Electric wheel type engineering machinery and control method and system for brake-by-wire and walking of electric wheel type engineering machinery

Abstract

The invention discloses an electric wheel type engineering machine and a brake-by-wire and walking control method and system thereof. The electric wheel type engineering machine comprises a main controller, an electronic accelerator pedal, a brake pressure sensor, a brake proportional electromagnetic valve, a brake actuator, a driving system, a walking motor, a motor controller, a walking gear switch, a vehicle body tilt angle sensor and a monitoring instrument. By additionally arranging the braking proportional electromagnetic valve and the tilt angle sensor, after the whole machine is stopped in a running state, automatic braking and parking are achieved, when an accelerator pedal is stepped down to overcome sliding force, braking and parking are relieved, and good matching application of whole machine braking and a running system is achieved.

Description

TECHNICAL FIELD

[0001] The application relates to a control method and system for electric wheel type engineering machinery line control braking and walking, and belongs to the technical field of tire type engineering machinery. BACKGROUND

[0002] With the continuous improvement of domestic urban and rural road construction and the popularization and application of new energy technology, pure electric wheel type engineering machinery products are also increasing, and pure electric wheel type excavators will become the application trend in the future due to their energy-saving and environment-friendly advantages and convenient movement.

[0003] Due to the large weight of the wheel type excavator and the complex walking working condition, the characteristics of the pure electric motor driven walking system and the traditional hydraulic walking motor driven walking system are different. The hydraulic walking motor has a large reverse drag torque when the power input is stopped, and can realize reverse drag braking on flat ground or slope, and is not prone to stall accidents. If the electric motor does not actively intervene, the electric motor has almost no resistance torque when it reverses, and is prone to accidents such as hill rolling and stall. Therefore, in order for the driver to achieve the same or even more reliable and easy operation as the traditional hydraulic drive in different road conditions, the braking and walking system safety performance of the vehicle must be improved through electric control technology.

[0004] The existing patent CN 117779895 A discloses a braking system for a pure electric wheel type excavator, which realizes walking motor feedback auxiliary braking and energy recovery of the vehicle. The existing patent CN 114889572 B discloses a wheel type engineering vehicle automatic parking brake hydraulic system, which realizes automatic parking of the hydraulic walking drive system through hydraulic method.

[0005] However, the braking system in the CN 117779895 A patent does not solve the problem of hill rolling at the start of walking on a slope; the braking system in the CN 114889572 B patent lacks parking detection, and the on-off control is relatively extensive, and the implementation principle is not applicable to the pure motor drive system. SUMMARY

[0006] To solve the problem of vehicle rolling at the start of uphill and downhill of the pure electric wheel type excavator, the application provides a line control braking and walking control method and system, which increases the brake proportional solenoid valve and the inclination sensor. After the whole machine is parked in the running state, automatic braking parking is realized. When the accelerator pedal is stepped down to overcome the sliding force, the brake parking is released, and good matching application of the whole machine braking and walking system is realized.

[0007] The application is implemented according to the following technical scheme:

[0008] In a first aspect, the application provides a line control braking and walking control system for electric wheel type engineering machinery, which comprises:

[0009] A main controller is provided with a data processing function;

[0010] An electronic accelerator is electrically connected with the main controller, and the main controller is used for acquiring a position signal of the electronic accelerator;

[0011] A brake pressure sensor and a brake proportional electromagnetic valve are electrically connected with the main controller, and the brake pressure sensor is installed at an oil outlet of the brake proportional electromagnetic valve and is used for monitoring a brake oil pressure value;

[0012] A brake actuator, a driving system and a traveling motor are rigidly connected to realize transmission, and the brake actuator is electrically connected with the brake proportional electromagnetic valve;

[0013] A motor controller is electrically connected with the main controller and the traveling motor;

[0014] A traveling gear switch is electrically connected with the main controller, and a driving vehicle speed is positive when the driving vehicle speed and the traveling gear switch are in the same direction, and the driving vehicle speed is negative when the driving vehicle speed and the traveling gear switch are in opposite directions;

[0015] A vehicle body inclination sensor is electrically connected with the main controller, and the main controller judges a current driving state of the whole machine according to an acquired signal of the vehicle body inclination sensor;

[0016] A monitoring instrument is electrically connected with the main controller and is used for displaying an automatic parking release prompt.

[0017] In some embodiments, the brake proportional electromagnetic valve and a brake pedal valve of the whole machine are connected in parallel, and when any hydraulic circuit of the two is conducted, the traveling brake function can be realized.

