Multi-parking-space shared charging system based on dynamic sliding rail technology

Abstract

The invention relates to the technical field of electric vehicle charging, and discloses a multi-parking-space shared charging system based on a dynamic sliding rail technology, and the system comprises a path scheduling module which is used for receiving the charging request information of a plurality of parking spaces, and generating the motion path data of a sliding rail charging terminal based on the vehicle position, the parking space state and a preset scheduling rule; the track calculation module is connected with the path scheduling module and is used for calculating a corresponding target speed track and a target current track according to the motion path data in combination with structural parameters of a sliding rail system; and the state acquisition module is connected with the track calculation module and is used for acquiring the running state data of the motor in the sliding rail system in real time. Through intelligent path scheduling, a sliding mode control algorithm and a real-time feedback mechanism, efficient scheduling, accurate motor control and stable operation of the charging system are realized, and the parking space utilization rate and the charging efficiency are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of electric vehicle charging, and particularly to a multi-parking-space shared charging system based on dynamic slide rail technology. Background Art

[0002] With the popularization of electric vehicles, the demand for charging infrastructure is increasing day by day; especially in shared charging stations in cities, due to limited space and uneven charging demands, how to efficiently schedule multiple parking spaces and electric slide rails has become an urgent problem to be solved. Traditional charging stations often face problems such as low charging path planning efficiency and slow system response speed, resulting in long charging waiting times and low parking space utilization rates, affecting user experience and reducing the overall operating efficiency of the charging station.

[0003] Currently, the existing charging systems on the market mainly adopt manual or simple static path planning methods, and the scheduling strategy is based on preset charging demands. Some high-end systems have started to realize the intelligence of path planning and can dynamically adjust the charging path according to real-time charging requests. In terms of motor control, some systems adopt technologies such as PID control and can drive the motor relatively stably to complete the basic operations during the charging process.

[0004] However, there are several obvious deficiencies in the existing technologies; firstly, the static path planning method cannot flexibly cope with the real-time charging demand fluctuations, and the charging station is prone to problems such as low parking space utilization rate or too long charging waiting time under high load conditions. Secondly, most of the existing motor control technologies adopt fixed control parameters and lack adaptability to load changes and grid fluctuations, resulting in the system being unable to maintain precise control when the motor load fluctuates greatly, affecting the charging efficiency and the long-term stability of the motor. Moreover, many existing systems lack a real-time feedback mechanism and cannot adjust the control strategy according to the actual operating state of the motor, which is prone to problems such as overload and overheating, affecting the stability and safety of the system. In addition, most of the existing charging systems are designed for specific batteries or charging demands, lacking flexibility and scalability, and unable to efficiently adapt to various battery types and charging scenarios. Summary of the Invention

[0005] Aiming at the deficiencies of the existing technologies, the present invention provides a multi-parking-space shared charging system based on dynamic slide rail technology, which solves the problems of low charging path planning efficiency, long charging waiting time, and the system being unable to flexibly cope with load changes and grid fluctuations in the existing technologies.

[0006] To achieve the above purposes, the present invention is realized through the following technical solutions: A multi-parking-space shared charging system based on dynamic slide rail technology, including:

[0007] A path scheduling module, configured to receive charging request information of multiple parking spaces, and generate motion path data of the sliding rail charging terminal based on vehicle positions, parking space statuses, and preset scheduling rules;

[0008] A trajectory calculation module, connected to the path scheduling module, configured to calculate a corresponding target speed trajectory and target current trajectory according to the motion path data and in combination with the sliding rail system structure parameters;

[0009] A status acquisition module, connected to the trajectory calculation module, configured to acquire in real time the operating status data of the motor in the sliding rail system, where the status data includes the current current value and the motor angular velocity;

[0010] A control signal generation module, respectively connected to the trajectory calculation module and the status acquisition module, configured to construct a current error signal based on the target current trajectory and the current current value, and generate a control signal;

[0011] An execution drive module, connected to the control signal generation module, configured to receive the control signal and drive the sliding rail motor to perform a displacement operation along the motion path, and feed back the real-time operation data to the control signal generation module.

[0012] Preferably, the path scheduling module includes:

[0013] A request receiving unit, configured to receive charging request information from multiple parking spaces, including vehicle identity information, remaining power, and estimated stay time;

[0014] A scheduling decision-making unit, configured to generate a scheduling priority list according to the geographical distribution status of the parking spaces, vehicle priorities, and preset scheduling strategies;

[0015] A path generation unit, configured to generate optimal motion path data based on the current position information of the sliding rail and the target parking space position, in combination with the track topology structure.

[0016] Preferably, the path generation unit includes:

[0017] A current position acquisition unit, configured to acquire in real time the current position information of the sliding rail and generate a preliminary path according to the target parking space position;

[0018] A path parameter calculation unit, configured to calculate the key parameters of the path, including path length, time consumption, and power consumption.

