Driving control system of multi-motor molten iron transport vehicle

Abstract

The utility model provides a multi-motor molten iron transport vehicle drive control system which comprises a transport vehicle body provided with a first drive wheel set and a plurality of driven wheel sets. The first driving wheel set comprises a first left driving wheel set and a first right driving wheel set which are arranged on the left side and the right side of the transport vehicle body respectively, the first left driving wheel set comprises a first wheel-side motor, the first wheel-side motor is in transmission connection with a first speed reducer, and the first speed reducer is in transmission connection with a first left driving wheel; the first right driving wheel set comprises a second wheel-side motor, the second wheel-side motor is in transmission connection with a second speed reducer, and the second speed reducer is in transmission connection with the first right driving wheel; the first wheel edge motor is electrically connected with the first motor controller, and the second wheel edge motor is electrically connected with the second motor controller; the first motor controller and the second motor controller are electrically connected with the vehicle-mounted control unit; the driven wheel rotating speed sensor is used for detecting the rotating speed of the driven wheel set in real time, and the power battery pack and the accelerator pedal are connected with the vehicle-mounted control unit. The risk that the transport vehicle deviates can be reduced, and the stability of the molten iron transport vehicle is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of metallurgical equipment, in particular to a multi-motor molten iron car drive control system. Background Art

[0002] In the metallurgical industry, there are two main modes of molten iron transportation: rail vehicle transportation and trackless vehicle transportation. Among them, trackless molten iron transport vehicles have the advantages of low construction cost and flexible routes, but traditional trackless molten iron transport vehicles generally use diesel engines to input power and hydraulic motors to execute drive. This power system has the disadvantage of low energy utilization rate due to multiple energy conversions. As an important national development strategy, new energy power, the environmentally friendly and efficient characteristics of electric drive not only help reduce fossil energy carbon emissions, but also significantly improve energy utilization. Designing a molten iron transport vehicle with electric drive can significantly reduce the cost of molten iron transportation and reduce environmental pollution. Electric drive molten iron vehicles represent the future efficient form of molten iron transportation.

[0003] In the operation of transferring molten iron by electric molten iron car, the weight of the conventional molten iron tank plus molten iron is more than 200 tons, so it is necessary to lower the center of gravity of the vehicle and increase the contact with the ground to reduce the pressure on the ground, thereby increasing the safety and passability of the vehicle. Therefore, in order to obtain sufficient power, it is necessary to configure multiple drive motors and adopt power distributed drive; at the same time, motor drive depends on multiple factors, including voltage, excitation and speed, etc. The control system needs to efficiently obtain and calculate these factors and issue appropriate drive commands at the same time. Therefore, it is crucial to coordinate the control of the multi-axis, multi-motor and multi-drive of the electric molten iron car to meet the requirements of normal and smooth operation of the vehicle. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a multi-motor molten iron transport vehicle drive control system to solve the problems existing in the prior art.

[0005] To achieve the above-mentioned purpose and other related purposes, the utility model provides a multi-motor molten iron transport vehicle drive control system, including a transport vehicle body, on which a first driving wheel group and multiple driven wheel groups are provided; the first driving wheel group includes a first left driving wheel group and a first right driving wheel group, the first left driving wheel group and the first right driving wheel group are respectively arranged on the left and right sides of the transport vehicle body, the first left driving wheel group includes a first wheel-side motor, the first wheel-side motor is transmission-connected to a first reducer, and the first reducer is transmission-connected to the first left driving wheel; the first right driving wheel group includes a second wheel-side motor, the second wheel-side motor is transmission-connected to a second reducer, and the second reducer is transmission-connected to the first right driving wheel; A motor controller and a second motor controller, the first wheel-side motor is electrically connected to the first motor controller, and the second wheel-side motor is electrically connected to the second motor controller; an on-board control unit, the first motor controller and the second motor controller are both electrically connected to the on-board control unit; a driven wheel speed sensor, the driven wheel speed sensor is used to detect the speed of the driven wheel group in real time, and the driven wheel speed sensor is electrically connected to the on-board control unit; a power battery pack, the power battery pack is connected to the on-board control unit; an accelerator pedal, the accelerator pedal is connected to the on-board control unit, and the on-board control unit can calculate the total torque value to be output according to the degree of pressure opening and closing of the accelerator pedal.

