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 motor, a power battery and an energy consumption device, the energy consumption device comprises at least one energy consumption resistor, and the control method of the energy recovery equipment comprises the steps that a received motor control instruction is responded, and the state of the motor is switched into a power generation state; obtaining the actual residual electric quantity of the power battery and the recovered target residual electric quantity of the power battery when the motor is in the power generation state; generating an energy consumption control instruction according to the actual residual electric quantity and the recycled target residual electric quantity; based on the energy consumption control instruction, adjusting operation parameters of the energy consumption resistor in an energy consumption state; and updating the operation parameters of the energy consumption resistor according to the surplus current of the energy recovery equipment and the feedback operation parameters of the energy consumption resistor. The operation parameters of the energy consumption resistor are dynamically adjusted, and accurate control over the recycled electric quantity is achieved.

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 motor generates a rotating magnetic field to drive the rotor, that is, the 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 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 motor's rotor to rotate and cut the stator magnetic field to generate electricity, that is, the motor is in a power generation state of converting mechanical energy into electrical energy.

[0003] The electricity generated by the 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 motor will be absorbed by the power battery. However, in the actual tension machine energy recovery scenario, the amount of energy recovered by the power battery and the surplus electricity that needs to be recovered are constantly changing. The recovered energy of the power battery 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, which further causes continuous surplus electricity and causes 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 object, the first aspect of the present application provides a control method of an energy recovery device, the energy recovery device includes a motor, a power battery and an energy consumption device, the energy consumption device includes at least one energy consumption resistor, and the control method of the energy recovery device includes:

[0006] In response to the received motor control command, the state of the motor is switched to a power generation state;

[0007] Obtaining the actual remaining power of the power battery and the target remaining power of the power battery to be recovered when the motor is in a power generation state;

[0008] Generate energy consumption control instructions based on the actual remaining power and the target remaining power for recycling;

[0009] Based on the energy consumption control instruction, adjusting the operating parameters of the energy consumption resistor in the energy consumption state;

[0010] The operating parameters of the energy dissipation resistor are updated according to the surplus current of the energy recovery device and the feedback operating parameters of the energy dissipation resistor, wherein the surplus current is obtained according to the recovery current of the energy recovery device and the recovery current of the power battery.

[0011] In an embodiment of the present application, the energy dissipation device further includes at least one switch tube, each of which is connected to an energy dissipation resistor;

[0012] Generate energy consumption control instructions based on the actual remaining power and the target remaining power, including:

[0013] When the actual remaining power is greater than the target remaining power, a full power consumption control instruction is generated;

[0014] When the actual remaining power is less than or equal to the target remaining power for recycling, a preset power consumption control instruction is generated according to the surplus current, wherein the preset power is less than the full power;

[0015] Based on the energy consumption control instruction, the operating parameters of the energy consumption resistor in the energy consumption state are adjusted, including:

[0016] When the energy consumption control instruction is a full-power energy consumption control instruction, the real-time duty cycle of the switch tube is set to 100% to adjust the operating parameters of the energy consumption resistor in the energy consumption state;

[0017] When the energy consumption control instruction is a preset power energy consumption control instruction, the real-time duty cycle of the switch tube is set to a preset percentage to adjust the operating parameters of the energy consumption resistor in the energy consumption state, wherein the preset percentage is less than 100%.

[0018] In an embodiment of the present application, the energy consumption device further includes a diverter;

[0019] According to the surplus current of the energy recovery device and the feedback operating parameters of the energy dissipation resistor, the operating parameters of the energy dissipation resistor are updated, including:

[0020] When the surplus current of the energy recovery device is greater than zero, the real-time duty cycle of the switch tube is updated according to the feedback operating parameters obtained by the shunt to update the operating parameters of the energy dissipation resistor.

[0021] In an embodiment of the present application, after updating the operating parameters of the energy dissipation resistor according to the surplus current of the energy recovery device and the feedback operating parameters of the energy dissipation resistor, the method further includes:

[0022] In the case where the feedback operating parameter is less than the surplus current, determining whether the updated real-time duty cycle of the switch tube is 100%;

[0023] When the real-time duty cycle of the switch tube after updating is 100%, the torque of the motor is reduced.