[0019] Preferably, the trajectory calculation module includes:

[0020] A speed trajectory calculation unit, configured to calculate the target speed trajectory of the sliding rail terminal according to the path data and the sliding rail structure parameters;

[0021] A current trajectory calculation unit, which is used to calculate a target current trajectory matching the target speed trajectory by combining the physical parameters of the motor and the traction force model required for motion;

[0022] A trajectory synchronization unit, which is used to ensure that the target speed trajectory and the target current trajectory are synchronized in the time domain and can be matched and executed.

[0023] Preferably, the current trajectory calculation unit includes:

[0024] A motor power model unit, which is used to calculate the power demand matching the target speed trajectory according to the physical parameters of the slide rail motor;

[0025] A current-power conversion unit, which is used to calculate the corresponding target current trajectory according to the motor power demand and the motor efficiency;

[0026] A dynamics model unit, which is used to correct the target current trajectory according to the mechanical constraints during the motion of the slide rail;

[0027] The formula for correcting the target current trajectory is as follows:

[0028]

[0029] Where, I target (t) is the target current; P target (t) is the target power of the motor; η is the motor efficiency.

[0030] Preferably, the state acquisition module includes:

[0031] A current acquisition unit, which is used to acquire the real-time working current of the motor and output the current value;

[0032] A speed acquisition unit, which is used to obtain the angular velocity of the motor shaft through an encoder;

[0033] A data synchronization and processing unit, which is used to perform time alignment and filtering processing on the current value and the angular velocity data.

[0034] Preferably, the data synchronization and processing unit includes:

[0035] A time alignment unit, which is used to perform time alignment on the acquired current value and angular velocity data;

[0036] A filtering unit, which is used to filter the noise of the current value and the angular velocity data by using an appropriate filtering algorithm;

[0037] A data fusion unit, which is used to fuse the current and speed data to generate a multi-dimensional data set.

[0038] Preferably, the control signal generation module:

[0039] An error calculation unit for calculating a current error signal based on a target current trajectory and a current current value;

[0040] A control strategy execution unit for processing the current error signal based on a preset sliding mode control algorithm to generate a control signal;

[0041] A signal output unit for converting the control signal into a drive control quantity recognizable by a PWM drive module to control the operating state of a slide rail motor.

[0042] Preferably, the control strategy execution unit includes:

[0043] A sliding mode control unit for constructing a sliding mode surface and executing a sliding mode control strategy according to the current error signal, which processes the current error in real time to generate a control signal;

[0044] A control gain adjustment unit for dynamically adjusting the sliding mode control gain according to the operating state of the slide rail motor;

[0045] A sliding mode algorithm module for processing the current error signal and generating a final control signal by designing an appropriate control law.

[0046] The sliding mode control law is as follows:

[0047] u(t) = -K...s(t);

[0048] Wherein, u(t) is the control signal; K is the control gain; s(t) is the sliding mode surface function.

[0049] Preferably, the execution drive module includes:

[0050] A PWM controller unit for receiving the control signal and outputting a PWM pulse with a corresponding duty cycle;

[0051] A motor drive unit for driving the slide rail motor to move according to the PWM signal;

[0052] A feedback upload unit for real-time feedback of the speed, current and position data in actual operation to the control signal generation module.

[0053] The present invention provides a multi-car space shared charging system based on dynamic slide rail technology. It has the following beneficial effects:

[0054] 1. The present invention adopts a dynamic path scheduling technology. By receiving charging requests from multiple car spaces in real time and automatically generating a movement path, it achieves the technical effect of optimizing the charging path. Compared with the manual scheduling or static path planning solutions in the prior art, the present invention can flexibly cope with scenarios of multiple car spaces and multiple charging demands, and solves the problems of low path scheduling efficiency and long charging time.

[0055] 2. The present invention adopts a sliding mode control algorithm to adjust the control signal in real time based on the current error, achieving the optimization of the motor operation accuracy. Compared with the simple control scheme based on fixed parameters in the prior art, the present invention overcomes the problem of inaccurate control of the traditional method when the load changes greatly by dynamically adjusting the control gain, ensuring that the motor always maintains the optimal working state.

[0056] 3. The present invention adopts a closed-loop feedback mechanism to obtain the motor operation data in real time and dynamically adjust the control signal, achieving a significant improvement in the system stability and robustness. Compared with the system lacking real-time feedback in the prior art, the present invention can cope with external disturbances such as power grid fluctuations and motor load changes during the charging process, avoiding system instability caused by current overload or being too slow.

