Vehicle discharge control method and system and container cargo loader

Abstract

The invention provides a vehicle discharge control method and system and a container cargo loader, and relates to the technical field of motors. The method comprises the steps that a discharging instruction and an alternating torque instruction are received through a motor controller, and the alternating torque instruction comprises a period, an amplitude value and action time; the motor controller responds to the discharging instruction, direct current input by the battery pack is converted into target current according to the alternating torque instruction, the target current is transmitted to the motor, the motor conducts static discharging on the battery pack, the target current is symmetrical alternating current waveforms which are generated in a period and are equal in amplitude and opposite in phase, and the torque algebraic sum in the period is zero. The direct current is converted into the target current through the alternating torque instruction and transmitted to the motor, static discharging of the battery pack is achieved, no-load running or running of operation equipment is not needed, manual operation is not needed, unnecessary loss of the vehicle can be avoided, and the discharging efficiency is improved.

Description

Technical Field

[0001] This disclosure relates to the field of motor technology, and in particular to a vehicle discharge control method, system, and container cargo loader. Background Technology

[0002] Because container loaders have battery packs, they require regular battery activation maintenance and inspection. Among these, battery discharge is a critical step in the maintenance process. According to battery usage specifications and safety requirements, the battery charge must be discharged to a certain level to ensure stable battery performance and safe operation.

[0003] In related technologies, manual discharge is used to discharge the battery pack. However, battery packs generally have a large capacity, and the auxiliary electrical systems consume power slowly over a long period. During manual discharge, equipment movement or vehicle movement is unavoidable, which will accelerate equipment aging and wear, and shorten the equipment's lifespan.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] This disclosure provides a vehicle discharge control method, system, and container cargo loader, which at least to some extent overcomes the problem in the related art that battery pack discharge requires equipment operation or vehicle movement, resulting in equipment damage.

[0006] Other features and advantages of this disclosure will become apparent from the following detailed description, or may be learned in part from practice of this disclosure.

[0007] According to one aspect of this disclosure, a vehicle discharge control method is provided, comprising: a motor controller receiving a discharge command and an alternating torque command, the alternating torque command including a period, an amplitude, and an action time; the motor controller responding to the discharge command converting the DC current input from the battery pack into a target current according to the alternating torque command and transmitting it to the motor, so that the motor performs static discharge on the battery pack, wherein the target current is a symmetrical alternating current waveform with equal amplitude and opposite phase generated within the period, and the algebraic sum of the torques is zero within the period.

[0008] In some embodiments, the method further includes: the motor controller detecting the received motor speed signal in real time; the motor controller dynamically adjusting the amplitude in response to changes in the motor speed signal until the motor remains stationary.

[0009] In some embodiments, the motor controller dynamically adjusts the amplitude until the motor remains stationary in response to changes in the motor speed signal, including: setting a maximum allowable speed offset value; and recalculating the amplitude until the motor remains stationary when the real-time speed offset value in the speed signal exceeds the maximum allowable speed offset value.

[0010] In some embodiments, the motor controller dynamically adjusts the amplitude in response to changes in the motor speed signal until the motor remains stationary, including: establishing a rule mapping library between speed offset values ​​and amplitude adjustment values; determining the amplitude adjustment value corresponding to the current speed offset value in response to changes in the speed signal; and recalculating the amplitude based on the amplitude adjustment value until the motor remains stationary.

[0011] In some embodiments, the method further includes: the motor controller monitoring the temperature signal in real time; and the motor controller activating a heat dissipation protection mechanism in response to the temperature signal exceeding a set threshold.

[0012] In some embodiments, the waveform of the target current is any one of the following: square wave, trapezoidal wave, or sine wave.

[0013] According to another aspect of this disclosure, a vehicle discharge control system is also provided, comprising: a vehicle controller, a motor controller, a motor, and a battery pack; the vehicle controller sends a discharge command and an alternating torque command to the motor controller for receipt, the alternating torque command including a period, an amplitude, and an action time; the motor controller, in response to the discharge command, converts the direct current input from the battery pack into a target current according to the alternating torque command and transmits it to the motor, so that the motor performs static discharge on the battery pack, wherein the target current is a symmetrical alternating current waveform with equal amplitude and opposite phase generated within the period, and the algebraic sum of the torques is zero within the period.