[0024] In an embodiment of the present application, the energy consumption device further includes a heat dissipation device;

[0025] After adjusting the operating parameters of the energy-consuming resistor in the energy-consuming state based on the energy-consuming control instruction, the method further includes:

[0026] Control the cooling device to start and obtain the real-time air outlet temperature of the cooling device;

[0027] When the real-time air outlet temperature is greater than or equal to the upper limit of the air outlet temperature, the torque of the motor is reduced.

[0028] In an embodiment of the present application, the control method of the energy recovery device further includes:

[0029] When the real-time air outlet temperature is less than the upper limit of the air outlet temperature, the real-time air inlet temperature of the heat dissipation device is obtained;

[0030] When the real-time air outlet temperature is less than or equal to the real-time air inlet temperature, the heat dissipation device is controlled to be turned off.

[0031] In an embodiment of the present application, the control method of the energy recovery device further includes:

[0032] In response to receiving the inventory power adjustment instruction, obtaining an upper limit of the inventory remaining power and a lower limit of the inventory remaining power of the power battery;

[0033] Generate prompt information according to the actual remaining power, the upper limit of the remaining power in stock, and the lower limit of the remaining power in stock, wherein the prompt information is used to prompt the power in stock of the power battery;

[0034] When the actual remaining power is greater than or equal to the upper limit of the remaining power in stock, the operating parameters of the energy-consuming resistor in the energy-consuming state are adjusted.

[0035] A second aspect of the present application provides a control device, comprising:

[0036] a memory configured to store instructions;

[0037] 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.

[0038] The third aspect of the present application provides an energy recovery device, comprising the above-mentioned control device, a motor, a power battery and an energy consumption device, wherein the energy consumption device comprises at least one energy consumption resistor;

[0039] an electric machine configured to convert mechanical energy into electrical energy in a generating state;

[0040] The energy dissipation resistor is configured to dissipate heat.

[0041] 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.

[0042] The present application provides a control method for an energy recovery device, the energy recovery device includes a motor, a power battery and an energy consumption device, the energy consumption device includes at least one energy consumption resistor, and the control method for the energy recovery device includes: responding to a received motor control instruction, switching the state of the motor to a power generation state; obtaining the actual remaining power of the power battery and the target remaining power of the power battery when the motor is in the power generation state; generating an energy consumption control instruction according to the actual remaining power and the target remaining power of the power battery; adjusting the operating parameters of the energy consumption resistor in the energy consumption state based on the energy consumption control instruction; updating the operating parameters of the energy consumption resistor according to the surplus current of the energy recovery device and the feedback operating parameters of the energy consumption resistor. By adjusting the operating parameters of the energy consumption resistor, the energy consumption resistor is made to generate heat and consume energy, thereby avoiding damage to the equipment due to continuous surplus power. In addition, according to the changes in the energy and surplus power of the power battery recovered power, the operating parameters of the energy consumption resistor are dynamically adjusted, and then the changes in the power consumption are dynamically adjusted, thereby realizing precise control of the recovered power, and further avoiding damage to the equipment due to continuous surplus power.

[0043] 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

[0044] 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:

[0045] Figure 1 A schematic diagram of a process flow of a control method for an energy recovery device according to an embodiment of the present application is schematically shown;

[0046] Figure 2 A schematic diagram of the structure of an energy recovery device according to an embodiment of the present application is shown;

[0047] Figure 3 The schematic diagram shows the structure of another energy recovery device according to an embodiment of the present application.

[0048] Description of Reference Numerals

[0049] 200-energy recovery equipment, 210-control device, 220-motor, 230-power battery, 240-energy consumption device, 250-other power units, 260-motor controller; 241-energy consumption control unit, 242-energy consumption resistor unit; 2411-energy consumption controller, 2421-heat dissipation device, 2422-first temperature measuring device, 2423-second temperature measuring device, RS-shunt, Qn-switch tube, Rn-energy consumption resistor. DETAILED DESCRIPTION

[0050] 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.

[0051] 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.

[0052] It should be noted that if directional indication is involved in the embodiments of the present application, the directional indication is only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0053] 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.

