque is determined based on the target tension value.

[0060] When the tension motor is used to provide tension to the tension wheel, the value of the motor torque can be directly equal to the target tension value under ideal conditions. In actual energy recovery scenarios, the value of the motor torque cannot be equal to the target tension value due to various factors, and the motor torque needs to be determined based on the target tension value through a conversion coefficient. The tension motor is turned on, and the torque of the tension motor is controlled based on the motor torque. The tension motor obtains torque to establish tension on the tension wheel. In the presence of external forces such as the traction force of the traction machine, the tension wheel rotates to cause the tension motor to generate electricity, and the power battery recovers energy.

[0061] S130 , when the actual remaining power is greater than the recovery target remaining power, determining a surplus torque based on the target tension value, and controlling the brake device to clamp the friction disk based on the surplus torque.

[0062] When the tension wheel is provided with tension by the friction disc, the surplus torque can be equal to the target tension value under ideal conditions. The surplus torque is the surplus torque that cannot be used for power generation, that is, the surplus torque is the torque to be consumed that cannot be recovered by the power battery. In the actual energy recovery scenario, due to the influence of various factors, the value of the surplus torque cannot be equal to the target tension value, and the surplus torque needs to be determined based on the target tension value through a conversion coefficient. It should be understood that the value of the conversion coefficient is set according to actual needs and is not limited here.

[0063] Based on the surplus torque, the brake device is controlled to clamp the friction disk, and the friction disk of the friction energy dissipation device provides tension for the tension wheel. After the power battery completes energy recovery, the tension motor no longer provides tension, that is, the tension motor is turned off and the brake device is controlled to clamp the friction disk based on the surplus torque to provide tension for the tension wheel through the friction energy dissipation device. On the basis of ensuring the high efficiency of power battery energy recovery, the change of power consumption is dynamically adjusted to achieve rapid control of the recovered power and avoid equipment damage caused by continuous surplus power.

[0064] It should be understood that the energy recovery device may also include a resistance energy dissipation device. When the surplus energy consumption value needs to be adjusted over a large range, the friction energy dissipation device in this embodiment is turned on to dissipate energy. When the surplus energy consumption value needs to be accurately adjusted, the resistance energy dissipation device is turned on to accurately adjust the consumed energy through resistance heating.

[0065] Figure 2 The flowchart of the control method of the second energy recovery device according to the embodiment of the present application is schematically shown. Figure 2 As shown, the embodiment of the present application provides a control method for an energy recovery device, and the control method for the energy recovery device also includes:

[0066] S121, obtaining a surplus current of the energy recovery device based on the recovery current of the energy recovery device and the recovery current of the power battery.

[0067] Based on the recovery current of the energy recovery device and the recovery current of the power battery, the surplus current of the energy recovery device is obtained. Specifically, the recovery current of the energy recovery device in this embodiment includes the system-allowed recovery current and the system-reserve recovery current. The system-allowed recovery current is the maximum recovery current of the power battery set by the user's request. The energy recovery speed can be adjusted by the system-allowed recovery current, as well as the size of the recovery current. The system-reserve recovery current is the energy of the recovery current of the device before the energy recovery device leaves the factory, which is used to improve the safety of the energy recovery device and prevent shocks caused by sudden increases in power generation. The recovery current of the power battery includes the available recovery current of the battery and the actual recovery current of the battery. The available recovery current is calculated based on the number of charge and discharge times of the battery, the battery health status, the temperature and the current remaining power. The actual recovery current of the battery is the recovery current of the power battery measured by sensors and the like during the operation of the power battery.

[0068] The first current and the second current are calculated respectively, the first current is BC=E, where E is the first current, B is the actual battery recovery current, and C is the system allowed recovery current. The second current is D-(AB)=F, where F is the second current, D is the system reserve recovery current, A is the battery available recovery current, and B is the actual battery recovery current. When the first current is greater than zero and the first current is greater than the second current, the first current is determined as a surplus current. When the second current is greater than zero and the second current is greater than or equal to the first current, the second current is determined as a surplus current. When both the first current and the second current are less than zero, the value of the surplus current is determined to be zero.

[0069] S122, updating the motor torque according to the surplus current to obtain an updated motor torque.

[0070] The motor torque is updated according to the surplus current, and the updated motor torque is obtained by increasing or decreasing the motor torque to adjust the surplus current.

[0071] S123, controlling the torque of the tension motor based on the updated motor torque.