[0014] In some embodiments, the system further includes: the motor controller detecting the received motor speed signal in real time; the motor controller dynamically adjusting the amplitude in response to changes in the motor speed signal until the motor remains stationary.

[0015] In some embodiments, the motor controller is further configured to: set a maximum permissible speed offset value; and when the real-time speed offset value in the speed signal exceeds the maximum permissible speed offset value, recalculate the amplitude until the motor remains stationary.

[0016] In some embodiments, the motor controller is further configured to: establish a rule mapping library between speed offset values ​​and amplitude adjustment values; determine the amplitude adjustment value corresponding to the current speed offset value in response to changes in the speed signal; and recalculate the amplitude based on the amplitude adjustment value until the motor remains stationary.

[0017] In some embodiments, the system further includes: the motor controller monitoring the temperature signal in real time; and the motor controller activating a heat dissipation protection mechanism in response to the temperature signal exceeding a set threshold.

[0018] According to one aspect of this disclosure, a vehicle discharge control method is provided, including the aforementioned vehicle discharge control system.

[0019] The vehicle discharge control method provided in the embodiments of this disclosure receives a discharge command and an alternating torque command through a motor controller. The alternating torque command includes a period, amplitude, and duration. Responding to the discharge command, the motor controller converts the DC power input from the battery pack into a target current and transmits it to the motor, enabling the motor to perform static discharge on the battery pack. The target current is a symmetrical alternating current waveform with equal amplitude and opposite phase generated within the period, and the algebraic sum of the torques is zero within the period. This disclosure achieves static discharge of the battery pack by converting DC power into a target current and transmitting it to the motor through the alternating torque command. This eliminates the need for unloaded operation or driving of the equipment and requires no manual operation, thus avoiding unnecessary vehicle wear and tear and improving discharge efficiency.

[0020] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0021] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0022] Figure 1 This diagram illustrates a vehicle discharge control system structure according to an embodiment of the present disclosure; Figure 2 This diagram illustrates a vehicle discharge control method according to an embodiment of the present disclosure. Figure 3 This is a flowchart illustrating a specific example of a vehicle discharge control method according to an embodiment of the present disclosure; Figure 4 A flowchart illustrating another specific example of a vehicle discharge control method according to an embodiment of this disclosure is shown; Figure 5 A flowchart illustrating yet another specific example of a vehicle discharge control method according to an embodiment of the present disclosure is shown; Figure 6 A flowchart illustrating another specific example of a vehicle discharge control method according to an embodiment of this disclosure is shown; Figure 7 A schematic diagram of a pulsed discharge is shown in an embodiment of this disclosure. Detailed Implementation

[0023] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that this disclosure will be more comprehensive and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0024] Furthermore, the accompanying drawings are merely illustrative of this disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0025] Figure 1 A schematic diagram of an exemplary application system architecture to which the vehicle discharge control method of the embodiments of this disclosure can be applied is shown. For example... Figure 1 As shown, the vehicle discharge control system architecture may include a vehicle controller 101, a water cooling unit 102, a parking brake 103, a water temperature sensor 104, a circulating water pump 105, a motor temperature sensor 106, a motor resolver sensor 107, a motor 108, a motor controller 109, and a battery pack 110.

[0026] The vehicle controller 101 is connected to a water cooling unit 102, a parking brake 103, a water temperature sensor 104, and a circulating water pump; the motor controller 109 is connected to a motor temperature sensor 106, a motor resolver sensor 107, a motor 108, the vehicle controller 101, and a battery pack 110.

[0027] In one example of this disclosure, the parking brake is used to brake the vehicle to be discharged; the vehicle controller is used to generate a discharge command and an alternating torque command and transmit them to the motor controller (for example, the vehicle controller generates a control signal through a PWM pulse width modulation output module and adjusts the pulse width to achieve precise control); the motor controller responds to the discharge command, converts the DC power input from the battery pack into a target current according to the alternating torque command and transmits it to the motor so that the motor performs static discharge on the battery pack, wherein the target current is a symmetrical alternating current waveform with equal amplitude and opposite phase generated within a period, and the algebraic sum of the torque is zero within the period.

