Pure electric mine truck driving power control method and system

Abstract

The invention discloses a pure electric mine truck driving power control method and system, and the method comprises the steps: carrying out the real-time detection of a state of charge (SOC) of a power battery, the discharge power, a thermal management system (TMS), a DCDC module, and a driving module, reasonably distributing the balance among the driving power, the power of an electric accessory, and the discharge power of the power battery, and achieving the control of the driving power. Over-discharge faults of a power battery in the using process of a vehicle are reduced, and continuous and stable running of the vehicle is guaranteed. The driving power is detected, compared and dynamically controlled and adjusted in real time; the state of the whole vehicle is detected in real time, and balance between required power and allowable discharging power of a power battery is dynamically guaranteed; the electric power of the whole vehicle is always kept not to exceed the discharge power of the power battery, the power battery is prevented from being over-discharged, and the service life of the power battery is prolonged; and the safety guarantee of the battery and the vehicle is improved, and the trafficability and safety of the vehicle are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of pure electric mining truck control, in particular to a pure electric mining truck driving power control method and system. Background Art

[0002] For new energy pure electric mining trucks, both the power drive system and other electrical devices realize their functions through the discharge power provided by high-voltage power batteries. During the vehicle acceleration process, in order to better allow the driver to get a better acceleration experience, it is necessary to collect relevant signals through the vehicle controller VCU to identify the driver's intention; the driver's demand driving power acquisition only considers the gear position, current vehicle speed (speed) and throttle opening.

[0003] During the operation of the vehicle, the various electrical components inside the vehicle, namely the electrical accessories, are also in working condition, and these electrical accessories also need to consume the discharge power of the power battery. At present, most pure electric mining vehicle control strategies do not consider the balance between the vehicle's driving power, electrical accessory power and the discharge power of the power battery, and only obtain the driving power by simply identifying the gear position, vehicle speed and throttle. Although such control is simple, since the control method is open-loop control, it will cause over-discharge of the power battery, affect the normal operation of the vehicle and the service life of the power battery cell, and is not conducive to the power of the vehicle. Summary of the invention

[0004] In order to solve the above technical problems, the purpose of the present invention is to provide a pure electric mining truck drive power control method and system, which adopts closed-loop detection and drive power algorithm control to ensure that the whole vehicle can run quickly and reliably during the driving process, thereby meeting the design requirements of system functional safety and protecting the safety of the whole vehicle.

[0005] The present invention solves the above problems through the following technical solutions:

[0006] A pure electric mining truck driving power control method, characterized in that:

[0007] By real-time detection of the power battery's state of charge SOC, discharge power, thermal management system TMS, DCDC module, and drive module, the balance between drive power, electrical accessory power, and power battery discharge power is reasonably allocated to reduce over-discharge failures of power batteries during vehicle use and ensure continuous and stable operation of the vehicle;

[0008] The control method comprises the following steps:

[0009] Step A: When the vehicle is powered on and running normally, the power battery control system BMS obtains the current continuous discharge current and output voltage value according to the current battery cell temperature, battery compartment ambient temperature, cell voltage and state of charge SOC information, and reports the information to the CAN network;

[0010] Step B, the vehicle controller VCU calculates the current output continuous output power P according to the current continuous discharge current and output voltage reported by the power battery control system BMS to the CAN network;

[0011] Step C: The vehicle controller VCU obtains the currently required driving power P1, and reports the power consumed by the battery thermal management system TMS when it turns on cooling or heating P2, the power consumed by the DCDC module P3, the power consumed by the air conditioner / electric heating P4, and the power consumed by the high-voltage electrical accessories P5 to calculate the total demand P in real time. 总 ; and total demand P 总 The driving power P1 is compared with the continuous output power P of the power battery to adjust the driving power P1 so that the total required power of the vehicle does not exceed the output power P of the power battery.

[0012] As a further improvement, the current continuous discharge current and output voltage values ​​are obtained by querying the discharge capacity table inside the power battery control system BMS.

[0013] As a further improvement, the step C specifically comprises:

[0014] 3.1) The vehicle controller VCU obtains the expected torque value T1 by continuously collecting data values ​​of the gear status, accelerator pedal status, brake pedal status, and current vehicle speed status, and calculates the current required driving power P1 in combination with the current motor speed;

[0015] 3.2) The battery thermal management system TMS responds to the working instructions of the power battery control system BMS, turns on cooling or heating according to the requirements of the power battery control system BMS, and reports the power P2 consumed by the battery thermal management system TMS to the CAN network;

[0016] 3.3) The DCDC module responds to the working instructions of the vehicle controller VCU and reports the input voltage and current of the DCDC module to the CAN network when it is working;

[0017] The vehicle controller VCU calculates the current power consumption P3 of the DCDC module based on the working current and voltage of the CAN network reported by the DCDC module;

[0018] 3.4) The vehicle controller VCU collects in real time whether the air conditioner / electric heating is working and the power consumed during operation P4;

[0019] 3.5) The vehicle controller VCU collects the power P5 consumed by high-voltage electrical accessories in real time;

[0020] 3.6) The driving demand power P1, the power consumed by the battery thermal management system TMS P2, the power consumed by the low-voltage electric accessories P3, the power consumed by the air conditioning / electric heating P4 and the power consumed by the high-voltage electric accessories P5 are superimposed in real time to form the total demand P 总 , and the total demand P 总 Compare with the continuous output power P output of the power battery.