[0018] In some embodiments, the vehicle body inclination sensor can transmit information about whether the whole machine is driving on a downhill, driving horizontally or driving on an uphill to the main controller.

[0019] In a second aspect, the application provides a control method for electric wheel type engineering machinery linear control braking and traveling.

[0020] The main controller acquires a traveling gear switch signal and a real-time rotating speed signal of the traveling motor acquired through the motor controller, and obtains a driving vehicle speed of the whole machine;

[0021] If the driving vehicle speed is greater than 0, that is, the whole machine is normally driving in the direction of the traveling gear, then the process is ended, and the active braking function of the linear control braking system is not activated;

[0022] If the driving vehicle speed is 0 or less than 0, that is, a driving vehicle speed opposite to the traveling gear appears, then the main controller outputs a current to the brake proportional electromagnetic valve to realize active braking;

[0023] When the active braking is to 0, the main controller sends a signal to the monitoring instrument, and the monitoring instrument displays an automatic parking activation prompt;

[0024] When the electronic accelerator pedal is stepped on, the main controller determines the current driving state of the whole machine according to the acquired vehicle body inclination sensor signal, and further determines the parking according to the current driving state.

[0025] In some embodiments, if the whole machine is currently in horizontal driving, the main controller stops outputting the brake proportional electromagnetic valve current, and the monitoring instrument displays an automatic parking release prompt.

[0026] In some embodiments, if the whole machine is currently in downhill driving, the main controller compares whether the voltage value U of the electronic accelerator pedal position signal is greater than the first voltage setting value U1, and if yes, the main controller stops outputting the brake proportional electromagnetic valve current, and the monitoring instrument displays an automatic parking release prompt.

[0027] If the voltage value U of the sub-electronic accelerator pedal position signal is not greater than the first voltage setting value U1, the main controller gradually reduces the brake proportional electromagnetic valve output current I 制动 according to the electronic accelerator pedal signal.

[0028] When I 制动 is reduced to less than the first current setting value I1, the main controller stops outputting the brake proportional electromagnetic valve current, and the monitoring instrument displays an automatic parking release prompt.

[0029] In some embodiments, if the whole machine is currently in uphill driving, the main controller outputs a target torque to the motor controller according to the voltage feedback value U of the electronic accelerator pedal position signal, and simultaneously calculates the motor output driving torque M 驱动 through the motor controller.

[0030] The main controller calculates the gravity sliding component torque M 重 of the whole machine on the downhill road surface according to the vehicle body inclination sensor.

[0031] The main controller compares the motor output driving torque M 驱动 with the gravity sliding component torque M 重力 , and if M 驱动 is greater than or equal to M 重力 , the main controller stops outputting the brake proportional electromagnetic valve current, and the monitoring instrument displays an automatic parking release prompt.

[0032] If M 驱动 is less than M 重力 , the main controller acquires the brake pressure sensor signal and calculates the maximum brake torque M 制动 outputtable by the brake actuator under the corresponding brake pressure.

[0033] The main controller reduces the output current I of the brake proportional solenoid valve 制动 , control M 制动 With M 驱动 The torque of M can cancel each other out. 重力 , to keep the whole machine from sliding down on uphill roads;

[0034] Until the electronic accelerator pedal is pressed, the motor outputs the driving torque M 驱动 Greater than or equal to M 重力 When , the main controller stops outputting the brake proportional solenoid valve current, the monitoring instrument displays the automatic parking release prompt, and the process ends.

[0035] In a third aspect, the present invention provides an electric wheeled engineering machinery, comprising the above-mentioned electric wheeled engineering machinery wire control braking and walking control system; or, comprising a processor for executing the above-mentioned electric wheeled engineering machinery wire control braking and walking control method.

[0036] In some embodiments, the electric wheeled construction machine comprises an electric wheeled excavator.

[0037] Beneficial effects of the present invention:

[0038] The present invention provides a control method and system for wire-controlled braking and traveling of an electric wheeled excavator. The method can realize automatic parking braking of the electric wheeled excavator after the accelerator is released or the brake is stepped on to stop on an uphill or downhill road. When the accelerator is stepped on again, the automatic parking can be released immediately or slowly according to the size of the throttle band line, thereby avoiding the whole machine from slipping on uphill or downhill sections or sudden changes in vehicle speed when starting to travel, thereby improving the driving safety and comfort of the whole vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, as part of this disclosure, are intended to provide a further understanding of the disclosure. The exemplary embodiments of the disclosure and their descriptions are intended to explain the disclosure and do not constitute undue limitations thereon. Obviously, the drawings described below are merely examples, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0040] In the attached figure:

[0041] Figure 1 A schematic diagram of the wire-controlled braking and walking control system of the present invention;

[0042] Figure 2 The figure is a flow chart of the control method of wire control braking and walking of the present invention.