[0028] It should be noted that the vehicles mentioned in this disclosure can be any of the following: new energy vehicles, fuel vehicles, non-road vehicles, micro-transport vehicles, and special electric vehicles. New energy vehicles include pure electric vehicles, plug-in hybrid electric vehicles, and fuel cell vehicles; fuel vehicles include fuel-powered cars and fuel-powered engineering vehicles; non-road vehicles include electric engineering machinery and agricultural electric equipment; micro-transport vehicles include electric two-wheelers and electric scooters; and special electric vehicles include unmanned logistics vehicles and electric flying cars.

[0029] In one embodiment of this disclosure, the system further includes: a motor controller that detects the received motor speed signal in real time; and a motor controller that dynamically adjusts the amplitude in response to changes in the motor speed signal until the motor remains stationary.

[0030] Specifically, the aforementioned motor resolver sensor is used to generate a motor speed signal, which is used to determine whether the motor is rotating.

[0031] In one example of this disclosure, the motor controller is further configured to: set a maximum permissible speed offset value; and when the real-time speed offset value in the speed signal exceeds the maximum permissible speed offset value, recalculate the amplitude until the motor remains stationary.

[0032] In one example of this disclosure, the motor controller is further configured to: establish a rule mapping library between speed offset values ​​and amplitude adjustment values; determine the amplitude adjustment value corresponding to the current speed offset value in response to changes in the speed signal; and recalculate the amplitude based on the amplitude adjustment value until the motor remains stationary.

[0033] In one example of this disclosure, the system further includes: a motor controller that monitors the temperature signal in real time; and a motor controller that activates a heat dissipation protection mechanism in response to the temperature signal exceeding a set threshold.

[0034] Specifically, the heat dissipation protection mechanism includes: the radiator, water temperature sensor, circulating water pump and pipeline forming a cooling circuit for the motor and motor controller to cool the motor and motor controller.

[0035] It should be noted that the temperature sensor mentioned above monitors the temperature of key components (motor and motor controller) in real time, and dynamically adjusts the speed of the circulating water pump and the fan speed of the radiator based on the detected temperature.

[0036] Specifically, the radiator can dissipate heat through air convection or liquid cooling (such as coolant); the water temperature sensor monitors the coolant temperature in real time and feeds the data back to the vehicle controller; the circulating water pump can adjust the flow rate according to the temperature signal to ensure cooling efficiency.

[0037] This disclosure utilizes a redundant design combining water cooling and air cooling, which not only improves the cooling effect but also ensures the stability of temperature reduction.

[0038] In a specific example, the vehicle controller 101 is the low-voltage controller of the container loader. The vehicle controller 101 is electrically connected to the motor controller 109 and the battery pack 110, and communicates via a CAN bus. The vehicle controller 101 is responsible for vehicle motion control, sensor input signal detection, control signal output, and logic processing. The radiator 102 is a heat dissipation component for the cooling water circuit of the motor controller 109 and the motor 108. The radiator 102 is electrically connected to the vehicle controller 101, and its operation is controlled by the vehicle controller 101. It can release heat from the coolant into the environment to lower the coolant temperature. The parking brake 103 is the parking brake unit of the container loader, preventing the vehicle from rolling or moving abnormally. The water circuit temperature sensor 104 is a sensor located at the radiator outlet in the cooling water circuit system of the motor controller 109 and the motor 108. It can detect the real-time temperature of the coolant in the cooling circuit so that the vehicle controller 101 can adjust the signal accordingly. The operation of radiator 102 and circulating water pump 105 is started or stopped based on the temperature value of water circuit temperature sensor 104; circulating water pump 105 and vehicle controller 101 are responsible for the circulation of coolant in motor controller and motor cooling water system, carrying high-temperature coolant to radiator 102 for heat dissipation, and sending low-temperature coolant to motor 108 and motor controller 109 to provide cooling medium; motor temperature sensor 106 and motor controller 109 are electrically connected, and are sensors pre-embedded inside the motor to monitor motor temperature; motor resolver sensor 7 refers to a speed measurement sensor integrated inside the motor; motor 108 is the power supply unit of the container cargo loader, and is electrically connected to motor controller 109, generating heat during operation; motor controller 109 is the drive unit for controlling the operation of motor 108, and can detect the internal temperature of motor through motor temperature sensor 106 and calculate the speed of motor 108 through motor resolver sensor 107; battery pack 110 is the energy supply unit of the vehicle.