[0054] Figure 1The schematic diagram shows a flow chart of a control method of an energy recovery device according to an embodiment of the present application. The energy recovery device includes a motor, a power battery and an energy consumption device, and the energy consumption device includes at least one energy consumption resistor. Figure 1 As shown, the embodiment of the present application provides a control method for an energy recovery device, including:

[0055] S110, in response to the received motor control instruction, switching the state of the motor to a power generation state.

[0056] In this embodiment, an energy recovery device for a tension machine is provided, the energy recovery device includes a motor, a power battery and an energy consumption device, the energy consumption device includes at least one energy consumption resistor. During the energy recovery process, the motor is the power generation part, the energy consumption device is the energy consumption part, and the power battery is the power supply and energy recovery storage part.

[0057] The tension machine can be set to traction mode and tension mode. When the tension machine is set to traction mode, the motor needs to be switched to power consumption state. When the tension machine is set to tension mode, the motor needs to be switched to power generation state. The type of motor control instruction is set according to actual needs and is not limited here. For ease of understanding, in the embodiment of the present application, the motor control instruction is a tension mode start instruction, and the energy recovery device responds to the received motor control instruction, and the tension machine is set to tension mode. The tension wheel establishes tension, and external forces such as traction force cause the tension wheel to rotate. The stator of the motor generates a fixed magnetic field to enable the rotor to obtain a holding torque. The tension wheel rotates due to the wire-releasing traction force, thereby driving the motor's rotor to rotate and cut the stator magnetic field to generate electricity, that is, the motor is in a power generation state that converts mechanical energy into electrical energy.

[0058] S120, obtaining the actual remaining power of the power battery and the recovery target remaining power of the power battery when the motor is in a power generation state.

[0059] 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 motor is in the power generation state are obtained. In this embodiment, the power battery is analyzed 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 target remaining power for recovery is the expected power battery recovery power set by the user. The value of the target remaining power for recovery is set according to actual needs and is not limited here.

[0060] S130, generating an energy consumption control instruction according to the actual remaining power and the recovery target remaining power.

[0061] Due to physical characteristics, the charging capacity of power batteries at different temperatures and voltages varies, causing the energy recovered by power batteries to change dynamically. Based on the actual remaining power and the target remaining power, the energy recovered by the power battery is analyzed in real time, and energy consumption control instructions are generated to consume the surplus power, avoiding damage to components such as overvoltage and thermal runaway caused by surplus power.

[0062] Specifically, the relationship between the actual remaining power and the target remaining power for recycling is determined. When the actual remaining power is greater than the target remaining power for recycling, it is determined that the recycled power exceeds the target power to be recycled, and a high-energy consumption control instruction is generated. When the actual remaining power is less than or equal to the target remaining power for recycling, it is determined that the recycled power does not exceed the target power to be recycled, and a low-energy consumption control instruction is generated.

[0063] S140, based on the energy consumption control instruction, adjusting the operating parameters of the energy consumption resistor in the energy consumption state.

[0064] The operating parameters of the energy dissipation resistor are set according to actual needs, and can be the voltage and current of the energy dissipation resistor, which are not limited here. For ease of understanding, the operating parameter in the embodiment of the present application is the current. By adjusting the current of the energy dissipation resistor, the energy dissipation resistor consumes the electricity generated by heat.

[0065] Based on the energy consumption control instruction, the target current of the energy consumption resistor is determined, and the operating parameters of the energy consumption resistor in the energy consumption state are adjusted, that is, the current of the energy consumption resistor is adjusted to generate heat. Different energy consumption control instructions will result in different adjusted operating parameters, and thus different amounts of energy consumed, thus achieving dynamic adjustment of the power battery's recovered electricity.

[0066] S150, updating the operating parameters of the energy dissipation resistor according to the surplus current of the energy recovery device and the feedback operating parameters of the energy dissipation resistor.

[0067] The process of using the energy-consuming resistor to consume surplus electricity can determine whether energy balance is achieved based on the surplus current of the energy recovery device. Specifically, the surplus current is obtained based on the recovery current of the energy recovery device and the recovery current of the power battery. When the surplus current is less than or equal to zero, it is determined that no more energy consumption is required. The operating parameters of the energy-consuming resistor are updated to 0, that is, no more electricity is consumed when the operating current of the energy-consuming resistor is zero. When the surplus current is greater than zero, the operating parameters of the energy-consuming resistor are updated according to the feedback operating parameters of the energy-consuming resistor to dynamically adjust the recovered electricity of the power battery.