[0006] Preferably, two first wheel-side motors are provided, two first reducers are provided, the two first wheel-side motors are transmission-connected to the two first reducers in a one-to-one correspondence, and the two first reducers are transmission-connected to a first left drive wheel respectively; two second wheel-side motors are provided, two second reducers are provided, two second wheel-side motors are transmission-connected to the two second reducers in a one-to-one correspondence, and the two second reducers are transmission-connected to a first right drive wheel respectively.

[0007] Preferably, it also includes a second drive wheel group, the second drive wheel group and the first drive wheel group are arranged at intervals along the front and rear direction of the transport vehicle body; the second drive wheel group includes a second left drive wheel group and a second right drive wheel group, the second left drive wheel group and the second right drive wheel group are respectively arranged on the left and right sides of the transport vehicle body, the second left drive wheel group includes a third wheel-side motor, the third wheel-side motor is transmission-connected to the third reducer, and the third reducer is transmission-connected to the second left drive wheel; the second right drive wheel group includes a fourth wheel-side motor, the fourth wheel-side motor is transmission-connected to the fourth reducer, and the fourth reducer is transmission-connected to the second right drive wheel; a third motor controller and a fourth motor controller, the third wheel-side motor is electrically connected to the third motor controller, and the fourth wheel-side motor is electrically connected to the fourth motor controller; the third motor controller and the fourth motor controller are both electrically connected to the vehicle-mounted control unit.

[0008] Preferably, the first motor controller and the second motor controller are both connected to the vehicle-mounted control unit via a first high-speed bus.

[0009] Preferably, the third motor controller and the fourth motor controller are both electrically connected to the vehicle-mounted control unit via a second high-speed bus.

[0010] Preferably, a repeater is provided on the second high-speed bus.

[0011] Preferably, the power battery pack is connected to the vehicle-mounted control unit via an all-in-one power supply.

[0012] Preferably, it also includes a battery, and the battery is connected to the vehicle-mounted control unit.

[0013] As described above, the multi-motor molten iron transport vehicle drive control system of the utility model has the following beneficial effects: during operation, the speed of the driven wheel group of the transport vehicle body is detected in real time by the driven wheel speed sensor, that is, the actual running speed relative to the transport vehicle body. Since the on-board control unit can calculate the total torque value to be output according to the opening and closing degree of the accelerator pedal, when outputting torque, the on-board control unit first compares the motor speed of the first wheel motor and the motor speed of the second wheel motor with the speed of the driven wheel group. If the difference between the motor speed of the first wheel motor and the speed of the driven wheel group is greater than the difference between the motor speed of the second wheel motor and the speed of the driven wheel group, then when controlling the accelerator pedal to output torque, the on-board control unit can allocate more torque to the second wheel motor, i.e., the first right drive wheel group, and allocate less torque to the first wheel motor, i.e., the first left drive wheel group, thereby achieving the maximum possible consistency in the magnitude of the torque output by the left drive wheel group and the right drive wheel group on the transport vehicle body, and avoiding the risk of uneven torque output of the left drive wheel group and the right drive wheel group, which may lead to the deviation of the transport vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 Shown is a schematic diagram of the framework of the multi-motor molten iron transport vehicle drive control system provided by the utility model.

[0015] Figure 2 Shown is a schematic structural diagram of the molten iron transport vehicle provided by the utility model.

[0016] Figure 3 Shown is a top view of the molten iron transport vehicle provided by the utility model.

[0017] Description of reference numerals:

