Power take-off system of electric rescue vehicle and control method

Abstract

The invention discloses an electric rescue vehicle power take-off system and a control method, a main controller controls a power take-off motor controller according to a selected control mode by setting vehicle type configuration words and power take-off interface options, and a power take-off motor drives a power take-off transmission system to work. According to the invention, a set of system model is developed to be suitable for various vehicle types, and a control program can support user definition.

Description

Technical Field

[0001] The present invention relates to an electric rescue vehicle, and in particular to a power take-off system and a control method for an electric rescue vehicle. Background Art

[0002] Electric rescue vehicles include pure electric rescue vehicles, extended-range electric rescue vehicles, fuel cell rescue vehicles, etc. Common types include electric fire trucks, electric dump trucks, and electric cranes. The power take-off system of electric rescue vehicles is to directly drive the hydraulic pump, air pump, water pump or winch by adding a motor, or to indirectly drive the hydraulic pump, air pump, water pump or winch by connecting a shaft to the original vehicle gearbox. However, the control procedures of the power take-off systems of electric rescue vehicles currently on the market, such as electric fire trucks, electric dump trucks, electric cranes, etc., have the following problems:

[0003] 1. It can only be used for the control of a single vehicle type, specific scenario, and specific power take-off motor model. For example, a control program suitable for the electric dump truck cargo box lifting scenario cannot be applied to the constant speed control of the electric fire truck fire extinguishing scenario, and it cannot be applied to the pedal speed control and pedal-triggered constant speed control of the electric crane winch rescue scenario.

[0004] 2. In addition, the current power take-off system does not support custom setting of control targets. Considering that some users will install / modify the power take-off system by themselves, the current power take-off system control program cannot support the needs of users to install / modify by themselves. Summary of the invention

[0005] The present invention provides a power take-off system and a control method for an electric rescue vehicle, so as to solve the problem in the prior art that the power take-off system has a single function and the control program cannot support the personalized installation / refit of users.

[0006] The technical solution of the present invention is as follows:

[0007] A power take-off system for an electric rescue vehicle, characterized in that: an HMI, a main controller, a power take-off motor controller, a power take-off motor, and a power take-off transmission system are provided;

[0008] The HMI interacts with the main controller and sends a user request to the main controller;

[0009] The main controller exchanges information with the power take-off motor controller and sends an operation instruction to the power take-off motor controller, the power take-off motor controller controls the power take-off motor to start, and the power take-off motor drives the power take-off transmission system to perform an action;

[0010] Among them, a power take-off interface is provided in the HMI, and the power take-off interface includes a vehicle model display, a control mode display applicable to each vehicle model, an application scenario applicable to each control mode, and selection and / or setting of control parameters.

[0011] Furthermore, the HMI is applicable to a central control screen, a mobile phone APP, a remote control and an instrument display.

[0012] Furthermore, the electric rescue vehicle models include electric fire trucks, electric dump trucks and electric cranes;

[0013] The electric fire truck and electric dump truck are provided with "constant speed control", "pedal speed control" and "pedal-triggered constant speed control" options in the power take-off interface;

[0014] The electric crane is provided with "pedal speed control" and "pedal triggered constant speed control" options in the power take-off interface.

[0015] Furthermore, the “constant speed control” is applicable to the scenario where the power take-off motor always has a constant speed;

[0016] "Pedal speed control" is suitable for scenarios where the speed of the power take-off motor is adjusted according to the accelerator pedal opening;

[0017] "Pedal-triggered constant speed control" is suitable for scenarios where the power take-off motor rotates when the pedal is pressed and does not rotate when the pedal is not pressed.

[0018] Furthermore, the main controller is implanted with a control program for each control mode under each vehicle type, as well as control parameters used by each control program, and the vehicle type, control mode and control parameters can all be customized.