[0068] It should be understood that for power equipment that uses resistors to consume energy, the resistors are usually always connected and consume energy based on a fixed power. During the operation of the power equipment, since the energy consumption power of the resistor is fixed, if the energy consumption power of the resistor is too low, it is easy for the energy to continue to be surplus and cause damage to the equipment. During the energy recovery process, if the energy consumption power of the resistor is too high, the energy consumption of the resistor will affect the energy recovery efficiency and cause energy waste. In this embodiment, by adjusting the operating parameters of the energy-consuming resistor, the energy-consuming resistor is made to generate heat and consume energy, thereby avoiding damage to the equipment due to continuous surplus of electricity. In addition, according to the changes in the energy and surplus electricity of the power battery recovered, the operating parameters of the energy-consuming resistor are dynamically adjusted to dynamically adjust the changes in the consumed electricity, thereby achieving precise control of the recovered electricity and further avoiding damage to the equipment due to continuous surplus of electricity.

[0069] It should also be understood that the energy recovery device may also include a friction energy dissipation device. When the surplus energy consumption value needs to be adjusted over a large range, the friction energy dissipation device is turned on to dissipate energy. When the surplus energy consumption value needs to be accurately adjusted, the energy dissipation device in this embodiment is turned on, and based on the energy consumption control instruction, the operating parameters of the energy dissipation resistor in the energy dissipation state are adjusted, thereby accurately adjusting the consumed energy.

[0070] In an embodiment of the present application, the energy dissipation device further includes at least one switch tube, each of which is connected to an energy dissipation resistor;

[0071] Generate energy consumption control instructions based on the actual remaining power and the target remaining power, including:

[0072] When the actual remaining power is greater than the target remaining power, a full power consumption control instruction is generated;

[0073] When the actual remaining power is less than or equal to the target remaining power for recycling, a preset power consumption control instruction is generated according to the surplus current, wherein the preset power is less than the full power;

[0074] Based on the energy consumption control instruction, the operating parameters of the energy consumption resistor in the energy consumption state are adjusted, including:

[0075] When the energy consumption control instruction is a full-power energy consumption control instruction, the real-time duty cycle of the switch tube is set to 100% to adjust the operating parameters of the energy consumption resistor in the energy consumption state;

[0076] When the energy consumption control instruction is a preset power energy consumption control instruction, the real-time duty cycle of the switch tube is set to a preset percentage to adjust the operating parameters of the energy consumption resistor in the energy consumption state, wherein the preset percentage is less than 100%.

[0077] In an embodiment of the present application, the energy consumption device further includes at least one switch tube, and each switch tube is connected to an energy consumption resistor. By adjusting the duty cycle of the switch tube, the operating parameters of the energy consumption resistor can be adjusted. When the actual remaining power is greater than the target remaining power to be recovered, it is determined that the recovered power exceeds the target power to be recovered, and a high-energy-consuming full-power energy consumption control instruction is generated. When the energy consumption control instruction is a full-power energy consumption control instruction, the real-time duty cycle of the switch tube is set to 100% to adjust the operating parameters of the energy consumption resistor in the energy consumption state, that is, to adjust the current of the energy consumption resistor to the maximum value.

[0078] In the case where the actual remaining power is greater than the target remaining power for recovery, it is determined that the recovered power does not exceed the target power that needs to be recovered. The surplus current is obtained based on the recovery current of the energy recovery device and the recovery current of the power battery. 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 requested and set by the user. 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 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 measured by sensors and the like during the operation of the power battery.

[0079] 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.

[0080] According to the surplus current, a preset power energy consumption control instruction with low energy consumption is generated, wherein the preset power is less than the full power. When the energy consumption control instruction is a preset power energy consumption control instruction, the real-time duty cycle of the switch tube is set to a preset percentage to adjust the operating parameters of the energy consumption resistor in the energy consumption state, wherein the preset percentage is less than 100%. The values ​​of the preset power and the preset percentage are set according to actual needs and are not limited here. The values ​​of the preset power and the preset percentage can be set to lower values, so that when the actual remaining power is less than or equal to the recovery target remaining power, the current of the energy consumption resistor is adjusted to a low current to achieve trickle energy consumption.