[0039] Those skilled in the art will know that Figure 1 The number of vehicle controller 101, water cooling unit 102, parking brake 103, water temperature sensor 104, circulating water pump 105, motor temperature sensor 106, motor resolver sensor 107, motor 108, motor control unit 109, and battery pack 110 in the embodiment is merely illustrative. Depending on actual needs, any number of these components can be used. This disclosure does not limit the scope of the embodiment.

[0040] Traditional manual discharge methods require operators to work continuously for several hours, while automatic alternating torque pulse discharge can be completed in a short time, significantly improving efficiency. The vehicle discharge control system disclosed herein generates alternating torque pulse signals to the motor controller via the vehicle controller. The motor controller outputs alternating current and voltage energy output according to the instructions (the aforementioned alternating torque instructions), rapidly consuming excess energy in the battery pack. This improves the efficiency and quality of battery pack maintenance for containerized cargo loaders, reduces equipment wear and maintenance costs, and provides strong support for green and sustainable development in the airport cargo handling sector.

[0041] Figure 2 A flowchart of a vehicle discharge control method according to an embodiment of this disclosure is shown, such as... Figure 2 As shown, the vehicle discharge control method provided in this embodiment includes the following steps: S202, the motor controller receives discharge commands and alternating torque commands. The alternating torque command includes the period, amplitude, and duration.

[0042] It should be noted that the aforementioned discharge command and alternating torque command can be periodically varying torque control signals used to drive actuators (such as motors) to achieve reciprocating motion, vibration suppression, or dynamic load simulation, and are generated by the vehicle controller. For example, the vehicle controller generates alternating torque commands through a PWM pulse width modulation output module, adjusting the pulse width to achieve precise control. Specifically, by adjusting the duty cycle of the alternating torque command (essentially adjusting the amplitude), precise adjustment of the motor's output power can be achieved. For example, adjusting the duty cycle of the alternating torque pulse signal can change the voltage or power output.

[0043] S204, the motor controller responds to the discharge command by converting the DC power input from the battery pack into a target current according to the alternating torque command and transmitting it to the motor so that the motor can perform static discharge on the battery pack. The target current is a symmetrical alternating current waveform with equal amplitude and opposite phase generated within a period, and the algebraic sum of the torque is zero within the period.

[0044] It should be noted that the waveform of the target current mentioned above can be any of the following: square wave, trapezoidal wave, or sine wave. The target current includes any one or more of the following: static discharge modulation current, zero net torque symmetrical current, balanced modulation current, bipolar pulse current, or zero-mean periodic current. The aforementioned static discharge refers to using a specific target current to cause the motor to consume battery power without producing actual mechanical motion (i.e., the motor rotor remains stationary with no speed output), thereby achieving safe and controllable energy release.

[0045] This disclosure converts DC power into a target current and transmits it to the motor via alternating torque commands, thereby achieving static discharge of the battery pack. This eliminates the need for unloaded operation or driving of the equipment and requires no manual operation, thus avoiding unnecessary vehicle wear and tear and improving discharge efficiency.

[0046] In one example of this disclosure, prior to S202, the following step is included: activating the parking brake to brake the vehicle to be discharged. It should be noted that the parking brake is primarily used to prevent vehicle movement when parked, especially in special terrain conditions such as slopes. It locks the wheels mechanically or electronically to ensure the vehicle remains stable and stationary, providing safety during the discharge process and preventing equipment damage or personal injury due to accidental movement. The parking brake includes any one or more of the following: spring brake, electromagnetic brake, and electro-hydraulic brake. The parking brake is connected to the vehicle controller to achieve coordinated operation with the vehicle control system.

[0047] In one example of this disclosure, the vehicle controller continuously monitors the remaining battery charge and voltage threshold. When the preset lower limit is reached, the discharge is terminated to prevent over-discharge.

[0048] In one embodiment of this disclosure, such as Figure 3 As shown, the vehicle discharge control method provided in this embodiment can keep the motor stationary through the following steps: S302, the motor controller detects the received motor speed signal in real time; S304, the motor controller responds to changes in the motor speed signal and dynamically adjusts the amplitude until the motor remains stationary.