[0018] 100 Transport vehicle body

[0019] 10 First drive wheel set

[0020] 11 First left driving wheel set

[0021] 110 First Motor Controller

[0022] 111 First wheel side motor

[0023] 112 First reducer

[0024] 113 First left driving wheel

[0025] 12 First right drive wheel set

[0026] 120 Second motor controller

[0027] 121 Second wheel side motor

[0028] 122 Second reducer

[0029] 123 First right drive wheel

[0030] 20 Second drive wheel set

[0031] 21 Second left driving wheel set

[0032] 210 Third motor controller

[0033] 211 Third wheel side motor

[0034] 212 Third reducer

[0035] 213 Second left drive wheel

[0036] 22 Second right drive wheel set

[0037] 220 Fourth motor controller

[0038] 221 Fourth wheel side motor

[0039] 222 Fourth reducer

[0040] 223 Second right drive wheel

[0041] 200 Vehicle Control Unit

[0042] 300 Driven wheel speed sensor

[0043] 400 Power Battery Pack

[0044] 401 All-in-one Power Supply

[0045] 500 Batteries DETAILED DESCRIPTION

[0046] The following is an explanation of the implementation of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific implementations, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0047] In the description of the present utility model, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, it can be a mechanical connection, it can be an electrical connection, it can be a direct connection, it can be connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0048] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like used in the present invention to indicate the orientation or position relationship is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0049] See also Figures 1 to 3It should be noted that the illustrations provided in this embodiment are only used to schematically illustrate the basic concept of the utility model, and the drawings only show the components related to the utility model rather than the number, shape and size of the components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0050] The utility model provides a multi-motor molten iron transport vehicle drive control system, such as Figures 1 to 3 As shown, the multi-motor molten iron transport vehicle drive control system includes a transport vehicle body 100, a first motor controller 110, a second motor controller 120, an on-board control unit 200, a driven wheel speed sensor 300, a power battery pack 400 and an accelerator pedal; wherein, the transport vehicle body 100 is provided with a first driving wheel group 10 and multiple driven wheel groups, specifically, the first driving wheel group 10 includes a first left driving wheel group 11 and a first right driving wheel group 12, the first left driving wheel group 11 and the first right driving wheel group 12 are respectively arranged on the left and right sides of the transport vehicle body 100, specifically, the first left driving wheel group 11 includes a first wheel side motor 111, the first wheel side motor 111 is transmission-connected to a first reducer 112, the first reducer 112 is transmission-connected to a first left driving wheel 113, and the first wheel side motor 111 is electrically connected to the first motor controller 110. The first right driving wheel group 12 includes a second wheel-side motor 121, which is transmission-connected to a second reducer 122, which is transmission-connected to a first right driving wheel 123, and the second wheel-side motor 121 is electrically connected to a second motor controller 120; the first motor controller 110 and the second motor controller 120 are both electrically connected to an on-board control unit 200; the driven wheel speed sensor 300 is used to detect the speed of the driven wheel group in real time, and the driven wheel speed sensor 300 is electrically connected to the on-board control unit 200; the power battery pack 400 is connected to the on-board control unit 200 to supply power to the on-board control unit 200; the accelerator pedal is connected to the on-board control unit 200, and the on-board control unit 200 can calculate the total torque value to be output according to the degree of pressure opening and closing of the accelerator pedal.

[0051] When the multi-motor molten iron transport vehicle driving control system of the utility model is in operation, the rotation speed of the driven wheel group of the transport vehicle body 100 is detected in real time through the driven wheel speed sensor 300, that is, relative to the actual running speed of the transport vehicle body 100. Since the on-board control unit 200 can calculate the total torque value to be output according to the opening and closing degree of the accelerator pedal, when outputting the torque, the on-board control unit 200 first compares the motor speed of the first wheel side motor 111 and the motor speed of the second wheel side motor 121 with the rotation speed of the driven wheel group (that is, the actual running speed of the transport vehicle body). If the first wheel side motor 111 is smaller than the driven wheel group, the rotation speed of the second wheel side motor 121 is smaller than the driven wheel group. If the difference between the motor speed of the machine 111 and the speed of the driven wheel group is greater than the difference between the motor speed of the second wheel-side motor 121 and the speed of the driven wheel group, the vehicle-mounted control unit 200 can allocate more torque to the second wheel-side motor 121, i.e., the first right drive wheel group 12, and allocate less torque to the first wheel-side motor 111, i.e., the first left drive wheel group 11, when controlling the accelerator pedal to output torque, so that the magnitude of the torque output by the left drive wheel group and the right drive wheel group on the transport vehicle body can be made as consistent as possible, and the risk of uneven torque output of the left drive wheel group and the right drive wheel group causing the transport vehicle to deviate can be avoided.

[0052] Specifically, the on-board control unit 200 can send a first control signal to the first motor controller 110, and the first motor controller 110 controls the first wheel-side motor 111 to output the allocated torque value based on the first control signal. Correspondingly, the on-board control unit 200 sends a second control signal to the second motor controller 120, and the second motor controller 120 controls the second wheel-side motor 121 to output the allocated torque value based on the second control signal.

[0053] Preferably, in this embodiment, the first motor controller 110 and the second motor controller 120 are communicatively connected to the vehicle control unit via a first high-speed bus.

