Energy recovery device control method, device, energy recovery device and medium

Abstract

The embodiments of the present application disclose a control method, device, energy recovery device, and medium for an energy recovery device, belonging to the field of energy recovery technology. The energy recovery device includes a tension motor, a tension pulley, a power battery, and a friction energy dissipation device, wherein the friction energy dissipation device includes a brake device and a friction disc. The control method of the energy recovery device includes: responding to a tension mode activation instruction, obtaining a target tension value of the tension pulley, the actual remaining power of the power battery, and the target recovery remaining power of the power battery; determining the relationship between the actual remaining power and the target recovery remaining power; when the actual remaining power is less than or equal to the target recovery 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 target recovery remaining power, determining the surplus torque based on the target tension value, and controlling the brake device 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 a medium. Background Art

[0002] A tensioner is a device used for tensioning transmission lines and installing aerial ropeways. It typically consists of a tension pulley and a tension motor. During commissioning, the tension pulley must actively rotate forward or reverse. The stator of the tension motor generates a rotating magnetic field, driving the rotor. This means the tension motor is in a power-consuming state, converting electrical energy into mechanical energy. During payout operations, the tension pulley provides tension. The stator of the tension motor generates a fixed magnetic field, which imparts holding torque to the rotor. The tension pulley rotates due to the traction force of the payout, driving the rotor of the tension motor to rotate and cut through the stator's magnetic field, generating electricity. This means the tension motor is in a power-generating state, converting mechanical energy into electrical energy.

[0003] The power generated by the tension motor during its generating phase is consumed by various electrical components, while any excess power is absorbed by the power battery. Ideally, all excess power generated by the tension motor would be absorbed by the power battery. However, in actual tension machine energy recovery scenarios, the power battery's energy recovery capacity and the amount of excess power required for recovery are constantly changing. The power battery's recovered energy is less than the excess power, and a persistent excess power level can easily lead to component overvoltage and thermal runaway, potentially damaging the equipment. Furthermore, when the power battery is fully charged, it stops absorbing energy, further causing a persistent excess power level and potentially damaging the equipment. 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 in the prior art of equipment damage caused by continuous surplus of electricity.

[0005] To achieve the above objectives, the present application provides, in a first aspect, a method for controlling an energy recovery device. The energy recovery device includes a tension motor, a tension pulley, 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 pulley. The method for controlling 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 target remaining power for recovery, 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] 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;

[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 dissipation device further includes a torque sensor;

[0020] The control method of the energy recovery device further 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 time, a friction torque over-limit instruction is generated;

[0022] When the mode of the electric device is not the high energy consumption mode, responding to the friction torque over-limit instruction, switching the electric device to the 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] The brake device is controlled to clamp the friction disc based on the surplus torque, 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 braking 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 excess 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] A third aspect of the present application provides an energy recovery device, comprising a tension motor, a tension pulley, a power battery, a friction energy dissipation device, and the aforementioned control device, wherein the friction energy dissipation device comprises a brake device and a friction disc, and the friction disc is connected to the tension pulley;

[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 stored thereon instructions for enabling 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 pulley, a power battery, and a friction energy dissipation device. The friction energy dissipation device includes a brake device and a friction disc, and the friction disc is connected to the tension pulley. The control method includes: responding to a tension mode activation command, obtaining a target tension value for the tension pulley, the actual remaining power of the power battery, and the target remaining power of the power battery; determining the relationship between the actual remaining power and the target remaining power; when the actual remaining power is less than or equal to the target remaining power, determining a 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, determining a surplus torque based on the target tension value, and controlling the brake device to clamp the friction disc based on the surplus torque. After the power battery completes energy recovery, the tension motor no longer provides tension, i.e., the tension motor is turned off, and the brake device is controlled to clamp the friction disc based on the surplus torque, thereby providing tension to the tension pulley through the friction energy dissipation device. While ensuring high-efficiency energy recovery from the power battery, the method dynamically adjusts changes in power consumption, achieving rapid control of the recovered power and avoiding equipment damage caused by persistent surplus power.