[0081] In an embodiment of the present application, the energy consumption device further includes a diverter;

[0082] According to the surplus current of the energy recovery device and the feedback operating parameters of the energy dissipation resistor, the operating parameters of the energy dissipation resistor are updated, including:

[0083] When the surplus current of the energy recovery device is greater than zero, the real-time duty cycle of the switch tube is updated according to the feedback operating parameters obtained by the shunt to update the operating parameters of the energy dissipation resistor.

[0084] When the surplus current of the energy recovery device is less than or equal to zero, the real-time duty cycle of the switch tube is directly updated to zero. When the surplus current of the energy recovery device is greater than zero, the real-time duty cycle of the switch tube is updated according to the feedback operating parameters obtained by the shunt to update the operating parameters of the energy consumption resistor. For ease of understanding, PID (Proportional Integral Derivative) control is adopted in the embodiment of the present application to accurately update the real-time duty cycle of the switch tube, thereby achieving precise control of the recovered electricity. Specifically, the target operating parameters corresponding to the energy consumption control instruction are obtained, the operating parameter error between the target operating parameters and the feedback operating parameters obtained by the shunt is calculated, and the real-time duty cycle of the switch tube is updated according to the operating parameter error.

[0085] In an embodiment of the present application, after updating the operating parameters of the energy dissipation resistor according to the surplus current of the energy recovery device and the feedback operating parameters of the energy dissipation resistor, the method further includes:

[0086] In the case where the feedback operating parameter is less than the surplus current, determining whether the updated real-time duty cycle of the switch tube is 100%;

[0087] When the real-time duty cycle of the switch tube after updating is 100%, the torque of the motor is reduced.

[0088] In this embodiment, the steps of generating an energy consumption control instruction according to the actual remaining power and the target remaining power for recovery, and adjusting the operating parameters of the energy consumption resistor in the energy consumption state based on the energy consumption control instruction constitute one operating parameter control cycle. When the feedback operating parameter is greater than or equal to the surplus current, the steps of generating an energy consumption control instruction according to the actual remaining power and the target remaining power for recovery, and adjusting the operating parameters of the energy consumption resistor in the energy consumption state based on the energy consumption control instruction are performed again to perform the next operating parameter control cycle.

[0089] When the feedback operating parameter is less than the surplus current, determine whether the real-time duty cycle of the switch tube after the update is 100% to determine whether the operating parameter of the energy-consuming resistor is adjusted to the maximum value. When the real-time duty cycle of the switch tube after the update is 100%, determine that the energy consumption value when the current of the energy-consuming resistor is at the maximum value is still less than the actual required energy consumption value, forcibly reduce the torque of the motor, thereby reducing the power generation to avoid equipment damage.

[0090] In an embodiment of the present application, the energy consumption device further includes a heat dissipation device;

[0091] After adjusting the operating parameters of the energy-consuming resistor in the energy-consuming state based on the energy-consuming control instruction, the method further includes:

[0092] Control the cooling device to start and obtain the real-time air outlet temperature of the cooling device;

[0093] When the real-time air outlet temperature is greater than or equal to the upper limit of the air outlet temperature, the torque of the motor is reduced.

[0094] After the switch tube is turned on, the energy-consuming resistor starts to run and generate heat, and the heat sink is controlled to open to cool the energy-consuming device. The real-time air outlet temperature and the upper limit of the air outlet temperature of the heat sink are obtained. The upper limit of the air outlet temperature is set according to actual needs and is not limited here.

[0095] When the real-time outlet air temperature is greater than or equal to the upper limit of the outlet air temperature, it is determined that the energy dissipation resistor is seriously heated, and the torque of the motor is reduced. As the torque of the motor decreases, the amount of electricity generated by the energy recovery device will also decrease, thereby reducing the operating parameters of the energy dissipation resistor to reduce heating.

[0096] It should be understood that when the real-time air outlet temperature is greater than or equal to the upper limit of the air outlet temperature, or when the feedback operating parameter is less than the surplus current, an alarm message can also be generated to prompt that the actual energy consumption exceeds the maximum energy consumption value of the energy-consuming resistor, and then the alarm message prompts that the torque of the motor needs to be reduced.