[0021] As a further improvement, the expected torque value T1 is obtained by querying a torque sequence table pre-stored in the vehicle controller VCU.

[0022] As a further improvement, the calculation formula of the currently required driving power P1 is as follows:

[0023] P1=(T1*n) / 9550Formula (I);

[0024] Where n is the current speed of the motor; T1 is the defined expected torque value.

[0025] As a further improvement, the total demand P 总 Compared with the continuous output power P of the power battery, the driving power P1 is adjusted so that the total required power of the vehicle does not exceed the output power P of the power battery. The specific method is:

[0026] ①If P 总 ≦P, the discharge power of the power battery meets the power required by the vehicle, that is, the driving power according to P1 will not cause over-discharge of the power battery;

[0027] ②If P 总 >P, the vehicle controller VCU controls to turn off the air conditioning / electric heating;

[0028] After turning off the air conditioner / electric heating, the total power demand of the vehicle is defined as P 总 ′;

[0029] If P 总 ′≦P, at this time the driving power P1′ is requested according to P1;

[0030] If P 总 ′>P, the driving power P1′ of the whole vehicle at this time is requested according to P-P2-P3-P5.

[0031] In addition, the present invention also solves the above-mentioned problem through the following scheme:

[0032] A pure electric mining truck driving power control system is used to implement the pure electric mining truck driving power control method as described above.

[0033] As further improvements, it includes: vehicle controller VCU, information acquisition module and drive motor controller connected to the vehicle controller VCU, accelerator pedal, auxiliary drive all-in-one controller, power battery control system BMS, thermal management control system TMS and gear shifter.

[0034] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0035] (1) The present invention performs real-time detection, comparison and dynamic control adjustment of driving power; real-time detection of vehicle status, dynamic balance between required power and allowable discharge power of the power battery; always ensure that the vehicle power consumption does not exceed the discharge power of the power battery, prevent over-discharge of the power battery, and extend the service life of the power battery;

[0036] (2) The present invention prevents the power battery from being over-discharged, reduces the risk of thermal runaway caused by over-discharge of the power battery, and improves the safety of the battery and the vehicle; and gives priority to ensuring the driving ability of the entire vehicle, avoiding slipping, and improving the vehicle's passability and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a flow chart of a pure electric mining truck driving power control method of the present invention;

[0038] Figure 2 The present invention is a block diagram of a pure electric mining truck driving power control system. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below in conjunction with the drawings in the preferred embodiments of the present application. In the drawings, the same or similar reference numerals throughout represent the same or similar parts or parts with the same or similar functions. The described embodiments are part of the embodiments of the present application, not all of the embodiments. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limitations on 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 the present application.

[0040] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0041] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, or it can be an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0042] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are orientations or positional relationships based on the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0043] In addition, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or display that includes a series of steps or elements is not necessarily limited to those steps or elements explicitly listed but may include other steps or elements not explicitly listed or inherent to such process, method, product, or display.

[0044] The following will be combined Figure 1-2 , a pure electric mining truck driving power control method and system involved in the embodiment of the present application are described in detail. It is worth noting that the following embodiments are only used to explain the present application and do not constitute a limitation on the present application.

[0045] Example:

[0046] Combined with Figure 1 As shown, a pure electric mining truck driving power control method performs real-time detection of the state of charge SOC, discharge power, thermal management system TMS, DCDC module, and driving module of the power battery, and reasonably distributes the balance between the driving power, the power of the electric accessories, and the discharge power of the power battery, so as to reduce the over-discharge failure of the power battery during the use of the vehicle and ensure the continuous and stable operation of the vehicle;

[0047] The specific steps include:

[0048] A. When the vehicle is powered on and driving normally, the power battery control system BMS looks up the current continuous discharge current and output voltage value from the discharge capacity table inside the power battery control system BMS based on the current battery cell temperature, battery compartment ambient temperature, cell voltage, state of charge SOC and other information, and reports this information to the CAN network;

[0049] B. The vehicle controller VCU calculates the current continuous output power P according to the current continuous discharge current and output voltage reported by the power battery control system BMS to the CAN network;

[0050] C. The vehicle controller VCU obtains the currently required driving power P1. When the battery thermal management system TMS turns on cooling or heating, the CAN network reports the power consumed by the battery thermal management system TMS P2, the power consumed by the DCDC module P3, the power consumed by the air conditioner / electric heating P4, and the power consumed by the high-voltage electrical accessories P5, so as to calculate the total demand P in real time. 总 ; and total demand P 总 The driving power P1 is compared with the continuous output power P of the power battery to adjust the driving power P1 so that the total required power of the vehicle does not exceed the output power P of the power battery.