[0039] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. 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 detailed description, 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 The following schematically shows a flow chart of a control method for a first energy recovery device according to an embodiment of the present application;

[0042] Figure 2 The following schematically shows a flow chart of a control method for a second energy recovery device according to an embodiment of the present application;

[0043] Figure 3 Schematically shows an example diagram of 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 following schematically shows a structural diagram of a second energy recovery device according to an embodiment of the present application;

[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 dissipation device, 250-Control device, 260-Power consumption device, 270-Motor controller; 241-Braking device, 242-Friction disc, 243-Torque sensor, 244-Proportional relief valve, 245-Energy consumption controller. DETAILED DESCRIPTION

[0049] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions 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, certain software, components, models, and other existing solutions in the industry may be mentioned. These 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 such solutions.

[0051] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications 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 for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a 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 shows a flow chart of a control method of a first energy recovery device according to an embodiment of the present application. 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 disc, the friction disc 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 , in response 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 recycling.

[0055] This embodiment provides an energy recovery device for a tension machine. The energy recovery device includes a tension motor, a tension pulley, a power battery, and a friction energy dissipation device. The friction energy dissipation device includes a brake device and a friction disc connected to the tension pulley. During the energy recovery process, the tension motor and tension motor serve as the power generation component, the friction energy dissipation device serves as the energy consumption component, and the power battery serves as the power supply and energy storage component.

[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 pay-off operation, the tension wheel establishes tension, and the traction force and other external forces cause the tension wheel to rotate. The stator of the tension motor generates a fixed magnetic field so that the rotor obtains the holding torque. The tension wheel rotates due to the pay-off 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 instruction 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 in the fully charged state. 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 the 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] The relationship between the actual remaining charge and the target remaining charge determines whether the battery should or should not perform energy recovery. Due to physical limitations, the charging capacity of power batteries varies at different temperatures and voltages, causing the amount of energy recovered by the battery to change dynamically. If the actual remaining charge is less than or equal to the target remaining charge, energy recovery is determined, and the motor torque is determined based on the target tension value.

[0060] When the tension motor provides tension to the tension pulley, ideally, the motor torque is directly equal to the target tension value. In actual energy recovery scenarios, various factors may prevent the motor torque from being equal to the target tension value, requiring a conversion factor to determine the motor torque based on the target tension value. The tension motor is turned on, and its torque is controlled based on the motor torque. The tension motor generates torque to establish tension on the tension pulley. In the presence of external forces, such as traction from a tractor, the tension pulley rotates, causing the tension motor to generate electricity, and the power battery to recover energy.

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

[0062] When tension is provided to the tension pulley via a friction disc, ideally, the surplus torque can be equal to the target tension value. The surplus torque is the excess 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 actual energy recovery scenarios, due to various factors, the surplus torque value cannot be equal to the target tension value, and the surplus torque needs to be determined based on the target tension value using 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] The brake device clamps the friction disc based on excess torque, and the friction disc of the friction energy dissipation device provides tension to the tension pulley. After the power battery completes energy recovery, the tension motor stops providing tension. This means the tension motor is turned off, and the brake device clamps the friction disc based on excess torque, providing tension to the tension pulley through the friction energy dissipation device. While ensuring high-efficiency energy recovery from the power battery, the system dynamically adjusts to changes in power consumption, enabling rapid control of recovered power and preventing equipment damage caused by persistent excess power.

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

[0065] Figure 2 The following schematically shows a flow chart of a control method for a second energy recovery device according to an embodiment of the present application. Figure 2 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 further 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 and the size of the recovery current can be controlled by the system allowed recovery current. The system reserve recovery current is the energy of the recovery current of the energy recovery device before it 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 obtained by measuring sensors and the like during the operation of the power battery.

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

[0069] S122: Update 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, the power generation needs to be reduced to reduce the surplus current. The motor torque is reduced based on the preset torque adjustment equivalent, and the updated motor torque is obtained as 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] If the surplus current is less than zero, the generator must be increased to increase the surplus current. The motor torque is increased based on the preset torque adjustment equivalent to obtain an updated motor torque. This 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] Updating the motor torque will cause the tension of the tension pulley to change. To ensure the tension pulley operates stably and reliably at the target tension value, the friction energy dissipation device must provide some tension to the tension pulley. Specifically, the remaining torque is updated based on the updated motor torque and the target tension value. The updated remaining torque is used to determine the portion of tension that needs to be provided by the friction energy dissipation device.