[0097] In an embodiment of the present application, the control method of the energy recovery device further includes:

[0098] When the real-time air outlet temperature is less than the upper limit of the air outlet temperature, the real-time air inlet temperature of the heat dissipation device is obtained;

[0099] When the real-time air outlet temperature is less than or equal to the real-time air inlet temperature, the heat dissipation device is controlled to be turned off.

[0100] When the real-time outlet air temperature is less than the upper limit of the outlet air temperature, determine that the actual energy consumption does not exceed the maximum energy consumption of the energy-consuming resistor, and obtain the real-time inlet air temperature of the heat dissipation device. Determine the relationship between the real-time outlet air temperature and the real-time inlet air temperature. When the real-time outlet air temperature is less than or equal to the real-time inlet air temperature, determine that the heating temperature of the energy-consuming resistor is low, control the heat dissipation device to close, and realize energy-saving control of the energy recovery equipment.

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

[0102] In response to receiving the inventory power adjustment instruction, obtaining an upper limit of the inventory remaining power and a lower limit of the inventory remaining power of the power battery;

[0103] Generate prompt information according to the actual remaining power, the upper limit of the remaining power in stock, and the lower limit of the remaining power in stock, wherein the prompt information is used to prompt the power in stock of the power battery;

[0104] When the actual remaining power is greater than or equal to the upper limit of the remaining power in stock, the operating parameters of the energy-consuming resistor in the energy-consuming state are adjusted.

[0105] When the energy recovery device is not in use and needs to be put into storage, in response to receiving the inventory power adjustment instruction, the upper limit and lower limit of the remaining power of the power battery are obtained. The actual remaining power is compared with the upper limit and lower limit of the remaining power of the inventory, and a prompt message is generated. The values ​​of the upper limit and lower limit of the remaining power of the inventory are set according to actual needs and are not limited here.

[0106] The power battery inventory is indicated by a prompt message. Specifically, when the actual remaining power is less than or equal to the lower limit of the remaining power in the inventory, a prompt message is used to indicate that the power battery inventory is too low and can be charged. When the actual remaining power is greater than the lower limit of the remaining power in the inventory and less than the upper limit of the remaining power in the inventory, a prompt message is used to indicate that there is no abnormality in the power battery inventory and the device can be put into storage. When the actual remaining power is greater than the upper limit of the remaining power in the inventory, a prompt message is used to indicate that the power battery inventory is too high and energy consumption can be performed.

[0107] When the actual remaining power is greater than or equal to the upper limit of the remaining power in stock, the operating parameters of the energy-consuming resistor in the energy-consuming state are adjusted. In this embodiment, the operating parameters of the energy-consuming resistor are adjusted to a lower value, and then the energy is consumed in a trickle. It should be understood that when the actual remaining power is greater than or equal to the upper limit of the remaining power in stock, the prompt information can be generated first and then the operating parameters of the energy-consuming resistor can be adjusted, or the operating parameters of the energy-consuming resistor can be adjusted first and then the prompt information can be generated, which is not limited here.

[0108] The present application provides a control method for an energy recovery device, the energy recovery device includes a motor, a power battery and an energy consumption device, the energy consumption device includes at least one energy consumption resistor, and the control method for the energy recovery device includes: responding to a received motor control instruction, switching the state of the motor to a power generation state; obtaining the actual remaining power of the power battery and the target remaining power of the power battery when the motor is in the power generation state; generating an energy consumption control instruction according to the actual remaining power and the target remaining power of the power battery; adjusting the operating parameters of the energy consumption resistor in the energy consumption state based on the energy consumption control instruction; updating the operating parameters of the energy consumption resistor according to the surplus current of the energy recovery device and the feedback operating parameters of the energy consumption resistor. By adjusting the operating parameters of the energy consumption resistor, the energy consumption resistor is made to generate heat and consume energy, thereby avoiding damage to the equipment due to continuous surplus power. In addition, according to the changes in the energy and surplus power of the power battery recovered power, the operating parameters of the energy consumption resistor are dynamically adjusted, and then the changes in the power consumption are dynamically adjusted, thereby realizing precise control of the recovered power, and further avoiding damage to the equipment due to continuous surplus power.