[0051] Specifically, the step C is described in more detail as follows:

[0052] 3.1) The vehicle controller VCU continuously collects data values ​​of the gear status, accelerator pedal status, brake pedal status, and current vehicle speed status, searches for the defined expected torque value T1 from the torque sequence table pre-stored in the vehicle controller VCU, and calculates the currently required driving power P1 according to formula (1);

[0053] P1=(T1*n) / 9550Formula (I);

[0054] Where n is the current speed of the motor; T1 is the defined expected torque value.

[0055] 3.2) The power battery control system BMS controls the battery thermal management system TMS to start cooling or heating according to the current battery cell temperature information and the battery thermal management system TMS control strategy;

[0056] The battery thermal management system TMS responds to the working instructions of the power battery control system BMS, controls the internal cooling module or heating module to work according to the requirements of the power battery control system BMS, and reports the power P2 consumed by the battery thermal management system TMS to the CAN network;

[0057] 3.3) During vehicle operation, the DCDC module responds to the working instructions of the vehicle controller VCU and reports the input voltage and current of the DCDC module to the CAN network;

[0058] The vehicle controller VCU calculates the current power consumption P3 of the DCDC module based on the working current and voltage of the CAN network reported by the DCDC module;

[0059] 3.4) The vehicle controller VCU collects in real time whether the air conditioner / electric heating is working and the power consumed during operation P4 through the CAN network;

[0060] 3.5) The vehicle controller VCU collects the power P5 consumed by high-voltage electrical accessories, such as electric steering and air pump, in real time through the CAN network;

[0061] 3.6) For the above calculated powers: driving demand power P1, battery thermal management system TMS power consumption P2, low voltage electric auxiliary power consumption P3, air conditioning / electric heating power consumption P4, high voltage electric accessories power consumption P5, real-time superposition of total demand P 总 =P1+P2+P3+P4+P5, compared with the continuous output power P output of the power battery;

[0062] ①If P 总 ≦P, the discharge power of the power battery meets the power required by the vehicle, that is, the driving power according to P1 will not cause over-discharge of the power battery;

[0063] ②If P 总 >P, the vehicle controller VCU controls to turn off the air conditioning / electric heating, that is, P4=0;

[0064] After turning off the air conditioner / electric heating, the total power demand of the vehicle is defined as P 总 ′;

[0065] If P 总 ′≦P, then the vehicle controller VCU controls the air conditioning / electric heating to stop working, and

[0066] The driving power P1′ is as requested by P1, which will not cause over-discharge of the power battery;

[0067] If P 总 ′>P, that is, after the air conditioner / electric heating stops working, the total power demand of the vehicle still exceeds the continuous discharge power of the power battery. The driving power P1′ of the vehicle at this time is P1′=(P-P2-P3-P5)

[0068] The request will not cause over-discharge of the power battery;

[0069] Through the above power control algorithm, the driving power is detected, compared and dynamically controlled and adjusted in real time, so that the total required power of the vehicle does not exceed the discharge power of the power battery, meeting the balance between the required power and the allowable discharge power of the power battery, thereby improving driving safety and battery safety.

[0070] In an optional embodiment, in combination with the attached Figure 2As shown, a pure electric mining truck drive power control system includes: a vehicle controller VCU, an information acquisition module connected to the vehicle controller VCU and a drive motor controller, an accelerator pedal, an auxiliary drive all-in-one controller, a power battery control system BMS, a thermal management control system TMS, a gear shifter, etc.;

[0071] When the vehicle is running, the vehicle controller VCU collects relevant information of each controller during operation through the vehicle CAN network, conducts comprehensive analysis and calculation, and reasonably distributes the required power of each part of the vehicle. Through closed-loop control and dynamic adjustment, the control strategy is made more intelligent and refined to achieve this. A pure electric mining truck drive power control method is developed. A drive power control system is developed in the pure electric mining truck, which not only prevents the power battery from over-discharge and prolongs the service life of the power battery cell, but also ensures the balance between the vehicle's required power and the allowable discharge power of the power battery, further improving driving safety and battery safety.