[0072] Based on the updated motor torque, the torque of the tension motor is controlled, that is, the power generation can be adjusted according to the surplus current of the energy recovery device.

[0073] In an embodiment of the present application, updating the motor torque according to the surplus current to obtain the updated motor torque includes:

[0074] When the surplus current is greater than or equal to zero, the motor torque is reduced based on the preset torque adjustment equivalent to obtain an updated motor torque;

[0075] When the surplus current is less than zero, the motor torque is increased based on the preset torque adjustment equivalent to obtain an updated motor torque.

[0076] When the surplus current is greater than or equal to zero, it is necessary to reduce the power generation to reduce the surplus current. Based on the preset torque adjustment equivalent, the motor torque is reduced to obtain an updated motor torque of X1=X2-N, where X1 is the updated motor torque, X2 is the motor torque, and N is the preset torque adjustment equivalent. In this embodiment, the preset torque adjustment equivalent is the minimum adjustment equivalent of the motor torque.

[0077] When the surplus current is less than zero, the power generation needs to be increased to increase the surplus current. The motor torque is increased based on the preset torque adjustment equivalent to obtain the updated motor torque. It is X1=X2+N, where X1 is the updated motor torque, X2 is the motor torque, and N is the preset torque adjustment equivalent.

[0078] The value of the preset torque adjustment equivalent is set according to actual needs and is not limited here. For ease of understanding, in the embodiment of the present application, the preset torque adjustment equivalent is the minimum adjustment equivalent of the motor torque, and the updated motor torque is greater than or equal to zero.

[0079] In an embodiment of the present application, the control method of the energy recovery device further includes:

[0080] S124, updating the surplus torque according to the updated motor torque and the target tension value to obtain an updated surplus torque.

[0081] After the motor torque is updated, the tension of the tension wheel will change. In order to ensure that the tension wheel works stably and reliably at the target tension value, the friction energy dissipation device needs to provide partial tension for the tension wheel. Specifically, the surplus torque is updated according to the updated motor torque and the target tension value to obtain the updated surplus torque, that is, to determine the partial tension value that needs to be provided by the friction energy dissipation device.

[0082] S125, based on the updated surplus torque, controlling the brake device to clamp the friction disk.

[0083] Based on the updated surplus torque, the brake device is controlled to clamp the friction disk, and the friction disk of the friction energy dissipation device provides tension for the tension wheel. After the motor torque is updated, the tension motor and the friction disk are used to provide tension for the tension wheel, ensuring that the tension wheel works stably and reliably at the target tension value. It should be understood that after the brake device is controlled to clamp the friction disk based on the updated surplus torque, the size relationship between the actual remaining power and the target remaining power for recovery can also be determined. When the actual remaining power is greater than the target remaining power for recovery, the tension motor is turned off, the surplus torque is determined based on the target tension value, and the brake device is controlled to clamp the friction disk based on the surplus torque. In the process of power battery energy recovery in this embodiment, usually only the tension motor first provides tension for the tension wheel, and as the actual remaining power continues to increase, the tension motor and the friction energy dissipation device provide tension for the tension wheel together, and finally, when the actual remaining power is greater than the target remaining power for recovery, only the friction energy dissipation device provides tension for the tension wheel.

[0084] In an embodiment of the present application, the energy recovery device further includes an electrical device, and the friction energy consumption device further includes a torque sensor;

[0085] The control method of the energy recovery device also includes:

[0086] When the feedback torque of the friction disk obtained by the torque sensor is greater than the preset safety torque for a period exceeding a preset period, a friction torque over-limit instruction is generated;

[0087] When the mode of the electric device is not a high energy consumption mode, responding to the friction torque over-limit instruction, the electric device is switched to a high energy consumption mode to control the electric device to consume energy;

[0088] When the mode of the electric device is a high energy consumption mode, the target tension value is reduced in response to the friction torque over-limit instruction.

[0089] A friction torque over-limit instruction is generated based on the feedback torque of the friction disk obtained by the torque sensor. Specifically, the feedback torque of the friction disk is obtained, and it is determined whether the feedback torque is greater than the preset safety torque. When the feedback torque is less than or equal to the preset safety torque, it is determined that the energy that can be consumed does not exceed the energy consumption limit of the friction disk, and the feedback torque of the friction disk can continue to be obtained through the torque sensor. When the feedback torque of the friction disk obtained by the torque sensor is greater than the preset safety torque for a period of time exceeding the preset time, it is determined that the energy that can be consumed exceeds the energy consumption limit of the friction disk, and a friction torque over-limit instruction is generated.