[0057] 4. The present invention adopts a modular design and a highly intelligent charging path planning system, achieving the scalability and adaptability of the charging system. Compared with the fixed system in the prior art that can only handle limited charging requirements, the present invention can automatically adjust the charging strategy according to different battery types, charging requirements and external power grid conditions, providing a more flexible and efficient charging service and adapting to different types of vehicles and changing charging environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 is the system architecture diagram of the present invention;

[0059] Figure 2 is the framework diagram of the path scheduling module of the present invention;

[0060] Figure 3 is the framework diagram of the trajectory calculation module of the present invention;

[0061] Figure 4 is the framework diagram of the state acquisition module of the present invention;

[0062] Figure 5 is the framework diagram of the control signal generation module of the present invention;

[0063] Figure 6 is the framework diagram of the execution drive module of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0064] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0065] Please refer to the attached Figure 1 - attached Figure 6, an embodiment of the present invention provides a multi - parking - space shared charging system based on dynamic slide - rail technology, including:

[0066] A path scheduling module, configured to receive charging request information of multiple parking spaces, and generate motion path data of the slide - rail charging terminal based on vehicle positions, parking - space states, and preset scheduling rules;

[0067] The core function of the path scheduling module is to receive charging request information from multiple charging parking spaces, and generate motion path data of the slide - rail charging terminal according to parking - space states, vehicle positions, and preset scheduling rules. As a key component of the system, this module plays a crucial role in the operation of the charging system. Through intelligent scheduling strategies, the path scheduling module enables the slide - rail charging terminal to efficiently complete charging tasks and reasonably arrange the charging sequence and position of each vehicle.

[0068] First of all, the path scheduling module analyzes the states of all current parking spaces in real - time by receiving charging request information of multiple parking spaces, and evaluates the charging requirements of each parking space. The parking - space state usually includes whether the parking space is occupied and whether there is a charging requirement, etc. Vehicle positions include information such as the parking space where the vehicle is located, the target parking space, and the estimated staying time of the vehicle. Combining this information, the system generates a charging path according to the preset scheduling rules.

[0069] On this basis, the path scheduling module will automatically calculate the optimal charging path based on the relative positions of the parking - space position where the vehicle is located and the target parking space, considering the charging priority and path topology. To ensure the accuracy and efficiency of path calculation, the system will update the state of the charging parking spaces in real - time and optimize the path - planning strategy.

[0070] A request receiving unit: This unit is used to receive charging request information from multiple parking spaces, including vehicle identity information, remaining battery power, and estimated staying time, etc. Vehicle identity information can be used to identify the charging vehicle, the remaining battery power reflects the charging requirement of the vehicle, and the estimated staying time is used to help the system evaluate the availability and charging time of each parking space.

[0071] A scheduling decision - making unit: This unit generates a scheduling priority list according to the geographical distribution of parking spaces, the priority of vehicles, and preset scheduling strategies. Generally, the scheduling decision - making unit determines the scheduling priority according to the following principles: the less the remaining battery power of the vehicle, the higher the priority; the shorter the estimated staying time of the vehicle, the earlier the charging is arranged.

[0072] A path generation unit: This unit is responsible for generating optimal motion path data according to the current position information of the slide - rail and the position of the target parking space, in combination with the track topology. When generating the path, the path generation unit will consider factors such as the moving ability of the slide - rail motor, the position of the charging parking space, and the driving time of the path.

[0073] Specifically, in some embodiments, the path generation unit calculates the movement path of the charging terminal by using the following formula:

[0074]

[0075] where x 目标 , y 目标 represent the coordinates of the target parking space; x 当前 , y 当前 represent the coordinates of the current slide rail position.

[0076] In path calculation, considering the acceleration and deceleration characteristics of the motor, the path length calculation not only depends on the straight-line distance, but also needs to include factors such as the power demand of the motor and the charging time. The path generation unit optimizes the path according to these factors to ensure the smooth progress of the charging process.

[0077] In addition, the path generation unit also needs to calculate the optimal movement path according to parameters such as the maximum speed and acceleration limit of the slide rail motor to avoid overload or excessive acceleration of the motor during movement.

[0078] The path scheduling module has a close connection with other modules in the system. First, after receiving the charging request information from multiple parking spaces through the request receiving unit, the path scheduling module generates corresponding path data and transmits it to the trajectory calculation module. The trajectory calculation module then further calculates the target speed and current trajectory of the slide rail motor according to the path data, so as to ensure the precise operation of the charging terminal.

[0079] There is also a close interaction between the status acquisition module and the path scheduling module. The status acquisition module real-time obtains the current and speed data of the motor and feeds this information back to the path scheduling module. The path scheduling module will dynamically adjust the charging path and charging order according to these feedback data to ensure the high efficiency and reliability of the system operation.

[0080] In this embodiment, the path scheduling module can automatically generate the optimal movement path of the charging terminal, greatly improving the efficiency of the multi-parking space shared charging system. By real-time adjusting the charging path, it avoids the excessive charging time or unnecessary delay during the charging process caused by an unreasonable path. In addition, by considering the status of the charging parking space and the needs of the vehicle, the path scheduling module can efficiently allocate charging parking spaces for each vehicle and ensure the rationality of the charging order.

[0081] Through the scheduling of this module, the sliding rail charging terminal can intelligently switch between multiple parking spaces, avoiding conflicts during the charging process. This scheduling method improves the utilization rate of the overall charging facilities and reduces the waiting time of users. Ultimately, the system can achieve a more intelligent and efficient charging service, especially in scenarios with multiple parking spaces and multiple charging demands, demonstrating significant advantages.