[0043] It should be noted that the drawings and the written description are not intended to limit the scope of the inventive concept in any way, but are merely to illustrate the inventive concept to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments will be described clearly and completely below with reference to the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application but not to limit the scope of the present application.

[0045] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection" and "linking" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0046] As shown in Figure 1 The present application provides a kind of electric wheel type engineering machinery line control brake and walking control system, including main controller 101, electronic accelerator pedal 102, brake pressure sensor 103, brake proportional electromagnetic valve 104, brake actuator 105, drive system 106 (including gearbox, axle), walking motor 107, motor controller 108, walking gear switch 109, vehicle body inclination sensor 110, monitoring instrument 111.Therein main controller 101 with electronic accelerator pedal 102, brake pressure sensor 103, brake proportional electromagnetic valve 104, motor controller 108, walking gear switch 109, vehicle body inclination sensor 110, monitoring instrument 111 by electrical connection;Wherein the electrical connection of main controller 101 with vehicle body inclination sensor 110, motor controller 108, monitoring instrument 111 belongs to communication connection;Motor controller 108 and walking motor 107 are electrically connected;Brake proportional electromagnetic valve 104 and brake pressure sensor 103, brake actuator 106 are connected by hydraulic pressure, brake proportional electromagnetic valve 104 and the brake foot valve of whole vehicle are connected in parallel, i.e. when either hydraulic circuit of the two is conducted, walking brake can be played;Brake pressure sensor 103 is installed after brake proportional electromagnetic valve 104 valve, and brake oil pressure value is monitored;Drive system 106 and brake actuator 105, walking motor 107 are mechanically connected.

[0047] As shown in Figure 2 The present application also provides a kind of electric wheel type engineering machinery line control brake and walking control method, specific content is as follows:

[0048] 1. The main controller 101 obtains the signal from the travel gear switch 109 and the real-time speed signal of the travel motor 107 through the motor controller 108 to obtain the driving speed of the entire vehicle. The driving speed is positive when it is in the same direction as the travel gear switch 109, and negative when it is in the opposite direction of the travel gear switch 109.

[0049] 2. If the vehicle speed is greater than 0, that is, the whole machine is moving normally in the direction of the travel gear, it ends and the active braking function of the wire control brake system will not be activated;

[0050] 3. If the driving speed is 0 or less than 0, that is, the driving speed is opposite to the running gear, the main controller 101 outputs current to the brake proportional solenoid valve 104 to achieve active braking;

[0051] 4. When the vehicle speed is reduced to 0 by active braking, the main controller 101 sends a signal to the monitoring instrument 111, and the monitoring instrument 111 displays a prompt indicating that the automatic parking is activated;

[0052] 5. When the electronic accelerator pedal 102 is depressed, the main controller 101 determines the current driving state of the vehicle based on the signal obtained from the vehicle body tilt sensor 110;

[0053] 6. If the whole machine is currently in horizontal driving, the main controller 101 stops outputting current to the brake proportional solenoid valve 104, and the monitoring instrument 111 displays the automatic parking release prompt;

[0054] 7. If the vehicle is currently traveling downhill, the main controller 101 compares the voltage value U of the position signal of the electronic accelerator pedal 102 to see if it is greater than the first voltage setting value U1. If so, the main controller 101 stops outputting the current to the brake proportional solenoid valve 104, and the monitoring instrument 111 displays the automatic parking release prompt;

[0055] 8. If the voltage value U of the position signal of the sub-electronic accelerator pedal 102 is not greater than the first voltage setting value U1, the main controller 101 gradually reduces the output current I of the brake proportional solenoid valve 104 according to the signal of the electronic accelerator pedal 102. 制动 ;

[0056] 9. When I 制动 When the current decreases to less than the first current setting value I1, the main controller 101 stops outputting the current to the brake proportional solenoid valve 104, and the monitoring instrument 111 displays an automatic parking release prompt.