[0109] The present application also provides a control device, including:

[0110] a memory configured to store instructions;

[0111] 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.

[0112] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the problem of device damage caused by continuous surplus of power in the prior art can be solved by adjusting kernel parameters.

[0113] 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.

[0114] Figure 2 The schematic diagram shows the structure of an energy recovery device according to an embodiment of the present application.

[0115] The embodiment of the present application further provides an energy recovery device 200, comprising the above-mentioned control device 210, a motor 220, a power battery 230 and an energy consumption device 240, wherein the energy consumption device 240 comprises at least one energy consumption resistor Rn;

[0116] The motor 220 is configured to convert mechanical energy into electrical energy in a power generation state;

[0117] The energy dissipation resistor Rn is configured to dissipate heat.

[0118] During the operation debugging process, the motor 220 is in a power consumption state of converting electrical energy into mechanical energy. During the wire-laying operation, the tension wheel needs to provide tension, and the motor 220 is in a power generation state of converting mechanical energy into electrical energy. When the motor 220 is in the power generation state, the surplus power generated by the motor 220 can be recovered through the power battery 230. At the same time, the energy-consuming resistor Rn can also generate heat and consume energy to consume the surplus power, thereby avoiding continuous surplus power.

[0119] Figure 3 The schematic diagram shows the structure of another energy recovery device according to an embodiment of the present application.

[0120] 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, the other devices in the embodiment of the present application include other power units 250 and motor controllers 260. The type of other power units 250 is set according to actual needs, and can be current converters, etc., which are not limited here.

[0121] In addition, in the embodiment of the present application, the energy consumption device 240 includes an energy consumption control unit 241 and an energy consumption resistor unit 242. The energy consumption control unit 241 includes a shunt RS, an energy consumption controller 2411 and at least one switch tube Qn. The energy consumption resistor unit 242 includes a heat dissipation device 2421, a first temperature measuring device 2422, a second temperature measuring device 2423 and at least one energy consumption resistor Rn. The number of switch tubes Qn and energy consumption resistors Rn is the same, and each switch tube Qn is connected to an energy consumption resistor Rn. The number of switch tubes Qn and energy consumption resistors Rn is set according to actual needs and is not limited here. For ease of understanding, three switch tubes Qn and three energy consumption resistors Rn are shown in the figure.

[0122] The motor controller 260, the power battery 230, the energy consumption control unit 241 and other power units 250 are all connected to the DC bus. The motor controller 260 is connected to the motor 220, and controls the power battery 230, the motor controller 260, the energy consumption controller 2411 and other power units 250 to be connected to the control device 210, so that the control device 210 can control the power battery 230, the motor controller 260, the energy consumption controller 2411 and other power units 250 respectively. Specifically, the motor controller 260 is used to respond to the instructions of the control device 210 and switch the state of the motor 220 to the power generation state. The energy consumption controller 2411 is used to respond to the instructions of the control device 210 and adjust the operating parameters of the energy consumption resistor Rn. When the motor 220 is in the power generation state, the AC power generated by the motor 220 is rectified into DC power, which is consumed by other power units 250 connected to the DC bus, and the surplus power is absorbed by the power battery 230. At the same time, by adjusting the operating parameters of the energy-consuming resistor Rn, the recovery current of the power battery 230 is adjusted, thereby avoiding damage to the equipment caused by continuous surplus power.

[0123] The unit bus of the energy consumption control unit 241 is connected to the DC bus, and the shunt RS is connected in series to the unit bus. The collector of each switch tube Qn is connected to the shunt RS, and the emitter of each switch tube Qn is connected to one end of the energy consumption resistor Rn, and the other end of the energy consumption resistor Rn is connected to the unit bus, thereby forming a loop. The heat dissipation device 2421, the first temperature measuring device 2422, and the second temperature measuring device 2423 are all connected to the energy consumption controller 2411. The energy consumption controller 2411 communicates with the control device 210, and the energy consumption controller 2411 responds to instructions to control the on and off of the switch tube Qn, thereby controlling the operating parameters of the energy consumption resistor Rn.