[0082] In some embodiments, the path scheduling module can also be further optimized according to external factors such as weather and traffic conditions. For example, when the sliding rail charging terminal needs to pass through a busy area, the system can appropriately adjust the path to avoid congested areas, thereby reducing the moving time of the sliding rail during the charging process. For the builders and operators of charging stations, the schedulability and efficiency of this system provide more flexible options for the deployment and operation of charging infrastructure.

[0083] In a possible implementation, the path scheduling module can also share data with other electric vehicle charging facilities. By networking with other charging stations, the system can obtain real-time grid load conditions, thereby reasonably distributing electric energy and avoiding overcharging during peak load periods, protecting the grid safety while improving the battery charging efficiency.

[0084] Through the above specific implementation methods, the path scheduling module can efficiently and intelligently schedule the charging path and work in coordination with other modules in the system to form an efficient and stable charging network.

[0085] The trajectory calculation module, connected to the path scheduling module, is used to calculate the corresponding target speed trajectory and target current trajectory according to the motion path data and in combination with the sliding rail system structure parameters;

[0086] The trajectory calculation module is connected to the path scheduling module and calculates the target speed trajectory and target current trajectory according to the motion path data and the structure parameters of the sliding rail system. The trajectory calculation module is one of the core components of the entire charging system, and its role is to ensure the smooth operation of the sliding rail motor on different charging paths, while optimizing the energy efficiency and response speed of the motor. In this module, the path scheduling module provides the basic data of the motion path, and the trajectory calculation module further calculates the precise operation trajectory of the motor based on these data, combined with the physical characteristics of the motor and system requirements.

[0087] Generally, the main task of the trajectory calculation module is to generate target speed and target current trajectories that match the path data output by the path scheduling module. The calculation of these trajectories will be based on the structure parameters of the sliding rail system and the working characteristics of the motor, including the torque constant, efficiency, inertia, etc. of the motor. Through the calculated target trajectories, the system can precisely control the acceleration, deceleration, and movement speed of the motor to ensure the stability and efficiency of the charging process.

[0088] In a possible implementation, the trajectory calculation module also needs to consider the dynamic constraints of the motor. For example, factors such as the maximum rotational speed, acceleration limit, and power consumption of the motor must be taken into account. Through these calculations, the trajectory calculation module can not only ensure the precise operation of the motor but also optimize the power usage efficiency.

[0089] Speed trajectory calculation: The trajectory calculation module calculates the target speed trajectory based on the motion path data provided by the path scheduling module and in combination with the structural parameters of the slide rail system (such as the track length, motor torque constant, etc.). This process mainly considers the dynamic characteristics of the motor to ensure that the target speed matches the actual operating ability of the motor.

[0090] Current trajectory calculation: After calculating the target speed trajectory, the trajectory calculation module continues to calculate the current trajectory corresponding to the target speed trajectory based on the physical parameters of the motor and the traction force required for motion. The calculation of the current trajectory is based on the following basic formula:

[0091] P = T·ω;

[0092] where P represents the motor power; T represents the motor torque; and ω represents the angular velocity of the motor.

[0093] Based on the motor power requirement, the trajectory calculation module further converts the power into current to adapt to the current demand of the motor and the energy consumption during the charging process. In some embodiments, the correction of the current trajectory takes into account the efficiency and loss factors of the motor to ensure that the motor can maintain the best energy efficiency ratio during operation.

[0094] Synchronization of the target speed and current trajectory: The trajectory calculation module also needs to ensure the synchronization of the target speed trajectory and the target current trajectory in the time domain. Specifically, the synchronization of the target speed trajectory and the current trajectory ensures the precise control of the motor during operation, avoiding problems such as unstable power or excessive current caused by speed fluctuations.

[0095] In some embodiments, the trajectory calculation module also uses a dynamic model to correct the target current trajectory. By adjusting the current trajectory according to factors such as the inertia and friction of the slide rail, the system can make the motor operate more smoothly during acceleration and deceleration, reducing unnecessary power consumption. The current trajectory correction formula is as follows:

[0096]

[0097] where I target (t) is the target current; P target (t) is the motor target power; and η is the motor efficiency.

[0098] By calculating the current trajectory, the system can precisely control the current output during the charging process to ensure that the motor always operates at an efficient state.

[0099] The trajectory calculation module is closely related to the path scheduling module and the status acquisition module. The path scheduling module provides the motion path data of the charging terminal, and based on this, the trajectory calculation module calculates the target speed and the target current trajectory corresponding to this path. Through close cooperation with the path scheduling module, the trajectory calculation module can ensure that the motion of the motor conforms to the path requirements generated by the path scheduling module.

[0100] The status acquisition module is responsible for real-time monitoring of the actual operating conditions of the motor, such as current values and angular velocities, etc., and feeds this information back to the trajectory calculation module. The trajectory calculation module dynamically adjusts the target current trajectory based on the real-time data, thereby optimizing the operating state of the motor to ensure that the system can quickly respond to changes and perform precise control during the charging process.

[0101] In this embodiment, by precisely calculating the target speed trajectory and the current trajectory, the trajectory calculation module can effectively optimize the operating process of the motor and reduce energy waste during the motor's motion. Through close cooperation with the path scheduling module and the status acquisition module, the trajectory calculation module can provide precise control during the charging process to ensure the efficient operation of the slide rail motor under different paths and loads.