[0057] 10. If the machine is currently traveling uphill, the main controller 101 outputs the target torque to the motor controller 108 according to the voltage feedback value U of the electronic accelerator pedal 102 position signal. At the same time, the motor controller 108 calculates the motor output drive torque M. 驱动 ;

[0058] 11. The main controller 101 calculates the gravity sliding moment M of the whole vehicle on the downhill road based on the vehicle body inclination sensor 110. 重力 ;

[0059] 12. The main controller 101 compares the motor output driving torque M 驱动 The moment M due to gravity 重力 , if M 驱动 Greater than or equal to M 重力 , the main controller 101 stops outputting the current to the brake proportional solenoid valve 104, and the monitoring instrument 111 displays the automatic parking release prompt;

[0060] 13. If M 驱动 Less than M 重力 , the main controller 101 obtains the signal of the brake pressure sensor 103 and calculates the maximum braking torque M that the brake actuator 105 can output under the corresponding brake pressure 制动 ;

[0061] 14. The main controller 101 reduces the output current I of the brake proportional solenoid valve 104 制动 , control M 制动 With M 驱动 The torque of M can cancel each other out. 重力 , to keep the whole machine from sliding down on uphill roads;

[0062] 15. Until the electronic accelerator pedal 102 is pressed down, the motor outputs a driving torque M 驱动 Greater than or equal to M 重力 When , the main controller 101 stops outputting the current to the brake proportional solenoid valve 104 , the monitoring instrument 111 displays the automatic parking release prompt, and the process ends.

[0063] From the above, we can see that due to the difference between the pure electric drive system and the hydraulic travel motor drive system, the load torque of the motor is small when there is no power output, and it is easy to slip quickly when going downhill. Since the vehicle is heavy, it is also different from giving the motor reverse torque to keep the whole machine in the motor stalled state for a long time to cause motor overheating. Therefore, a wire control brake system is added. Through the combination of braking and drive systems, the whole machine can automatically park at 0 speed and automatically release when power is available.

[0064] In summary, the present invention can realize automatic parking braking of an electric wheeled excavator after releasing the accelerator or stepping on the brake to stop on an uphill or downhill road. When the accelerator is stepped on again, the automatic parking can be released immediately or slowly according to the size of the throttle band line, thereby avoiding the whole machine from slipping on uphill or downhill sections or sudden changes in vehicle speed when starting to walk, thereby improving the safety and comfort of driving the whole vehicle.

[0065] The electric wheel type engineering machine provided by the present application is described below, and the electric wheel type engineering machine described below can be correspondingly referred to the control system of the electric wheel type engineering machine line control and walking described above.

[0066] The electric wheel type engineering machine provided by the present application can include the control system of the electric wheel type engineering machine line control and walking as described in any one of the above embodiments.

[0067] The beneficial effects achieved by the electric wheel type engineering machine provided by the present application are consistent with the beneficial effects achieved by the control system of the electric wheel type engineering machine line control and walking provided by the present application, and thus will not be described here.

[0068] It should be noted that the electric wheel type engineering machine described above can be an electric wheel type excavator.

[0069] In the specification provided herein, a large number of specific details are described. However, it can be understood that the embodiments of the present application can be practiced without these specific details. In some examples, well-known methods, structures and techniques are not shown in detail in order not to obscure the understanding of the present specification.

[0070] In addition, those skilled in the art can understand that although some embodiments described herein include certain features contained in other embodiments but not other features, combinations of features of different embodiments also mean to be within the protection scope of the present application and form different embodiments. For example, in the above embodiments, those skilled in the art can use in a combined manner according to the known technical solutions and the technical problems to be solved by the present application.

[0071] The above is only the preferred embodiment of the present application, and does not limit the present application in any form. Although the present application has been disclosed as above with the preferred embodiment, it is not intended to limit the present application, and any skilled person in the art can make some changes or modifications to the above-mentioned technical content as equivalent embodiments with slight changes or modifications without departing from the technical solution of the present application. Any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application are still within the scope of the present application.

Claims

1. A control system for wire-controlled braking and traveling of electric wheeled engineering machinery, characterized in that: include: Main controller, with data processing function; an electronic accelerator pedal, electrically connected to the main controller, the main controller being used to obtain a position signal of the electronic accelerator pedal; A brake pressure sensor and a brake proportional solenoid valve are electrically connected to the main controller respectively, and the brake pressure sensor is installed at the oil outlet of the brake proportional solenoid valve to monitor the brake oil pressure value; The brake actuator, drive system and travel motor are rigidly connected to achieve transmission, and the brake actuator is electrically connected to the brake proportional solenoid valve; A motor controller, electrically connected to the main controller and the travel motor; A travel gear switch is electrically connected to the main controller, and is positive when the vehicle speed is in the same direction as the travel gear switch, and negative when the vehicle speed is in the opposite direction of the travel gear switch; A vehicle body tilt sensor is electrically connected to the main controller, and the main controller determines the current driving state of the entire machine based on the obtained vehicle body tilt sensor signal; A monitoring instrument is electrically connected to the main controller and is used to display an automatic parking release prompt.