[0054] Specifically, Figure 1 As shown, in this embodiment, the first left driving wheel group 11 includes two first left driving wheels 113, and accordingly, two first wheel-side motors 111 and two first reducers 112 are provided in the first left driving wheel group 11, and the two first wheel-side motors 111 are transmission-connected to the two first reducers 112 in a one-to-one correspondence, and the two first reducers 112 are transmission-connected to the two first left driving wheels 113 respectively; the first right driving wheel group 12 includes two first right driving wheels 123, and two second wheel-side motors 121 and two second reducers 122 are correspondingly provided in the first right driving wheel group 12, and the two second wheel-side motors 121 are transmission-connected to the two second reducers 122 in a one-to-one correspondence, and the two second reducers 122 are transmission-connected to the two first right driving wheels 123 respectively.

[0055] Furthermore, in order to improve the transport capacity of the molten iron transport vehicle, Figure 1 As shown, in this embodiment, the multi-motor molten iron transport vehicle drive control system also includes a second drive wheel group 20, and the second drive wheel group 20 is arranged at intervals along the front and rear directions of the transport vehicle body 100. Specifically, the second drive wheel group 20 includes a second left drive wheel group 21 and a second right drive wheel group 22, wherein the second left drive wheel group 21 and the second right drive wheel group 22 are respectively arranged on the left and right sides of the transport vehicle body 100, and the second left drive wheel group 21 includes a third wheel side motor 211, and the third wheel side motor 211 is drivenly connected to the third reducer 212. The third reducer 212 is transmission-connected to the second left drive wheel 213, and the third wheel-side motor 211 is electrically connected to the third motor controller 210; the second right drive wheel group 22 includes a fourth wheel-side motor 221, and the fourth wheel-side motor 221 is transmission-connected to the fourth reducer 222, and the fourth reducer 222 is transmission-connected to the second right drive wheel 223, and the fourth wheel-side motor 221 is electrically connected to the fourth motor controller 220; specifically, the third motor controller 210 and the fourth motor controller 220 are also electrically connected to the vehicle-mounted control unit 200. Through this design, during operation, the on-board control unit 200 can calculate the total torque value to be output according to the opening and closing degree of the accelerator pedal. When outputting torque, the on-board control unit 200 first compares the average speed of the multiple wheel-side motors on the first drive wheel set 10 and the average speed of the multiple wheel-side motors on the second drive wheel set 20 with the speed of the driven wheel set, that is, the actual vehicle speed. If the difference between the average speed of the multiple wheel-side motors on the first drive wheel set 10 and the speed of the driven wheel set is greater than the difference between the average speed of the multiple wheel-side motors on the second drive wheel set 20 and the speed of the driven wheel set, then the on-board control unit 200 can allocate more power torque to the second drive wheel set 20 and less power torque to the first drive wheel set 10 when controlling the accelerator pedal to output torque; otherwise, less power torque is allocated to the second drive wheel set 20 and more power torque is allocated to the first drive wheel set 10. Thereby, the power torque can be reasonably distributed to the first drive wheel group and the second drive wheel group when the molten iron transport vehicle starts with a heavy load and goes uphill with a heavy load, and the molten iron transport vehicle can start smoothly when heavily loaded and improve the stability during transportation, and the wheel slippage when lightly loaded can also be reduced.

[0056] Specifically, Figure 1As shown, in this embodiment, the second left drive wheel group 21 includes two second left drive wheels 213, and two third wheel side motors 211 and two third reducers 212 are provided in the second left drive wheel group 21, and the two third wheel side motors 211 are connected to the two third reducers 212 in a one-to-one transmission manner, and the two third reducers 112 are connected to the two second left drive wheels 213 in a transmission manner; the second right drive wheel group 22 includes two second right drive wheels 223, and two fourth wheel side motors 221 and two fourth reducers 222 are provided in the second right drive wheel group 22, and the two fourth wheel side motors 221 are connected to the two fourth reducers 222 in a one-to-one transmission manner, and the two fourth reducers 222 are connected to the two second right drive wheels 223 in a transmission manner. Specifically, the third motor controller 210 is electrically connected to the two third wheel side motors 211, and the fourth motor controller 220 is electrically connected to the two fourth wheel side motors 221. Preferably, in this embodiment, the third motor controller 210 and the fourth motor controller 220 are also electrically connected to the vehicle control unit 200 via the second high-speed bus. Furthermore, considering that the body of the molten iron transport vehicle is relatively long, the distance between the second driving wheel set 20 and the vehicle control unit 200 is relatively far, in order to improve the communication quality between the second high-speed bus and the vehicle control unit 200, that is, to improve the signal quality, in this embodiment, a repeater is also provided on the second high-speed bus.