[0102] Specifically, the trajectory calculation module can calculate the optimal current trajectory and speed trajectory based on the real-time path data to ensure the stability and efficiency of the motor throughout the charging process. In addition, through dynamic adjustment of the current trajectory, the system can respond to changes in different charging requirements, improving the charging efficiency and the overall utilization rate of the charging station.

[0103] In some embodiments, the trajectory calculation module can also consider the influence of external factors, such as grid voltage fluctuations, losses of charging equipment, etc., to further optimize the current trajectory and speed trajectory. For example, the system can automatically adjust the current trajectory according to the load situation of the grid to avoid current fluctuations caused by excessive grid load.

[0104] In addition, the trajectory calculation module can also be adjusted according to the battery characteristics of different types of electric vehicles. For example, for electric vehicles with different battery capacities and types, the trajectory calculation module can adjust the target current trajectory and the target speed trajectory in real time according to the vehicle's battery type, charging curve, and charging strategy to adapt to the charging requirements of different batteries.

[0105] Through the above specific implementation methods, the trajectory calculation module can provide precise control of the motor operation to ensure that the system efficiently and stably provides charging services for multiple charging terminals.

[0106] The status acquisition module, which is connected to the trajectory calculation module, is used to obtain the operating status data of the motor in the slide rail system in real time. The status data includes the current current value and the motor angular velocity;

[0107] The main function of the status acquisition module is to obtain the operating status data of the motor in the slide rail system in real time. Specifically, the status acquisition module is responsible for collecting key parameters such as the current value and angular velocity of the motor. This module uses high-precision sensors and acquisition units to monitor the working conditions of the motor in real time and provides the collected data to other modules of the system, especially the trajectory calculation module and the control signal generation module. Through these real-time feedback data, the system can dynamically adjust the operating status of the motor to ensure that the slide rail motor operates smoothly according to the predetermined trajectory and control strategy.

[0108] Generally, the role of the status acquisition module is to provide accurate real-time data for the system to ensure that subsequent control strategies can be adjusted according to the actual status of the motor. In the entire system, the status acquisition module is a key module that closely cooperates with the trajectory calculation module and the control signal generation module to ensure that the motor can always be in the best working state.

[0109] Current acquisition unit: This unit is used to collect the working current of the slide rail motor in real time. The working current is an important parameter for the operation of the motor and can reflect the change in the motor load. When the motor load increases, the current value will also increase accordingly. By monitoring the current, the system can understand the power consumption of the motor in real time and adjust the control strategy of the motor according to the real-time data.

[0110] Speed acquisition unit: This unit is responsible for obtaining the angular velocity data of the motor. The angular velocity reflects the rotation speed of the motor and is an important factor determining the motion accuracy and operation stability of the slide rail motor. The speed acquisition unit usually obtains the angular velocity of the motor through an encoder or other sensors and transmits it to the data processing unit.

[0111] Data synchronization processing unit: This unit is used to perform time alignment and filtering processing on the collected current value and angular velocity data. Since the current and angular velocity data are dynamically changing, it is necessary to synchronize them to ensure data consistency. The synchronization processing also includes noise filtering to remove unstable components in the sensor signals and ensure the accuracy and reliability of the final data.

[0112] Specifically, in some embodiments, the current acquisition unit performs real-time current monitoring through a current sensor (such as a Hall sensor or a current transformer). The current value can be expressed as:

[0113]

[0114] Among them, I(t) represents the current at time t; V(t) represents the motor terminal voltage; R represents the motor resistance.

[0115] The current acquisition unit reflects the working state of the motor by measuring the current in real time. The current value of the motor will increase as the load increases, and the system can judge whether the motor is in a normal working state based on this data.

[0116] The speed acquisition unit uses an encoder to obtain the angular velocity of the motor, and the angular velocity ω(t) can be expressed by the following formula:

[0117]

[0118] Where: ω(t) represents the angular velocity at time t; N(t) represents the number of turns of the motor rotation; T represents the time required for the motor to rotate.

[0119] The state acquisition module works closely with the trajectory calculation module and the control signal generation module in the system. After the path scheduling module generates the charging path data, the trajectory calculation module calculates the target speed trajectory and the target current trajectory based on these data. The state acquisition module transmits these actual data to the trajectory calculation module by obtaining the current and speed data of the motor in real time. After receiving the actual data, the trajectory calculation module adjusts the target trajectory to ensure that the motor can operate stably during the charging process.

[0120] At the same time, the state acquisition module also works in cooperation with the control signal generation module. The control signal generation module generates a control signal based on the error between the target current trajectory and the current current. The state acquisition module enables the control signal generation module to generate a more accurate motor drive signal by providing real-time current data. Through this real-time feedback mechanism, the system can automatically adjust the control strategy according to the actual working state of the motor to achieve the best motor operation effect.