[0019] The present invention also provides a control method for the system, comprising the following steps:

[0020] S1) determining whether the user has a need for the power take-off system to work, and if so, executing steps S2) to S6);

[0021] S2) Open the power take-off interface: When all the following conditions are met at the same time, the main controller controls the power take-off interface to open, and the user intervenes in the operation through the power take-off interface:

[0022] a. The vehicle is stationary, the gear is in P or N, and the EPB is in the clamped state;

[0023] b. The power battery SOC is higher than the preset amount. For extended-range electric rescue vehicles, the remaining oil is also higher than the preset amount. For fuel cell rescue vehicles, the remaining hydrogen fuel is also higher than the preset amount.

[0024] c. The power take-off system communication is fault-free;

[0025] d. The fault level of the power take-off motor is "no fault" or "warning";

[0026] S3) User selection of control mode: The user selects the control mode provided in the power take-off interface according to his / her needs;

[0027] S4) User selects control parameters: The user selects target control parameters in the selected control mode, or customizes target control parameters;

[0028] S5) Power take-off system execution: the user sends a request to the main controller through the power take-off interface, the main controller calls the relevant program, sends a command to the power take-off motor controller, and the power take-off system starts working;

[0029] S6) Power take-off system exit: When the user closes the power take-off interface, or in the following situations, the main controller will force the system to exit: when the power take-off motor speed fed back by the power take-off motor controller is lower than the preset limit, or the speed / torque command of the main controller is 0 and maintained for more than 1 minute.

[0030] The beneficial effects of the present invention are as follows:

[0031] 1. The present invention can be used for controlling various vehicle types, usage scenarios, and power take-off motor models, such as "fire extinguishing", "winch rescue", and "ladder lifting" of electric fire trucks, "cargo box soot blowing", "winch rescue", "cargo box lifting", and "cargo box crawler unloading" of electric dump trucks, and "winch rescue" and "lifting operations" of electric cranes, by setting vehicle type configuration characters and power take-off interface options. The power take-off system and control method of the present invention have a wide range of applications.

[0032] 2. The present invention can also meet the needs of users to install / modify the power take-off system by themselves by setting vehicle type configuration words, power take-off interface options, receiving the maximum speed of the power take-off motor fed back by the power take-off motor controller, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is the hardware architecture diagram of the power take-off system;

[0034] Figure 2 This is the interaction diagram of the power take-off control signal. DETAILED DESCRIPTION

[0035] The present invention is described in detail below in conjunction with the embodiments. Those skilled in the art should know that the following embodiments are not the only limitations on the technical solutions of the present invention, and any equivalent changes or modifications made within the spirit of the technical solutions of the present invention should be deemed to fall within the protection scope of the present invention.

[0036] The power take-off motor controller of an electric vehicle is controlled by the power domain controller of the whole vehicle. After receiving the enable command from the power domain controller, the power take-off motor controller connects to high voltage electricity, enabling the power take-off motor to have the ability to control speed and torque.

[0037] The present invention provides a power take-off system architecture for an electric rescue vehicle, such as Figure 1 As shown:

[0038] The power take-off system of the present invention is mainly composed of necessary parts such as HMI (human-machine interface), main controller, power take-off motor controller, power take-off motor, power take-off transmission system, communication bus, etc., and requires the cooperation of sensor system, gear system, EPB (electronic parking brake system), high-voltage up and down power system, and energy management system.

[0039] After receiving the operation requirements from the user, the HMI sends the demand signal through the CAN bus. After receiving the demand signal, the main controller sends the instruction to the power take-off motor controller through the CAN bus. The power take-off motor controller controls the power take-off motor to start and drives the power take-off transmission system to perform specific actions. EPB and other systems also send signals to the main controller through the CAN bus.

[0040] The main controller of the present invention is recommended to use a power domain controller. The power domain controller is used to control the high-voltage system, power system, transmission system, etc. of the vehicle, and integrates the functions of upper and lower power control, vehicle energy management, vehicle fault management, torque control system, power battery management (if any), charging control (if any), drive motor control (if any), range extender control (if any), gearbox control (if any), power take-off control (if any), etc.