[0090] When the mode of the electric device is not a high-energy consumption mode, in response to the friction torque over-limit instruction, the electric device is switched to a high-energy consumption mode to control the energy consumption of the electric device. When the electric device is in the high-energy consumption mode, operations such as increasing the heating power and increasing the cooling power can be performed, which will not be described in detail here. By switching the electric device to a high-energy consumption mode, the power consumption of the energy recovery device can be increased and the energy consumption pressure of the friction energy consumption device can be reduced, so that the generation and consumption of electricity tend to be balanced, avoiding equipment damage caused by continuous surplus of electricity.

[0091] When the mode of the electrical device is a high-energy consumption mode, the target tension value is reduced in response to the friction torque over-limit instruction. After the electrical device is switched to the high-energy consumption mode, the energy that can be consumed exceeds the energy consumption limit of the friction disk, and the tension of the tension wheel is reduced so that the generation and consumption of electricity tend to be balanced. It should be understood that when the feedback torque of the friction disk obtained by the torque sensor is greater than the preset safety torque for a period of time that exceeds the preset time, a warning message can also be generated to remind the user that the energy that needs to be consumed exceeds the energy consumption limit of the friction disk.

[0092] In an embodiment of the present application, the friction energy dissipation device further includes a proportional relief valve;

[0093] Based on the surplus torque, the brake device is controlled to clamp the friction disk, including:

[0094] When the surplus torque is greater than zero, the opening of the proportional relief valve is controlled based on the surplus torque to control the brake device to clamp the friction disk;

[0095] Obtain feedback operating parameters of the proportional relief valve;

[0096] The opening of the proportional relief valve is controlled based on the feedback operating parameters to control the brake device to clamp the friction disk.

[0097] Figure 3 An example diagram schematically shows the relationship between the input pressure and the output torque of a braking device according to an embodiment of the present application.

[0098] Determine whether the surplus torque is greater than zero. If the surplus torque is greater than zero, it is necessary to consume energy through the friction energy dissipation device. As shown in the figure, the braking device in this embodiment is a hydraulic brake, the horizontal axis is the output torque of the braking device, and the vertical axis is the input pressure of the braking device. There is a linear relationship between the input pressure and the output torque of the braking device, and the different diameters of the friction disc will make the curves between the input pressure and the output torque different. For ease of understanding, the figure shows the relationship between the input pressure and the output torque of the braking device when the diameter of the friction disc is 260mm, 350mm, 500mm and 600mm respectively.

[0099] Based on the surplus torque, the input pressure of the brake device is determined. According to the input pressure of the brake device, the opening of the proportional relief valve is controlled to control the brake device to clamp the friction disk by controlling the output pressure of the proportional relief valve.

[0100] For ease of understanding, PID (Proportional Integral Derivative) control is used in the embodiments of the present application to accurately control the opening of the proportional overflow valve. Specifically, the feedback operating parameters of the proportional overflow valve can be determined according to the feedback torque of the friction disk obtained by the torque sensor. Based on the feedback operating parameters, the control parameters of the proportional overflow valve are updated, and the opening of the proportional overflow valve is controlled by the updated control parameters to control the brake device to clamp the friction disk.

[0101] In an embodiment of the present application, the control method of the energy recovery device further includes:

[0102] When the surplus torque is less than or equal to zero, the proportional relief valve is closed. When the surplus torque is less than or equal to zero, the proportional relief valve is closed, so that the friction energy dissipation device does not consume energy. In this embodiment, the active friction energy dissipation device switch can be controlled. Compared with the friction energy dissipation device that is continuously turned on, the change in power consumption is dynamically adjusted on the basis of ensuring high-efficiency energy recovery of the power battery, thereby realizing rapid control of the recovered power and avoiding equipment damage caused by continuous surplus power.