[0049] It should be noted that the aforementioned dynamic adjustment refers to the motor controller continuously and adaptively adjusting the amplitude of the alternating torque command based on real-time detected changes in the motor speed signal, until the motor comes to a complete stop. The aforementioned static state can mean that the motor rotor remains stationary with no speed output.

[0050] This disclosure utilizes a dual closed-loop control mechanism of real-time speed detection and dynamic amplitude adjustment to achieve static control of the motor during battery discharge, thereby avoiding losses caused by motor rotation.

[0051] In one embodiment of this disclosure, such as Figure 4 As shown, the vehicle discharge control method provided in this embodiment can dynamically adjust the amplitude through the following steps: S402, set the maximum allowable speed offset value. When the real-time speed offset value in the speed signal exceeds the maximum allowable speed offset value, recalculate the amplitude until the motor remains stationary.

[0052] For example, the maximum allowable speed offset is defined as the first value (which can be 0). The resolver sensor signal is read every preset period to calculate the real-time speed. If the real-time speed is greater than the first value, the amplitude is reduced by a preset ratio (proportional attenuation control), the duty cycle of the PWM is updated, and the signal is re-input to the motor controller.

[0053] It should be noted that the aforementioned resolver sensor can sense the real-time angular position and speed of the motor rotor, and by monitoring the motor status in real time, it feeds back the actual torque value to the vehicle controller.

[0054] In a specific example, the resolver sensor operates based on electromagnetic induction. When the stator is energized, the rotor's rotation alters the phase and amplitude of the electromagnetic induction, generating a voltage signal in the output winding proportional to the rotation angle. During operation, the resolver sensor first creates an alternating electromagnetic field when the stator's excitation winding is energized. Then, as the rotor rotates relative to the stator, the induced current in its winding changes (the change is related to the rotor's rotation angle, i.e., the relative position of the rotor and stator). Next, under the influence of electromagnetic induction, the current in the rotor generates an induced voltage (the amplitude and phase of this induced voltage are closely related to the rotor's angular position). Finally, the sensor converts the induced voltage into an electrical signal through the stator's output winding for processing by external equipment. The output signal includes sine and cosine waves, enabling precise measurement and control.

[0055] In another specific example, an angular velocity safety threshold is set for the aforementioned resolver sensor. When the detected angular velocity exceeds the angular velocity safety threshold, the discharge process is immediately interrupted, an alarm is triggered, and an abnormal event log is recorded.

[0056] This disclosure utilizes electronic technology to achieve rapid discharge when the vehicle is stationary, which can significantly improve the efficiency of vehicle maintenance and prevent vehicle wear and aging.

[0057] In one embodiment of this disclosure, such as Figure 5 As shown, the vehicle discharge control method provided in this embodiment can dynamically adjust the amplitude through the following steps: S502, Establish a rule mapping library between speed offset values ​​and amplitude adjustment values; S504, in response to changes in the speed signal, determines the amplitude adjustment value corresponding to the current speed offset value; S506 recalculates the amplitude based on the amplitude adjustment value until the motor remains stationary.

[0058] For example, after obtaining the current speed offset value, the corresponding amplitude adjustment value is searched in the rule mapping library, and the amplitude is calculated based on the found amplitude adjustment value. The specific rule mapping library can be shown in Table 1 below.

[0059] Table 1

[0060] In one embodiment of this disclosure, such as Figure 6 As shown, the vehicle discharge control method provided in this embodiment activates a heat dissipation protection mechanism through the following steps to prevent the vehicle from overheating during discharge: S602, the motor controller monitors temperature signals in real time; S604, the motor controller activates the heat dissipation protection mechanism in response to the temperature signal exceeding the set threshold.

[0061] Specifically, when the temperature signal exceeds the set threshold, the motor controller sends a signal to the vehicle controller, which then issues corresponding instructions to the cooling circuit consisting of the radiator, water temperature sensor, circulating water pump, and pipes. The cooling circuit then starts working to cool the motor and motor controller.