[0041] The present invention aims to realize the selection of different function instructions sent by the main controller to the power take-off motor controller through HMI to achieve diversified control. The HMI referred to in the present invention includes central control screen, mobile phone APP, remote control, instrument display and other types. The power take-off interface is set in the HMI. Whether the power take-off interface is opened or not is controlled by the main controller. When all the following conditions are met at the same time, the main controller allows the power take-off interface to be opened, otherwise it is prohibited to open:

[0042] a. The gear is in P or N gear and the EPB is clamped; and the vehicle is stationary (in P / N gear, if there is an external force pushing the vehicle, it can also move, so it must be emphasized that the vehicle is stationary);

[0043] b. The power battery SOC is higher than the preset amount (the preset amount is generally preferably 10%); in particular, for extended-range electric rescue vehicles, the power battery SOC is higher than the preset amount, and the remaining oil volume is also higher than the preset amount (preferably 10L); for fuel cell rescue vehicles, the power battery SOC is higher than the preset amount, and the remaining hydrogen fuel is also higher than the preset amount (preferably 10L);

[0044] c. The communication of the power take-off system is fault-free;

[0045] d. The fault level of the power take-off motor is "no fault" or "warning" (that is, the power take-off motor cannot have faults such as "limited power", "zero torque", "shutdown", etc.).

[0046] Users intervene in operational control through the power take-off interface. For different models, the display settings of the power take-off interface are different, which means that the control mode is different.

[0047] The commonly used types of electric rescue vehicles are electric fire trucks, electric dump trucks, and electric cranes. Therefore, the present invention mainly studies the control of these three types of vehicles, so the control programs for at least these three types of vehicles are preset in the main controller, and other types can be expanded. Because among these three types of vehicles, electric fire trucks and electric dump trucks generally involve the three control modes of "constant speed control", "pedal speed control", and "pedal triggered constant speed control", the control logic of the above three modes is designed for these two types of vehicles; for electric cranes, there are only two control modes of "pedal speed control" and "pedal triggered constant speed control", so the control logic of these two modes is designed for this type of vehicle. For different models, even if the same control mode (such as "constant speed control"), because of their different models and different application scenarios, the specific control logic and parameter settings are also different.

[0048] In view of the above analysis, a first-level directory is set in the HMI power take-off interface to display vehicle models, including "electric fire trucks", "electric dump trucks", and "electric cranes". In actual operation, for specific vehicles, the vehicle model is fixed, and users do not need to select the vehicle model. The significance of the first-level directory of the power take-off interface is to display the vehicle model for user confirmation and to assist programmers in confirming when loading control programs; a second-level directory is set under the first-level directory for the selection of control modes for each vehicle model, including "constant speed control", "pedal speed control", "pedal-triggered constant speed control" and other options; and a third-level directory is set under each second-level directory, including application scenarios under various control modes and specific parameter selection and / or setting. For example:

[0049] When the vehicle type is "Electric Fire Truck", set "Constant Speed ​​Control", "Pedal Speed ​​Control", "Pedal Trigger Constant Speed ​​Control" and other options in the power take-off interface. Among them, under the "Constant Speed ​​Control" option, the prompt "Applicable to fire fighting", under the "Pedal Speed ​​Control" option, the prompt "Applicable to winch rescue", and under the "Pedal Trigger Constant Speed ​​Control" option, the prompt "Applicable to aerial ladder lifting, lightly step on the accelerator pedal to trigger the operation" and other application scenarios are displayed.

[0050] When the vehicle type is "electric dump truck", the power take-off interface displays options such as "constant speed control", "pedal speed control", and "pedal-triggered constant speed control". Among them, the "constant speed control" option displays a prompt "applicable to cargo box soot blowing", the "pedal speed control" option displays a prompt "applicable to winch rescue", and the "pedal-triggered constant speed control" option displays a prompt "applicable to cargo box lifting, cargo box crawler unloading, lightly step on the accelerator pedal to trigger the operation" and other application scenarios.