[0103] The present application provides a control method for an energy recovery device, the energy recovery device includes a tension motor, a tension wheel, a power battery and a friction energy dissipation device, the friction energy dissipation device includes a brake device and a friction disk, the friction disk is connected to the tension wheel, and the control method for the energy recovery device includes: responding to a tension mode start instruction, obtaining a target tension value of the tension wheel, an actual remaining power of the power battery and a target remaining power of the power battery for recovery; determining the size relationship between the actual remaining power and the target remaining power for recovery; when the actual remaining power is less than or equal to the target remaining power for recovery, determining the motor torque based on the target tension value, and controlling the torque of the tension motor based on the motor torque; when the actual remaining power is greater than the target remaining power for recovery, determining the surplus torque based on the target tension value, and controlling the brake device to clamp the friction disk based on the surplus torque. After the power battery completes energy recovery, the tension motor no longer provides tension, that is, the tension motor is turned off and the brake device is controlled to clamp the friction disk based on the surplus torque, so as to provide tension for the tension wheel through the friction energy dissipation device. On the basis of ensuring that the power battery recovers energy with high efficiency, the change of power consumption is dynamically adjusted, so as to realize the rapid control of the recovered power and avoid equipment damage caused by continuous surplus power.

[0104] The present application also provides a control device, including:

[0105] a memory configured to store instructions;

[0106] The processor is configured to call instructions from the memory and implement the above-mentioned control method of the energy recovery device when executing the instructions.

[0107] The processor includes a kernel, and the kernel calls the corresponding program unit from the memory. One or more kernels can be provided, and the control method of the energy recovery device described above is implemented by adjusting kernel parameters.

[0108] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0109] Figure 4 The schematic diagram shows the structure of the first energy recovery device according to the embodiment of the present application.

[0110] The embodiment of the present application further provides an energy recovery device 200, including a tension motor 210, a tension wheel 220, a power battery 230, a friction energy dissipation device 240 and the above-mentioned control device 250, wherein the friction energy dissipation device 240 includes a brake device 241 and a friction disk 242, and the friction disk 242 is connected to the tension wheel 220;

[0111] The tension motor 210 is configured to convert mechanical energy into electrical energy in a power generation state;

[0112] The braking device 241 is configured to clamp the friction disk 242 to provide tension to the tension wheel 220 .

[0113] A tension motor 210, a tension wheel 220, a power battery 230 and a friction energy dissipation device 240, wherein the friction energy dissipation device 240 includes a brake device 241 and a friction disc 242, and the friction disc 242 is connected to the tension wheel 220;

[0114] The tension motor 210 is configured to convert mechanical energy into electrical energy in a power generation state;

[0115] The braking device 241 is configured to clamp the friction disk 242 to provide tension to the tension wheel 220 .

[0116] When the actual remaining power of the power battery 230 is less than or equal to the target remaining power for recovery, the motor torque is determined based on the target tension value, and the torque of the tension motor 210 is controlled based on the motor torque. When the actual remaining power of the power battery 230 is greater than the target remaining power for recovery, the surplus torque is determined based on the target tension value, and the brake device 241 is controlled to clamp the friction disk 242 based on the surplus torque.

[0117] Figure 5 The structural diagram of the second energy recovery device according to the embodiment of the present application is schematically shown.

[0118] In the embodiment of the present application, the energy recovery device 200 also includes other devices, which are set according to actual needs and are not limited here. For ease of understanding, in the embodiment of the present application, the other devices include an electrical device 260 and a motor controller 270, and the friction energy dissipation device 240 also includes a proportional overflow valve 244, a torque sensor 243 and an energy dissipation controller 245.

[0119] The power-consuming device 260 and the motor controller 270 are both connected to the power battery 230 via a DC bus. The motor controller 270 is connected to the friction disk 242 via the tension motor 210 and the tension wheel 220 in turn. The proportional relief valve 244 is connected to the friction disk 242 via the braking device 241. The torque sensor 243 is arranged between the tension wheel 220 and the friction disk 242.

[0120] The power device 260, the power battery 230, the motor controller 270 and the energy consumption controller 245 are all connected to the control device 250. When the tension motor 210 is required to provide tension for the tension wheel 220, the control device 250 sends the motor torque to the motor controller 270, and the motor controller 270 controls the torque of the tension motor 210. When the friction disk 242 is required to provide tension for the tension wheel 220, the control device 250 sends the surplus torque to the energy consumption controller 245, and the energy consumption controller 245 controls the opening of the proportional relief valve 244, thereby controlling the brake device 241 to clamp the friction disk 242. In addition, the energy consumption controller 245 adjusts the opening of the proportional relief valve 244 according to the parameters obtained by the torque sensor 243.

[0121] Figure 6 The schematic diagram shows the structure of a tension machine according to an embodiment of the present application.

[0122] The embodiment of the present application further provides a tension machine, which includes the energy recovery device 200 mentioned above.