[0121] In this embodiment, the state acquisition module can provide accurate real-time data for the system by collecting the current value and angular velocity of the motor in real time. These data are the key to dynamically adjusting the motor control strategy and can ensure that the system maintains a stable charging process in different working states. Especially in the case of high charging demand or large changes in motor load, the system can quickly adjust according to the real-time feedback of current and speed, avoiding the situation of too large or too small current.

[0122] Specifically, the combination of current acquisition and speed acquisition enables the system to accurately control the operating state of the motor under different charging paths and charging demands, thereby improving the charging efficiency and reducing energy waste. Through data synchronization and filtering processing, the system can ensure the stability and accuracy of the data, effectively avoiding control errors caused by noise or data lag.

[0123] In some embodiments, the state acquisition module may also be equipped with more sensors for monitoring parameters such as the temperature and vibration of the motor. These additional parameters can help the system more comprehensively understand the operating state of the motor. For example, changes in the motor temperature can indicate whether the motor is overloaded, and the vibration sensor can be used to detect whether there are abnormal conditions in the motor. On this basis, the system can perform comprehensive analysis based on the data of multiple sensors, further improving the accuracy and stability of motor control.

[0124] In addition, the state acquisition module can also share data with other system modules for better intelligent management. For example, the system can optimize the current control strategy by sharing data with the power grid monitoring system to minimize the impact on the power grid during the charging process.

[0125] The control signal generation module is respectively connected to the trajectory calculation module and the state acquisition module, constructs a current error signal based on the target current trajectory and the current current value, and generates a control signal;

[0126] The core function of the control signal generation module is to construct a current error signal based on the target current trajectory and the current current value, and generate a corresponding control signal. These control signals will be transmitted to the execution drive module to drive the precise movement of the slide rail motor. The control signal generation module plays a crucial role in the entire charging system. It ensures that the slide rail motor operates stably according to the predetermined trajectory, thereby achieving precise positioning and efficient charging of the charging terminal.

[0127] During the operation of the entire system, the trajectory calculation module provides the target current trajectory, and the state acquisition module real-time collects the current current value of the motor. These data will be transmitted to the control signal generation module, and the module constructs a current error signal based on the difference between the target current trajectory and the current current value. By processing the current error signal, a control signal for driving the motor is generated to ensure that the motor operates smoothly according to the target current trajectory.

[0128] Construction of the current error signal: The control signal generation module first calculates the error between the target current trajectory and the current current value. The current error signal is expressed as:

[0129] e(t) = I target (t) - I actual (t);

[0130] where, I target (t) is the target current; I actual (t) represents the current current value; e(t) represents the current error signal at time t.

[0131] This error reflects the difference between the actual operation of the motor and the expected target. The larger the error value, the greater the deviation between the motor and the target trajectory, and the control system needs to make stronger adjustments.

[0132] Control Strategy Execution: In some embodiments, the control signal generation module uses a sliding mode control strategy to construct a sliding surface based on the current error e(t) and apply the corresponding control law to generate the control signal. The sliding mode control method can effectively eliminate uncertainties and external disturbances that may exist in the system, providing stronger robustness. Specifically, the sliding mode control law can be expressed as:

[0133] u(t)=-K…s(t);

[0134] Where u(t) is the control signal; K is the control gain; and s(t) is the sliding surface function.

[0135] Through this method, the control signal generation module can provide a stronger control effect when the current error is large, and appropriately reduce the control output when the error is small, thereby achieving smooth operation of the motor.

[0136] In some embodiments, the control signal generation module can also dynamically adjust the control gain based on the motor's dynamic response and load changes, thereby further improving control accuracy. For example, when the motor is under heavy load or in more intense motion, the control gain can be increased, thereby increasing the adjustment force and ensuring that the motor can respond to errors and correct deviations in a timely manner.

[0137] The control signal generation module works closely with the trajectory calculation module, state acquisition module, and execution drive module. Within the entire system, the trajectory calculation module first provides the target current trajectory, while the state acquisition module provides the current motor current value. This data is transmitted to the control signal generation module, which calculates the current error and generates the control signal.

[0138] The generated control signal undergoes PWM modulation and is then fed into the actuator drive module to drive the slide motor. During motor operation, the actuator drive module continuously transmits motor feedback data (such as current and speed) to the state acquisition module, which then transmits this information to the control signal generation module, forming a closed-loop control system. This feedback mechanism allows the system to dynamically adjust the control strategy based on the motor's real-time operating status, ensuring that the motor always maintains optimal operating condition.

[0139] In some embodiments, the control signal generation module may also combine the state information of battery charging to further optimize the control strategy. For example, information such as the charging state and charging curve of the battery can be used as inputs to help the control signal generation module adjust the current trajectory and control strategy at different stages. In this way, the system can optimize the operation process of the motor according to the charging state of the battery, thereby improving the battery charging efficiency and extending the battery service life.

[0140] In other embodiments, the control signal generation module can also improve the control accuracy by exchanging data with external devices. For example, the system can communicate with the grid monitoring system and adjust the current output according to the grid load condition to ensure that it does not impose too much burden on the grid during the charging peak period.