[0051] When the vehicle type is "electric crane", the power take-off interface displays options such as "pedal speed control" and "pedal-triggered fixed speed control". Among them, under the "pedal speed control" option, it is displayed with a prompt "suitable for winch rescue", and under the "pedal-triggered fixed speed control" option, it is displayed with a prompt "suitable for lifting operations, lightly step on the accelerator pedal to trigger the operation" and other application scenarios.

[0052] It should be noted that there is no specific limit on which control mode is suitable for which scenario, and there is no standard definition of application scenarios. Analysis can be done based on specific scenarios and customer needs during control model development. Generally speaking:

[0053] 1. Constant speed control: Applicable to the scenario where the power take-off motor operates at a constant speed after the user turns on the power take-off system; the user can leave the cab during the power take-off operation.

[0054] 2. Pedal speed control: It is suitable for users who have turned on the power take-off system and have been sitting in the main driver's seat, and hope to adjust the speed of the power take-off motor by using the accelerator pedal.

[0055] 3. Pedal-triggered constant speed control: Applicable when the user turns on the power take-off system and has been sitting in the driver's seat, and wants the power take-off motor to rotate when the accelerator pedal is pressed, and not to rotate when the accelerator pedal is not pressed.

[0056] The power take-off interface of each vehicle type must display the real-time feedback speed of the power take-off motor.

[0057] By selecting different control modes, users can complete different speed settings, such as:

[0058] (1) Constant speed control setting

[0059] Under the "Constant Speed ​​Control" option in the power take-off interface, you can set several commonly used fixed speeds for selection, such as 1000rpm, 2000rpm, 3000rpm, 4000rpm, 5000rpm, or a custom target speed. The custom target speed can be set to any value between 0rpm and the maximum speed of the power take-off motor. When the set value is higher than the maximum speed of the power take-off motor, the system automatically defaults to the maximum speed of the power take-off motor.

[0060] The main controller sends a speed command to the power take-off motor controller according to the target speed set by the user. For example, if the user selects 3000rpm, the main controller sends a speed command of 3000rpm to the power take-off motor controller; for example, if the user customizes the target speed of 7000rpm, the main controller sends a speed command of 7000rpm to the power take-off motor controller.

[0061] (2) Pedal speed control setting

[0062] Under the "pedal speed control" option in the power take-off interface, since different pedal openings correspond to different speeds, a relationship curve or functional relationship between the pedal opening and the target speed can be established and obtained by looking up a table. For example, a typical relationship established in a certain embodiment is as follows:

[0063] Accelerator pedal opening 0％ 20％ 40％ 60％ 80％ 100％ Target speed (rpm) 0 1000 2000 3000 4000 5000

[0064] The target speed is also set between 0rpm and the maximum speed of the power take-off motor.

[0065] The main controller calculates the target speed according to the accelerator pedal opening and sends a speed command to the power take-off motor controller. For example, the user selects the default curve: when the accelerator pedal is not pressed, the main controller sends a speed command of 0rpm to the power take-off motor controller; when the accelerator pedal opening is 40%, the main controller sends a speed command of 2000rpm to the power take-off motor controller; when the accelerator pedal opening is 70%, the main controller sends a speed command of 3500rpm to the power take-off motor controller. In addition, it can be set that when the accelerator pedal opening is between two table values, the speed command can be a linear interpolation of the target speeds corresponding to the two table values, or other feasible calculation methods can be adopted.