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

[0083] Based on the updated surplus torque, the brake device is controlled to clamp the friction disc, and the friction disc of the friction energy dissipation device provides tension to the tension pulley. After the motor torque is updated, tension is provided to the tension pulley by both the tension motor and the friction disc, ensuring stable and reliable operation of the tension pulley at the target tension value. It should be understood that after controlling the brake device to clamp the friction disc based on the updated surplus torque, the relationship between the actual remaining charge and the target remaining charge for recovery can also be determined. If the actual remaining charge exceeds the target remaining charge for recovery, the tension motor is turned off, 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. During the power battery energy recovery process in this embodiment, tension is typically initially provided only by the tension motor. As the actual remaining charge increases, tension is then provided by both the tension motor and the friction energy dissipation device. Finally, when the actual remaining charge exceeds the target remaining charge for recovery, tension is provided only by the friction energy dissipation device.

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

[0085] The control method of the energy recovery device further 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 time, a friction torque over-limit instruction is generated;

[0087] When the mode of the electric device is not the high energy consumption mode, responding to the friction torque over-limit instruction, switching the electric device to the 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 overlimit command 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 a determination is made as to whether the feedback torque exceeds a preset safety torque. If the feedback torque is less than or equal to the preset safety torque, the available energy is determined to have not exceeded the friction disk's energy consumption limit, and the torque sensor can continue to obtain the feedback torque of the friction disk. If the feedback torque of the friction disk obtained by the torque sensor exceeds the preset safety torque for a period exceeding a preset time, the available energy is determined to have exceeded the friction disk's energy consumption limit, and a friction torque overlimit command is generated.

[0090] If the power consumption device is not in high-energy mode, the device is switched to high-energy mode in response to a friction torque overrun command to control its energy consumption. While in high-energy mode, the device can increase heating power and cooling power, which are not detailed here. By switching the power consumption device to high-energy mode, the energy consumption of the energy recovery device can be increased and the energy consumption pressure of the friction energy dissipation device can be reduced, thereby balancing power generation and consumption and preventing equipment damage caused by a continuous surplus of power.

[0091] When the electrical device is in high-energy consumption mode, the target tension value is lowered in response to the friction torque over-limit instruction. After the electrical device switches to 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 pulley is reduced to balance the generation and consumption of electricity. It should be understood that if the feedback torque of the friction disk obtained by the torque sensor exceeds the preset safety torque for a period of time exceeding the preset time, a warning message can also be generated to inform the user that the energy required 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] The brake device is controlled to clamp the friction disc based on the surplus torque, 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 braking device to clamp the friction disk.

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

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

[0099] The input pressure of the brake device is determined based on the surplus torque. The opening of the proportional relief valve is controlled according to the input pressure of the brake device, so as 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, the embodiments of this application utilize PID (Proportional Integral Derivative) control to precisely control the opening of the proportional relief valve. Specifically, the feedback operating parameters of the proportional relief valve are determined based on the feedback torque of the friction disk obtained by the torque sensor. Based on the feedback operating parameters, the control parameters of the proportional relief valve are updated. The updated control parameters are then used to control the opening of the proportional relief valve, thereby controlling the braking device's grip on the friction disk.

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

[0102] When the excess torque is less than or equal to zero, the proportional relief valve is closed. When the excess torque is less than or equal to zero, the proportional relief valve is closed, thereby preventing the friction energy dissipation device from consuming energy. In this embodiment, the active friction energy dissipation device can be controlled to switch on and off. While maintaining the friction energy dissipation device continuously, this dynamically adjusts the power consumption while ensuring high-efficiency energy recovery from the power battery. This allows for rapid control of the recovered power and avoids equipment damage caused by a persistent excess of power.

[0103] The present application provides a control method for an energy recovery device. The energy recovery device includes a tension motor, a tension pulley, a power battery, and a friction energy dissipation device. The friction energy dissipation device includes a brake device and a friction disc, and the friction disc is connected to the tension pulley. The control method includes: responding to a tension mode activation command, obtaining a target tension value for the tension pulley, the actual remaining power of the power battery, and the target remaining power of the power battery; determining the relationship between the actual remaining power and the target remaining power; when the actual remaining power is less than or equal to the target remaining power, determining a 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, determining a surplus torque based on the target tension value, and controlling the brake device to clamp the friction disc based on the surplus torque. After the power battery completes energy recovery, the tension motor no longer provides tension, i.e., the tension motor is turned off, and the brake device is controlled to clamp the friction disc based on the surplus torque, thereby providing tension to the tension pulley through the friction energy dissipation device. While ensuring high-efficiency energy recovery from the power battery, the method dynamically adjusts changes in power consumption, achieving rapid control of the recovered power and avoiding equipment damage caused by persistent 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 core, which retrieves the corresponding program unit from the memory. One or more cores can be provided, and the control method of the energy recovery device described above can be implemented by adjusting the core 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 pulley 220, a power battery 230, a friction energy dissipation device 240, and the aforementioned control device 250. The friction energy dissipation device 240 includes a brake device 241 and a friction disc 242. The friction disc 242 is connected to the tension pulley 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 disc 242 to provide tension to the tension wheel 220 .