[0062] Figure 7 This diagram illustrates a pulsed discharge according to an embodiment of the present disclosure, such as... Figure 7 As shown, deltaT represents the period of the alternating signal in milliseconds; T1 represents the torque application time in milliseconds; and H represents the torque amplitude in Newton-meters.

[0063] In a specific example, firstly, based on the discharge requirements, the vehicle enters a stationary discharge state. The vehicle controller 101 enables the parking brake 103 to ensure the vehicle is reliably parked on a flat surface, preventing rollover or abnormal vehicle movement. Subsequently, the vehicle controller 101 powers on and starts the circulating water pump 105, continuously maintaining the circulating water circuit in a circulating state. Next, the vehicle controller 101 detects whether the water circuit temperature sensor 104, motor temperature sensor 106, and motor resolver sensor 107 are abnormal. When the water circuit temperature sensor 104 exceeds the set value deltaT, the vehicle controller 101 controls the radiator 102 to operate. When the temperature of the water circuit temperature sensor 104 is ≤ deltaT - 5, the radiator 102 is stopped. The vehicle controller 101 checks whether the value of the motor resolver sensor 107 is greater than 0. If it is greater than 0, it means that the motor speed is not 0. The vehicle controller 101 needs to adjust and issue an alternating torque command so that the motor 108 is stationary. Finally, the vehicle controller 101 sends an alternating torque pulse signal to the motor controller 109 through the CAN bus. The alternating torque pulse signal refers to a signal with equal torque amplitude and opposite direction, which changes periodically. The alternating signal period is deltaT, the torque action time is T1, and the torque amplitude is H. Within the deltaT time period, the pulse signal amplitude is equal and opposite in direction. Within the deltaT period, the algebraic sum is 0, and the overall effect is to output 0 Newton-meter torque. In addition, the torque pulses within time T1 must ensure that the motor does not rotate, and the torque pulses within the deltaT period must also not cause the motor to rotate. In discharge mode, the motor controller 109 receives the alternating torque command, generates voltage and current values ​​with corresponding periods and amplitudes, and outputs these voltage and current values ​​to the motor 108. During the torque output controlled by the motor controller 109, the motor controller 109 simultaneously checks whether the motor resolver sensor 107 is 0. If it is not 0, the torque pulse amplitude H needs to be reduced to keep the motor stationary and achieve discharge. At the same time, the vehicle controller 101 checks whether the water circuit temperature sensor 104 and the motor temperature sensor 106 are abnormal. When the water circuit temperature sensor 104 exceeds the set value deltaT, the vehicle controller 101 controls the radiator 102 to operate. When the temperature of the water circuit temperature sensor 104 is ≤ deltaT-5, the radiator 102 stops working. During discharge, it is necessary to ensure that the coolant is always below deltaT to ensure smooth discharge and avoid overheating protection.

[0064] It should be noted that, firstly, an alternating torque pulse signal that meets the discharge requirements is generated within the deltaT period. Within the deltaT time period, the pulse signal amplitudes are equal and the directions are opposite. Within the deltaT period, the algebraic sum is 0, and the overall effect is an output torque of 0 Newton-meters. Secondly, during the discharge, the motor controller 109 detects whether the motor resolver sensor 107 is 0. If it is not 0, the torque pulse amplitude H needs to be reduced or adjusted to keep the motor stationary while discharging. Finally, the vehicle controller 101 detects whether the water circuit temperature sensor 104 and the motor temperature sensor 106 are abnormal. When the water circuit temperature sensor 104 exceeds the set value deltaT, the vehicle controller 101 controls the radiator 102 to operate. When the temperature of the water circuit temperature sensor 104 is ≤ deltaT-5, the radiator 102 stops working. During the discharge, it is necessary to ensure that the coolant is always below deltaT to ensure smooth discharge.

[0065] This disclosure is based on sensor technology. First, based on the existing electrical components on the container cargo loader, without adding any additional electrical components, a discharge circuit is formed by the vehicle controller 101, motor 108, motor controller 109, and battery pack 110. During the deltaT period, an alternating torque pulse signal that meets the discharge requirements is generated. During the deltaT time period, the pulse signal amplitudes are equal and the directions are opposite. During the deltaT period, the algebraic sum is 0, and the overall effect is to output 0 Newton-meter torque, so that the electrical energy in the battery pack 110 is dissipated in the form of heat. Second, the heat generated by the motor 108 is carried to the radiator 102 through the circulation of coolant, and the radiator dissipates the heat into the environment.