[0066] (3) Pedal-triggered constant speed control setting

[0067] Under the "pedal-triggered fixed speed control" option in the power take-off interface, set the pedal trigger condition to decide whether to turn on the speed control according to the pedal opening. For example, when the accelerator pedal opening is ≥10%, the main controller sends a speed command to the power take-off motor controller according to the target speed set by the user; otherwise, the speed command of the main controller is 0rpm. As for the target speed, several fixed speeds can also be set for selection, such as 1000rpm, 2000rpm, 3000rpm, 4000rpm, 5000rpm, or a custom target speed. The custom target speed can also be set to any value between 0rpm and the maximum speed of the power take-off motor. When the set value is higher than the maximum speed of the power take-off motor, the system automatically defaults to the maximum speed of the power take-off motor. For example, if the user selects 3000rpm, when the accelerator pedal opening is ≥10%, the main controller sends a speed command of 3000rpm to the power take-off motor controller; otherwise, the speed command of the main controller is 0rpm.

[0068] It should be pointed out that the main controller can also send a torque command to the power take-off motor controller. The calculation principle of the torque command is as follows: use "power take-off motor target speed minus power take-off motor actual speed" as PID input to calculate the torque command.

[0069] After the user completes the control mode selection and sets the target speed, the HMI can send the user's selection intention to the main controller and memorize the customized target speed for the user to use next time.

[0070] The system can formulate user operation requirements through HMI and has strong proactive operability. After the user completes the control mode selection and customizes the target speed, the power take-off system main controller sends an enable command to the power take-off motor controller. If the enable status is fed back by the power take-off motor controller, it starts to send control commands to the power take-off motor controller. The power take-off motor controller controls the power take-off motor to adjust different speeds / torques.

[0071] The vehicle type configuration word is written into the main controller. For each vehicle type and each control mode, a control program is implanted, as well as the control parameters used by each control mode, and there is room for expansion of vehicle types and control modes.

[0072] Therefore, based on the above power take-off system architecture, the present invention proposes a power take-off control method for an electric rescue vehicle, such as Figure 2 As shown:

[0073] S1) determines whether the user has a power take-off requirement, and if so, executes steps S2) to S6).

[0074] S2) Open the power take-off interface: When all the following conditions are met at the same time, the main controller controls the power take-off interface to open, and the user intervenes in the operation control through the power take-off interface:

[0075] a. The vehicle is stationary, the gear is in P or N, and the EPB is in the clamped state;

[0076] b. The power battery SOC is higher than the preset amount. For extended-range electric rescue vehicles, the remaining oil is also higher than the preset amount. For fuel cell rescue vehicles, the remaining hydrogen fuel is also higher than the preset amount.

[0077] c. The power take-off system communication is fault-free;

[0078] d. The fault level of the power take-off motor is "no fault" or "warning".

[0079] S3) User selects control mode: Based on the application scenarios prompted in the various control modes provided in the power take-off interface, the user selects the corresponding control mode according to his or her needs.

[0080] S4) User selects control parameters: Under a selected control mode, the user selects target control parameters, such as target speed or torque of the power take-off motor, or customizes target control parameters.

[0081] S5) Power take-off system execution: After the user determines the control mode and target control parameters, and expresses the intention to "confirm" in the power take-off interface operation (such as pressing the "Confirm" button or the "Start" button), a request is sent to the main controller, and the main controller calls the relevant program instructions and sends them to the power take-off motor controller, and the power take-off system starts working.

[0082] S6) Power take-off system exit: The user closes the power take-off interface, or the main controller forcibly exits in the following situations: When the power take-off motor speed fed back by the power take-off motor controller is lower than the preset limit, or the speed / torque command of the main controller is 0 and maintained for more than 1 minute, the power take-off system main controller sends a shutdown enable command to the power take-off motor controller.

[0083] After the power take-off mechanism is exited, the power take-off system disconnects the high-voltage line through the high-voltage power up and down system. If the user or vehicle has no other need to use high-voltage electricity, the high-voltage power up and down system disconnects the high-voltage line.