[0141] The execution drive module is connected to the control signal generation module, and is used to receive the control signal and drive the slide rail motor to perform displacement operations along the movement path, and feedback the real-time operation data to the control signal generation module;

[0142] The main function of the execution drive module is to receive the control signals from the control signal generation module and drive the slide rail motor to perform displacement operations along the movement path according to these signals. The execution drive module is not only responsible for controlling the movement of the motor, but also collects the operation state data of the motor in real time (such as current, speed, etc.) and feeds back this data to the control signal generation module to achieve the closed-loop control of the system. The design of this module ensures that the motor can move precisely according to the target trajectory, thus realizing the efficient operation of the multi-parking-space shared charging system.

[0143] As a core component of the motor drive system, the execution drive module directly affects the operation accuracy and response speed of the slide rail motor. It closely cooperates with the aforementioned control signal generation module to ensure that the operation state of the motor is adjusted according to the real-time feedback and to precisely control the movement path of the motor.

[0144] PWM control unit: This unit is used to receive the control signal and convert it into a PWM (pulse width modulation) signal. The duty cycle of the PWM signal directly affects the rotation speed and operation accuracy of the motor. By adjusting the frequency and duty cycle of the PWM signal, the PWM control unit can precisely control the rotation speed of the motor.

[0145] Motor drive unit: This unit receives the PWM signal and drives the actual movement of the slide rail motor according to the signal. The motor drive unit controls the rotation of the motor through current regulation to ensure that the motor moves smoothly along the predetermined trajectory.

[0146] Feedback Upload Unit: The execution and drive module further includes a feedback upload unit, which is responsible for collecting and feeding back the real-time operating state of the motor (such as current, speed, displacement, etc.) to the control signal generation module. Through this feedback mechanism, the system can dynamically adjust the control signal according to the actual state of the motor, further optimizing the operating effect of the motor.

[0147] Receive Control Signal: The execution and drive module adjusts the operating state of the motor by receiving the control signal transmitted by the control signal generation module. The control signal is usually generated based on the current error or speed error, representing the deviation between the current state and the target state of the motor.

[0148] Generate PWM Signal: After receiving the control signal, the PWM control unit converts the control signal into a PWM signal. The PWM signal controls the rotational speed of the motor by adjusting the duty cycle. The duty cycle of the PWM signal is proportional to the rotational speed of the motor, thereby affecting the motion accuracy and response speed of the motor.

[0149] Drive the Motor to Move: The motor drive unit adjusts the current output of the motor according to the PWM signal, thereby driving the motor to move along a predetermined trajectory. Specifically, the motion of the motor follows the following formula:

[0150] T = k·I;

[0151] Where, T represents the torque of the motor; k represents the torque constant of the motor; I represents the current of the motor.

[0152] Real-time Feedback and Closed-loop Control: The execution and drive module continuously monitors the actual operating state of the motor, and transmits this data (such as current, voltage, speed, etc.) back to the control signal generation module through the feedback upload unit. After receiving the feedback data, the control signal generation module can further adjust the control signal to achieve the optimization and dynamic correction of the motor operating state.

[0153] In some embodiments, the feedback data not only includes the current and speed of the motor, but may also include other key parameters such as the temperature and vibration of the motor. These additional feedback data help the system more accurately determine whether the motor is in a normal operating state, avoiding equipment damage caused by overload or abnormal fluctuations.

[0154] In this embodiment, the execution and drive module can precisely control the motion of the motor, driving the motor to move along a predetermined trajectory by receiving the control signal and generating a PWM signal. The precise adjustment of the PWM signal effectively controls the rotational speed and operating accuracy of the motor, thus ensuring that the slide rail motor can smoothly and precisely complete the displacement operation during the charging process.

[0155] Through the real-time feedback mechanism, the system can obtain the operating state of the motor in a timely manner and adjust the control signal according to the feedback data. This feedback mechanism not only improves the control accuracy but also enhances the robustness of the system. In the case of motor load changes or external environmental disturbances, the execution drive module can maintain the stable operation of the motor, avoiding motor overload or deviation caused by control errors.

[0156] Specifically, the execution drive module provides smooth and precise motor motion control. In the shared charging scenario of multiple charging bays, it can efficiently complete the precise scheduling of the motor, improving the overall efficiency of the system and the utilization rate of the charging station.

[0157] In some embodiments, the execution drive module can also dynamically adjust the control strategy of the motor according to the battery type and charging requirements. For example, at the beginning of charging, the system can quickly position the vehicle by increasing the motor speed and reduce the motor speed when approaching the completion of charging to improve the charging efficiency and protect the battery.

[0158] In addition, the execution drive module can also cooperate with other charging facilities and the power grid. During periods of high grid load, the system can appropriately adjust the power consumption of the motor operation, avoiding excessive current generation during high-load periods, thereby reducing the impact on the power grid and ensuring the stable operation of the power system.