[0066] This disclosure enables battery pack discharge when both the vehicle and motor are stationary, facilitating the maintenance and repair of electric vehicles and battery packs, saving manpower and resources and reducing vehicle wear and tear, while also improving the vehicle's intelligence and ease of maintenance.

Claims

1. A vehicle discharge control method, characterized in that, include: The motor controller receives discharge commands and alternating torque commands, wherein the alternating torque commands include period, amplitude, and duration. In response to the discharge command, the motor controller converts the DC power input from the battery pack into a target current according to the alternating torque command and transmits it to the motor so that the motor performs static discharge on the battery pack. The target current is a symmetrical alternating current waveform with equal amplitude and opposite phase generated in the cycle, and the algebraic sum of the torques is zero in the cycle.

2. The vehicle discharge control method according to claim 1, characterized in that, The method further includes: The motor controller detects the received motor speed signal in real time; The motor controller responds to changes in the motor speed signal and dynamically adjusts the amplitude until the motor remains stationary.

3. The vehicle discharge control method according to claim 2, characterized in that, The motor controller dynamically adjusts the amplitude of the motor speed signal in response to changes in the motor speed signal until the motor remains stationary, including: Set the maximum allowable speed offset value. When the real-time speed offset value in the speed signal exceeds the maximum allowable speed offset value, recalculate the amplitude until the motor remains stationary.

4. The vehicle discharge control method according to claim 2, characterized in that, The motor controller dynamically adjusts the amplitude of the motor speed signal in response to changes in the motor speed signal until the motor remains stationary, including: Establish a rule mapping library between speed offset values ​​and amplitude adjustment values; In response to changes in the speed signal, determine the amplitude adjustment value corresponding to the current speed offset value; Based on the amplitude adjustment value, recalculate the amplitude until the motor remains stationary.

5. The vehicle discharge control method according to claim 1, characterized in that, The method further includes: The motor controller monitors the temperature signal in real time. The motor controller activates a heat dissipation protection mechanism in response to a temperature signal exceeding a set threshold.

6. The vehicle discharge control method according to any one of claims 1 to 5, characterized in that, The target current includes any one or more of the following: static discharge modulation current, zero net torque symmetrical current, balanced modulation current, bipolar pulse current, or zero mean periodic current; the waveform of the target current is any one of the following: square wave, trapezoidal wave, or sine wave.

7. A vehicle discharge control system, characterized in that, include: Vehicle controller, motor controller, motor and battery pack; The vehicle controller sends a discharge command and an alternating torque command to the motor controller for reception. The alternating torque command includes a period, an amplitude, and an action time. In response to the discharge command, the motor controller converts the DC power input from the battery pack into a target current according to the alternating torque command and transmits it to the motor so that the motor performs static discharge on the battery pack. The target current is a symmetrical alternating current waveform with equal amplitude and opposite phase generated in the cycle, and the algebraic sum of the torques is zero in the cycle.

8. The vehicle discharge control system according to claim 7, characterized in that, The system also includes: The motor controller detects the received motor speed signal in real time; The motor controller responds to changes in the motor speed signal and dynamically adjusts the amplitude until the motor remains stationary.

9. The vehicle discharge control system according to claim 8, characterized in that, The motor controller is also used for: Set the maximum allowable speed offset value. When the real-time speed offset value in the speed signal exceeds the maximum allowable speed offset value, recalculate the amplitude until the motor remains stationary.

10. The vehicle discharge control system according to claim 8, characterized in that, The motor controller is also used for: Establish a rule mapping library between speed offset values ​​and amplitude adjustment values; In response to changes in the speed signal, determine the amplitude adjustment value corresponding to the current speed offset value; Based on the amplitude adjustment value, recalculate the amplitude until the motor remains stationary.

11. The vehicle discharge control system according to claim 7, characterized in that, The system also includes: The motor controller monitors the temperature signal in real time. The motor controller activates a heat dissipation protection mechanism in response to a temperature signal exceeding a set threshold.

12. A containerized cargo loader, characterized in that, Includes the vehicle discharge control system as described in any one of claims 7 to 11.

Images