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

[0116] When the actual remaining charge of the power battery 230 is less than or equal to the target remaining charge, 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 charge of the power battery 230 is greater than the target remaining charge, 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 schematic diagram shows the structure of the second energy recovery device according to the embodiment of the present application.

[0118] In the embodiments of the present application, the energy recovery device 200 also includes other devices. These other devices are configured based on actual needs and are not limited here. For ease of understanding, in the embodiments of the present application, the other devices include an electrical device 260 and a motor controller 270. The friction energy dissipation device 240 also includes a proportional relief 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 through a DC bus. The motor controller 270 is connected to the friction disc 242 through the tension motor 210 and the tension wheel 220 in turn. The proportional relief valve 244 is connected to the friction disc 242 through the braking device 241. The torque sensor 243 is arranged between the tension wheel 220 and the friction disc 242.

[0120] The power consumption device 260, power battery 230, motor controller 270, and energy consumption controller 245 are all connected to the control device 250. When the tension motor 210 is required to provide tension to the tension pulley 220, the control device 250 transmits the motor torque to the motor controller 270, which controls the torque of the tension motor 210. When the friction disk 242 is required to provide tension to the tension pulley 220, the control device 250 transmits the excess torque to the energy consumption controller 245, which controls the opening of the proportional relief valve 244, thereby controlling the brake device 241 to clamp the friction disk 242. Furthermore, the energy consumption controller 245 adjusts the opening of the proportional relief valve 244 based on 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] An embodiment of the present application further provides a tension machine, which includes the above-mentioned energy recovery device 200.

[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 pulleys 220 are shown, both mounted on the frame. A large gear is attached to each tension pulley 220, meshing with a small gear. The small gear is attached to the output shaft of a speed reducer, which is directly connected to the tension motor 210. A brake device 241 is attached to the frame, a friction disc 242 is attached to each tension pulley 220, and a torque sensor 243 is positioned between the tension pulley 220 and the friction disc 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 above-mentioned control method of the energy recovery device.

[0125] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems or computer program products. Therefore, the present application can 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 can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic 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 produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. 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 that can direct a computer or other programmable data processing device to work 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 The 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 operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0129] In a typical configuration, a computing device includes one or more processors (CPUs), 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 includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The 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 disc read-only memory (CD-ROM), digital versatile disc (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 transitory media such as modulated data signals and carrier waves.

[0132] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0133] The above are merely 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 modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all 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, wherein the friction energy dissipation device includes a brake device and a friction disk, and the friction disk is connected to the tension wheel. The control method of the energy recovery device includes: In response 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 recycling; When the actual remaining power is less than or equal to the recovery target remaining power, determining a 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, 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; The control method of the energy recovery device further 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; controlling the torque of the tension motor based on the updated motor torque; 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, reducing the motor torque 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; The control method of the energy recovery device further 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.

2. The control method of the energy recovery device according to claim 1, characterized in that: The energy recovery device further includes an electrical device, and the friction energy dissipation device further includes a torque sensor; The control method of the energy recovery device further 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 the high energy consumption mode, responding to the friction torque over-limit instruction, switching the electric device to the 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.

3. The control method of the energy recovery device according to claim 1, characterized in that: The friction energy dissipation device further includes a proportional relief valve; The controlling the braking 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.

4. The control method of the energy recovery device according to claim 3, characterized in that: The control method of the energy recovery device further includes: When the surplus torque is less than or equal to zero, the proportional relief valve is closed.

5. 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 4 when executing the instructions.

6. 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 5, 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 disc to provide tension to the tension wheel.

7. 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 for the energy recovery device according to any one of claims 1 to 4.

Images