[0159] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-parking-space shared charging system based on dynamic slide rail technology, characterized in that Comprising: A path scheduling module, configured to receive charging request information of multiple parking spaces, and generate motion path data of the slide rail charging terminal based on vehicle positions, parking space states, and preset scheduling rules; A trajectory calculation module, connected to the path scheduling module, configured to calculate a corresponding target speed trajectory and target current trajectory according to the motion path data and in combination with slide rail system structure parameters; A state acquisition module, connected to the trajectory calculation module, configured to acquire operation state data of the motor in the slide rail system in real time, where the state data includes the current current value and the motor angular velocity; A control signal generation module, connected to the trajectory calculation module and the state acquisition module respectively, constructs a current error signal based on the target current trajectory and the current current value, and generates a control signal; An execution drive module, connected to the control signal generation module, configured to receive the control signal and drive the slide rail motor to perform a displacement operation along the motion path, and feed back real-time operation data to the control signal generation module.

2. The multi - space shared charging system based on the dynamic slide - rail technology according to claim 1, wherein, The path scheduling module includes: A request receiving unit, configured to receive charging request information from multiple parking spaces, including vehicle identity information, remaining power, and estimated stay time; A scheduling decision-making unit, configured to generate a scheduling priority list according to the geographical distribution state of the parking spaces, vehicle priorities, and preset scheduling strategies; A path generation unit, configured to generate optimal motion path data based on the current position information of the slide rail and the target parking space position, in combination with the track topology structure.

3. The multi - vehicle - space shared charging system based on the dynamic slide - rail technology according to claim 2, wherein The path generation unit includes: A current position acquisition unit, configured to acquire the current position information of the slide rail in real time, and generate a preliminary path according to the target parking space position; A path parameter calculation unit, configured to calculate key parameters of the path, including path length, time consumption, and power consumption.

4. The multi-space shared charging system based on the dynamic slide rail technology according to claim 1, wherein The trajectory calculation module includes: A speed trajectory calculation unit, configured to calculate the target speed trajectory of the slide rail terminal according to the path data and the slide rail structure parameters; A current trajectory calculation unit, configured to calculate a target current trajectory matching the target speed trajectory in combination with the motor physical parameters and the traction force model required for motion; A trajectory synchronization unit, configured to ensure that the target speed trajectory and the target current trajectory are synchronized in the time domain and can be matched for execution.

5. The multi - vehicle - space shared charging system based on dynamic slide - rail technology according to claim 4, wherein, The current trajectory calculation unit includes: A motor power model unit, configured to calculate the power demand matching the target speed trajectory according to the physical parameters of the slide rail motor; A current-power conversion unit, configured to calculate the corresponding target current trajectory according to the motor power demand and the motor efficiency; A dynamics model unit, configured to correct the target current trajectory according to the mechanical constraints during the motion of the slide rail; The formula for correcting the target current trajectory is as follows: Among them, I target (t) is the target current; P target (t) is the target power of the motor; η is the motor efficiency.

6. The multi-parking-space shared charging system based on the dynamic slide rail technology according to claim 1, wherein, The state acquisition module includes: A current acquisition unit, configured to acquire the real-time working current of the motor, and output the current current value; A speed acquisition unit, configured to obtain the angular velocity of the motor rotating shaft through an encoder; A data synchronization processing unit, configured to perform time alignment and filtering processing on the current current value and the angular velocity data.

7. The multi - space shared charging system based on the dynamic slide rail technology according to claim 6, characterized in that, The data synchronization processing unit includes: A time alignment unit, configured to perform time alignment on the acquired current value and angular velocity data; A filtering unit, which is used to filter the noise of the current value and the angular velocity data by adopting an appropriate filtering algorithm; A data fusion unit, which is used to fuse the current and velocity data to generate a multi-dimensional data set.

8. The multi - space shared charging system based on the dynamic slide rail technology according to claim 1, characterized in that, A control signal generation module: An error calculation unit, which is used to calculate a current error signal based on the target current trajectory and the current current value; A control strategy execution unit, which is used to process the current error signal based on a preset sliding mode control algorithm to generate a control signal; A signal output unit, which is used to convert the control signal into a drive control quantity recognizable by the PWM drive module to control the working state of the slide rail motor.

9. The multi - space shared charging system based on dynamic slide rail technology according to claim 8, wherein, The control strategy execution unit includes: A sliding mode control unit, which is used to construct a sliding mode surface according to the current error signal and execute a sliding mode control strategy, and this strategy processes the current error in real time to generate a control signal; A control gain adjustment unit, which is used to dynamically adjust the sliding mode control gain according to the operating state of the slide rail motor; A sliding mode algorithm module, which is used to process the current error signal by designing an appropriate control law and generate a final control signal. The sliding mode control law is as follows: u(t) = -K…s(t); wherein, u(t) is the control signal; K is the control gain; s(t) is the sliding mode surface function.

10. The multi - vehicle - space shared charging system based on dynamic slide - rail technology according to claim 1, wherein, The execution drive module includes: A PWM controller unit, which is used to receive the control signal and output a PWM pulse with a corresponding duty cycle; A motor drive unit, which is used to drive the slide rail motor to move according to the PWM signal; A feedback and upload unit, which is used to feedback the speed, current and position data in actual operation to the control signal generation module in real time.

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