[0084] Furthermore, during the operation of the power take-off system, the energy management system prioritizes allocating power to the power take-off system and prohibits allocating power to the drive system; for extended-range electric rescue vehicles, when the power battery power is insufficient, the energy management system starts the range extender through the range extender system, and calculates the target power generation power of the range extender based on "range extender target power generation power = accessory power consumption + power take-off system power consumption - power battery discharge capacity"; for fuel cell rescue vehicles, when the power battery power is insufficient, the energy management system starts the fuel cell through the fuel cell system, and calculates the target power generation power of the fuel cell based on "fuel cell target power generation power = accessory power consumption + power take-off system power consumption - power battery discharge capacity".

Claims

1. A power take-off system for an electric rescue vehicle, characterized in that: It is equipped with HMI, main controller, power take-off motor controller, power take-off motor and power take-off transmission system; The HMI interacts with the main controller and sends a user request to the main controller; The main controller exchanges information with the power take-off motor controller and sends an operation instruction to the power take-off motor controller. The power take-off motor controller controls the power take-off motor to start, and the power take-off motor drives the power take-off transmission system to perform an action. Among them, a power take-off interface is provided in the HMI, and the power take-off interface includes a vehicle model display, a control mode display applicable to each vehicle model, an application scenario applicable to each control mode, and selection and / or setting of control parameters.

2. The power take-off system for an electric rescue vehicle according to claim 1, characterized in that: The HMI is applicable to central control screen, mobile phone APP, remote control and instrument display.

3. The power take-off system for an electric rescue vehicle according to claim 1, characterized in that: The electric rescue vehicle models include electric fire trucks, electric dump trucks and electric cranes; The electric fire truck and electric dump truck are provided with "constant speed control", "pedal speed control" and "pedal-triggered constant speed control" options in the power take-off interface; The electric crane is provided with "pedal speed control" and "pedal triggered constant speed control" options in the power take-off interface.

4. The power take-off system for an electric rescue vehicle according to claim 3, characterized in that: Said "Constant speed control" is applicable to the scenario where the power take-off motor always has a constant speed; "Pedal speed control" is suitable for adjusting the speed of the power take-off motor according to the accelerator pedal opening; "Pedal-triggered constant speed control" is suitable for scenarios where the power take-off motor rotates when the pedal is pressed and does not rotate when the pedal is not pressed.

5. The power take-off system for an electric rescue vehicle according to claim 1, characterized in that: The main controller is implanted with a control program for each control mode under each vehicle type, as well as control parameters used by each control program, and the vehicle type, control mode and control parameters can all be customized.

6. A control method of the system according to any one of claims 1 to 5, characterized in that: The steps include: S1) determining whether the user has a need for the power take-off system to work, and if so, executing steps S2) to S6); S2) Open the power take-off interface: When all the following conditions are met at the same time, the main controller controls the power take-off interface to open, and the user intervenes in the operation through the power take-off interface: a. The vehicle is stationary, the gear is in P or N, and the EPB is in the clamped state; b. The power battery SOC is higher than the preset amount. For extended-range electric rescue vehicles, the remaining oil is also higher than the preset amount. For fuel cell rescue vehicles, the remaining hydrogen fuel is also higher than the preset amount. c. The power take-off system communication is fault-free; d. The fault level of the power take-off motor is "no fault" or "warning"; S3) User selection of control mode: The user selects the control mode provided in the power take-off interface according to his / her needs; S4) User selects control parameters: The user selects target control parameters in the selected control mode, or customizes target control parameters; S5) Power take-off system execution: the user sends a request to the main controller through the power take-off interface, the main controller calls the relevant program, sends a command to the power take-off motor controller, and the power take-off system starts working; S6) Power take-off system exit: When the user closes the power take-off interface, or in the following situations, the main controller will forcibly exit: when the power take-off motor speed fed back by the power take-off motor controller is lower than the preset limit, or the speed / torque command of the main controller is 0 and maintained for more than 1 minute.

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