[0123] The tension machine also includes other device structures such as reducer, large gear, small gear, reducer and frame. For ease of understanding, other device structures are no longer marked. Figure 6 Two tension wheels 220 are shown, and both tension wheels 220 are installed on the frame, the large gear is set on the tension wheel 220, and the large gear is meshed with the small gear. The small gear is set at the output shaft end of the reducer, and the reducer is directly connected to the tension motor 210. The brake device 241 is set on the frame, the friction disk 242 is set on the tension wheel 220, and the torque sensor 243 is set between the tension wheel 220 and the friction disk 242.

[0124] An embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the control method of the above-mentioned energy recovery device.

[0125] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0126] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0127] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0128] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0129] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0130] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0131] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0132] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0133] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A control method for an energy recovery device, characterized in that: The energy recovery device includes a tension motor, a tension wheel, a power battery and a friction energy dissipation device, the friction energy dissipation device includes a brake device and a friction disk, the friction disk is connected to the tension wheel, and the control method of the energy recovery device includes: In response to a tension mode start instruction, a target tension value of the tension wheel, an actual remaining power of the power battery, and a target remaining power of the power battery for recycling are obtained; When the actual remaining power is less than or equal to the recovery target remaining power, determining the motor torque based on the target tension value, and controlling the torque of the tension motor based on the motor torque; When the actual remaining power is greater than the recovery target remaining power, a surplus torque is determined based on the target tension value, and the brake device is controlled to clamp the friction disk based on the surplus torque.

2. The control method of the energy recovery device according to claim 1, characterized in that: The control method of the energy recovery device also includes: obtaining a surplus current of the energy recovery device based on a recovery current of the energy recovery device and a recovery current of the power battery; Updating the motor torque according to the surplus current to obtain an updated motor torque; Based on the updated motor torque, the torque of the tension motor is controlled.

3. The control method of the energy recovery device according to claim 2, characterized in that: The updating of the motor torque according to the surplus current to obtain the updated motor torque includes: When the surplus current is greater than or equal to zero, the motor torque is reduced based on a preset torque adjustment equivalent to obtain an updated motor torque; When the surplus current is less than zero, the motor torque is increased based on a preset torque adjustment equivalent to obtain an updated motor torque.

4. The control method of the energy recovery device according to claim 2, characterized in that: The control method of the energy recovery device also includes: updating the surplus torque according to the updated motor torque and the target tension value to obtain an updated surplus torque; Based on the updated surplus torque, the brake device is controlled to clamp the friction disk.

5. The control method of the energy recovery device according to claim 2, characterized in that: The energy recovery device also includes an electrical device, and the friction energy consumption device also includes a torque sensor; The control method of the energy recovery device also includes: generating a friction torque over-limit instruction when the feedback torque of the friction disk acquired by the torque sensor is greater than the preset safety torque for a period exceeding a preset period; When the mode of the electric device is not a high energy consumption mode, responding to a friction torque over-limit instruction, switching the electric device to a high energy consumption mode to control the electric device to consume energy; When the mode of the electric device is a high energy consumption mode, the target tension value is reduced in response to a friction torque over-limit instruction.

6. The control method of the energy recovery device according to claim 1, characterized in that: The friction energy dissipation device also includes a proportional relief valve; The controlling the brake device to clamp the friction disk based on the surplus torque includes: When the surplus torque is greater than zero, controlling the opening of the proportional relief valve based on the surplus torque to control the brake device to clamp the friction disk; Obtaining feedback operating parameters of the proportional relief valve; The opening degree of the proportional relief valve is controlled based on the feedback operating parameter to control the brake device to clamp the friction disk.

7. The control method of the energy recovery device according to claim 6, characterized in that: The control method of the energy recovery device also includes: When the surplus torque is less than or equal to zero, the proportional relief valve is closed.

8. A control device, characterized in that: include: a memory configured to store instructions; A processor is configured to call the instructions from the memory and implement the control method of the energy recovery device according to any one of claims 1 to 7 when executing the instructions.

9. An energy recovery device, characterized in that: It comprises a tension motor, a tension wheel, a power battery, a friction energy dissipation device and a control device according to claim 8, wherein the friction energy dissipation device comprises a brake device and a friction disc, and the friction disc is connected to the tension wheel; The tension motor is configured to convert mechanical energy into electrical energy in a power generation state; The braking device is configured to clamp the friction disk to provide tension to the tension wheel.

10. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions, which are used to enable a machine to execute the control method of the energy recovery device according to any one of claims 1 to 7.

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