[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 A step that specifies a function 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, 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 motor, a power battery and an energy consumption device, the energy consumption device includes at least one energy consumption resistor, and the control method of the energy recovery device includes: In response to the received motor control instruction, switching the state of the motor to a power generation state; Acquiring an actual remaining power of the power battery and a recovery target remaining power of the power battery when the motor is in a power generation state; generating an energy consumption control instruction according to the actual remaining power and the recovery target remaining power; Based on the energy consumption control instruction, adjusting the operating parameters of the energy consumption resistor in the energy consumption state; The operating parameters of the energy dissipation resistor are updated according to the surplus current of the energy recovery device and the feedback operating parameters of the energy dissipation resistor, wherein the surplus current is obtained according to the recovery current of the energy recovery device and the recovery current of the power battery.

2. The control method of the energy recovery device according to claim 1, characterized in that: The energy dissipation device further comprises at least one switch tube, each of which is connected to one of the energy dissipation resistors; The generating the energy consumption control instruction according to the actual remaining power and the recovery target remaining power includes: When the actual remaining power is greater than the recovery target remaining power, generating a full power consumption control instruction; When the actual remaining power is less than or equal to the target remaining power, a preset power consumption control instruction is generated according to the surplus current, wherein the preset power is less than the full power; The adjusting, based on the energy consumption control instruction, the operating parameters of the energy consumption resistor in the energy consumption state includes: When the energy consumption control instruction is the full-power energy consumption control instruction, the real-time duty cycle of the switch tube is set to 100% to adjust the operating parameters of the energy consumption resistor in the energy consumption state; When the energy consumption control instruction is the preset power energy consumption control instruction, the real-time duty cycle of the switch tube is set to a preset percentage to adjust the operating parameters of the energy consumption resistor in the energy consumption state, wherein the preset percentage is less than 100%.

3. The control method of the energy recovery device according to claim 2, characterized in that: The energy consumption device also includes a diverter; The updating of the operating parameters of the energy dissipation resistor according to the surplus current of the energy recovery device and the feedback operating parameters of the energy dissipation resistor includes: When the surplus current of the energy recovery device is greater than zero, the real-time duty cycle of the switch tube is updated according to the feedback operating parameters acquired by the shunt to update the operating parameters of the energy dissipation resistor.

4. The control method of the energy recovery device according to claim 3, characterized in that: After updating the operating parameters of the energy dissipation resistor according to the surplus current of the energy recovery device and the feedback operating parameters of the energy dissipation resistor, the method further includes: In the case where the feedback operating parameter is less than the surplus current, determining whether the updated real-time duty cycle of the switch tube is 100%; When the updated real-time duty cycle of the switch tube is 100%, the torque of the motor is reduced.

5. The control method of the energy recovery device according to claim 1, characterized in that: The energy consumption device also includes a heat dissipation device; After adjusting the operating parameters of the energy-consuming resistor in the energy-consuming state based on the energy-consuming control instruction, the method further includes: Controlling the cooling device to start, and obtaining the real-time air outlet temperature of the cooling device; When the real-time air outlet temperature is greater than or equal to the upper limit of the air outlet temperature, the torque of the motor is reduced.

6. The control method of the energy recovery device according to claim 5, characterized in that: The control method of the energy recovery device also includes: When the real-time air outlet temperature is less than the upper limit of the air outlet temperature, obtaining the real-time air inlet temperature of the heat dissipation device; When the real-time air outlet temperature is less than or equal to the real-time air inlet temperature, the heat dissipation device is controlled to be closed.

7. 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: In response to receiving the inventory power adjustment instruction, obtaining an upper limit of the inventory remaining power and a lower limit of the inventory remaining power of the power battery; Generate prompt information according to the actual remaining power, the upper limit of the remaining power in stock, and the lower limit of the remaining power in stock, wherein the prompt information is used to prompt the power in stock of the power battery; When the actual remaining power is greater than or equal to the upper limit of the remaining power in stock, the operating parameters of the energy-consuming resistor in the energy-consuming state are adjusted.

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 control device according to claim 8, a motor, a power battery and an energy consumption device, wherein the energy consumption device comprises at least one energy consumption resistor; The motor is configured to convert mechanical energy into electrical energy in a power generation state; The energy dissipation resistor is configured to generate heat and dissipate energy.

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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