[0072] Although the present invention is described herein with reference to the illustrative embodiments of the present invention, the above embodiments are only preferred embodiments of the present invention, and the embodiments of the present invention are not limited to the above embodiments. It should be understood that those skilled in the art can design many other modifications and embodiments, which will fall within the scope and spirit of the principles disclosed in this application.

Claims

1. A pure electric mining truck driving power control method, characterized in that: By real-time detection of the power battery's state of charge SOC, discharge power, thermal management system TMS, DCDC module, and drive module, the balance between drive power, electrical accessory power, and power battery discharge power is reasonably allocated to reduce over-discharge failures of power batteries during vehicle use and ensure continuous and stable operation of the vehicle; The control method comprises the following steps: Step A: When the vehicle is powered on and running normally, the power battery control system BMS obtains the current continuous discharge current and output voltage value according to the current battery cell temperature, battery compartment ambient temperature, cell voltage and state of charge SOC information, and reports the information to the CAN network; Step B, the vehicle controller VCU calculates the current output continuous output power P according to the current continuous discharge current and output voltage reported by the power battery control system BMS to the CAN network; Step C: The vehicle controller VCU obtains the currently required driving power P1, and reports the power consumed by the battery thermal management system TMS when it turns on cooling or heating P2, the power consumed by the DCDC module P3, the power consumed by the air conditioner / electric heating P4, and the power consumed by the high-voltage electrical accessories P5 to calculate the total demand P in real time. 总 ; and total demand P 总 The driving power P1 is compared with the continuous output power P of the power battery to adjust the driving power P1 so that the total required power of the vehicle does not exceed the output power P of the power battery.

2. According to claim 1, a pure electric mining truck driving power control method is characterized in that: The current continuous discharge current and output voltage values ​​are obtained by querying the discharge capacity table inside the power battery control system BMS.

3. A pure electric mining truck driving power control method according to claim 1 or 2, characterized in that: The step C specifically comprises: 3.1) The vehicle controller VCU obtains the expected torque value T1 by continuously collecting data values ​​of the gear status, accelerator pedal status, brake pedal status, and current vehicle speed status, and calculates the current required driving power P1 in combination with the current motor speed; 3.2) The battery thermal management system TMS responds to the working instructions of the power battery control system BMS, turns on cooling or heating according to the requirements of the power battery control system BMS, and reports the power P2 consumed by the battery thermal management system TMS to the CAN network; 3.3) The DCDC module responds to the working instructions of the vehicle controller VCU and reports the input voltage and current of the DCDC module to the CAN network when it is working; The vehicle controller VCU calculates the current power consumption P3 of the DCDC module based on the working current and voltage of the CAN network reported by the DCDC module; 3.4) The vehicle controller VCU collects in real time whether the air conditioner / electric heating is working and the power consumed during operation P4; 3.5) The vehicle controller VCU collects the power P5 consumed by high-voltage electrical accessories in real time; 3.6) The driving demand power P1, the power consumed by the battery thermal management system TMS P2, the power consumed by the low-voltage electric accessories P3, the power consumed by the air conditioning / electric heating P4 and the power consumed by the high-voltage electric accessories P5 are superimposed in real time to form the total demand P 总 , and the total demand P 总 Compare with the continuous output power P output of the power battery.

4. According to claim 3, a pure electric mining truck driving power control method is characterized in that: The expected torque value T1 is obtained by querying the torque sequence table pre-stored in the vehicle controller VCU.

5. According to claim 3, a pure electric mining truck driving power control method is characterized in that: The calculation formula of the currently required driving power P1 is as follows: P1=(T1*n) / 9550Formula (I); Where n is the current speed of the motor; T1 is the defined expected torque value.

6. According to claim 3, a pure electric mining truck driving power control method is characterized in that: The total demand P 总 Compared with the continuous output power P of the power battery, the driving power P1 is adjusted so that the total required power of the vehicle does not exceed the output power P of the power battery. The specific method is: ①If P 总 ≦P, the discharge power of the power battery meets the power required by the vehicle, that is, the driving power according to P1 will not cause over-discharge of the power battery; ②If P 总 >P, the vehicle controller VCU controls to turn off the air conditioning / electric heating; After turning off the air conditioner / electric heating, the total power demand of the vehicle is defined as P 总 ′; If P 总 ′≦P, at this time the driving power P1′ is requested according to P1; If P 总 ′>P, the driving power P1′ of the whole vehicle at this time is requested according to P-P2-P3-P5.

7. A pure electric mining truck drive power control system, characterized in that: Used to implement a pure electric mining truck driving power control method as described in any one of claims 1-6.

8. A pure electric mining truck driving power control system according to claim 7, characterized in that: include: Vehicle controller VCU, information acquisition module and drive motor controller connected to the vehicle controller VCU, accelerator pedal, auxiliary drive all-in-one controller, power battery control system BMS, thermal management control system TMS and shifter.

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