2. The control system for wire-controlled braking and traveling of an electric wheeled engineering machinery according to claim 1, characterized in that: The brake proportional solenoid valve and the brake pedal valve of the whole machine are connected in parallel, that is, when any hydraulic circuit of the two is connected, both can play the role of travel braking.

3. The control system for wire-controlled braking and traveling of an electric wheeled engineering machinery according to claim 1, characterized in that: The vehicle body inclination sensor can transmit information to the main controller to determine whether the entire machine is traveling downhill, horizontally or uphill.

4. A method for controlling wire-controlled braking and traveling of an electric wheeled engineering machinery, characterized in that: The main controller obtains the travel gear switch signal and the real-time speed signal of the travel motor through the motor controller to obtain the travel speed of the entire machine; If the vehicle speed is greater than 0, that is, the whole machine is moving normally in the direction of the travel gear, it ends and the active braking function of the wire control brake system will not be activated; If the driving speed is 0 or less than 0, that is, the driving speed is opposite to the running gear, the main controller outputs current to the brake proportional solenoid valve to achieve active braking; When the vehicle speed is reduced to 0 by active braking, the main controller sends a signal to the monitoring instrument, which then displays a prompt indicating that automatic parking has been activated. When the electronic accelerator pedal is depressed, the main controller determines the current driving state of the vehicle based on the signal obtained from the vehicle body inclination sensor, and then makes further parking decisions based on the current driving state.

5. The method for controlling wire-controlled braking and traveling of an electric wheeled engineering machine according to claim 4, characterized in that: If the whole machine is currently in horizontal driving, the main controller stops outputting the brake proportional solenoid valve current, and the monitoring instrument displays the automatic parking release prompt.

6. The method for controlling wire-controlled braking and traveling of an electric wheeled engineering machine according to claim 4, characterized in that: If the vehicle is currently traveling downhill, the main controller compares the voltage value U of the electronic accelerator pedal position signal to see if it is greater than the first voltage setting value U1. If so, the main controller stops outputting the brake proportional solenoid valve current, and the monitoring instrument displays the automatic parking release prompt; If the voltage value U of the sub-electronic accelerator pedal position signal is not greater than the first voltage setting value U1, the main controller gradually reduces the output current I of the brake proportional solenoid valve according to the electronic accelerator pedal signal. 制动 ; When I 制动 When the current decreases to less than the first current setting value I1, the main controller stops outputting the brake proportional solenoid valve current, and the monitoring instrument displays the automatic parking release prompt.

7. The method for controlling wire-controlled braking and traveling of an electric wheeled engineering machine according to claim 4, characterized in that: If the machine is currently traveling uphill, the main controller outputs the target torque to the motor controller based on the voltage feedback value U of the electronic accelerator pedal position signal, and at the same time, the motor controller calculates the motor output drive torque M. 驱动 ; The main controller calculates the gravity sliding moment M of the whole machine on the downhill road based on the vehicle body inclination sensor. 重 force; The main controller compares the motor output driving torque M 驱动 The moment M due to gravity 重力 , if M 驱动 Greater than or equal to M 重力 , the main controller stops outputting the brake proportional solenoid valve current, and the monitoring instrument displays the automatic parking release prompt; If M 驱动 Less than M 重力 , the main controller obtains the brake pressure sensor signal and calculates the maximum braking torque M that the brake actuator can output under the corresponding brake pressure 制动 ; The main controller reduces the output current I of the brake proportional solenoid valve 制动 , control M 制动 With M 驱动 The torque of M can cancel each other out. 重力 , to keep the whole machine from sliding down on uphill roads; Until the electronic accelerator pedal is pressed, the motor outputs the driving torque M 驱动 Greater than or equal to M 重力 When , the main controller stops outputting the brake proportional solenoid valve current, the monitoring instrument displays the automatic parking release prompt, and the process ends.

8. An electric wheeled engineering machine, characterized in that: A control system for wire-controlled braking and walking of an electric wheeled engineering machinery comprising the control system according to any one of claims 1 to 3; or a processor for executing a control method for wire-controlled braking and walking of an electric wheeled engineering machinery according to any one of claims 4 to 7.

9. The electric wheeled engineering machine according to claim 8, characterized in that: The electric wheeled engineering machinery includes an electric wheeled excavator.

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