[0057] Specifically, as preferred, in the present embodiment, the first wheel-side motor 111 , the second wheel-side motor 121 , the third wheel-side motor 211 and the fourth wheel-side motor 221 are also connected to the vehicle-mounted control unit 200 .

[0058] Specifically, in this embodiment, the power battery pack is a lithium battery, and the power battery pack 400 is connected to the vehicle control unit 200 via an all-in-one power supply 401. The all-in-one power supply 401 is used to modulate the voltage of the supplied power and convert AC power into DC power.

[0059] Furthermore, in this embodiment, the multi-motor molten iron transport vehicle drive control system further includes a battery 500, which is connected to the vehicle-mounted control unit 200, and the battery is used as a backup to be used before the power battery pack is powered off or not started. Specifically, in this embodiment, the battery is a lead-acid battery.

[0060] In summary, the multi-motor molten iron transport vehicle drive control system of the utility model can avoid the risk of the transport vehicle going off track due to uneven torque output of the left and right drive wheel groups of the molten iron transport vehicle; and can improve the stability of the molten iron transport vehicle when starting and transporting when heavily loaded, and also reduce the phenomenon of wheel slippage when lightly loaded. Therefore, the utility model effectively overcomes various shortcomings in the prior art and has a high industrial utilization value.

[0061] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed in the present invention shall still be covered by the claims of the present invention.

Claims

1. A multi-motor molten iron transport vehicle drive control system, characterized in that: include: A transport vehicle body, wherein the transport vehicle body is provided with a first driving wheel set and a plurality of driven wheel sets; The first driving wheel set includes a first left driving wheel set and a first right driving wheel set, the first left driving wheel set and the first right driving wheel set are respectively arranged on the left and right sides of the transport vehicle body, the first left driving wheel set includes a first wheel side motor, the first wheel side motor is drivingly connected to the first reducer, and the first reducer is drivingly connected to the first left driving wheel; The first right driving wheel group includes a second wheel side motor, the second wheel side motor is drivingly connected to a second reducer, and the second reducer is drivingly connected to the first right driving wheel; A first motor controller and a second motor controller, wherein the first wheel-side motor is electrically connected to the first motor controller, and the second wheel-side motor is electrically connected to the second motor controller; An on-board control unit, the first motor controller and the second motor controller are both electrically connected to the on-board control unit; A driven wheel speed sensor, the driven wheel speed sensor is used to detect the speed of the driven wheel set in real time, and the driven wheel speed sensor is electrically connected to the vehicle-mounted control unit; A power battery pack, wherein the power battery pack is connected to the vehicle-mounted control unit; An accelerator pedal is connected to the vehicle-mounted control unit, and the vehicle-mounted control unit can calculate the total torque value to be output according to the degree of pressure opening and closing of the accelerator pedal.

2. A multi-motor molten iron transport vehicle drive control system according to claim 1, characterized in that: There are two first wheel-side motors, two first reducers are provided, the two first wheel-side motors are in driving connection with the two first reducers in a one-to-one correspondence, and the two first reducers are respectively connected to a first left driving wheel; There are two second wheel-side motors and two second reducers. The two second wheel-side motors are transmission-connected to the two second reducers in a one-to-one correspondence, and the two second reducers are transmission-connected to a first right drive wheel respectively.

3. A multi-motor molten iron transport vehicle drive control system according to claim 1, characterized in that: It also includes a second drive wheel set, which is arranged at intervals with the first drive wheel set along the front-rear direction of the transport vehicle body; the second drive wheel set includes a second left drive wheel set and a second right drive wheel set, which are respectively arranged on the left and right sides of the transport vehicle body, the second left drive wheel set includes a third wheel-side motor, which is transmission-connected to a third reducer, and the third reducer is transmission-connected to the second left drive wheel; the second right drive wheel set includes a fourth wheel-side motor, which is transmission-connected to a fourth reducer, and the fourth reducer is transmission-connected to the second right drive wheel; A third motor controller and a fourth motor controller, wherein the third wheel-side motor is electrically connected to the third motor controller, and the fourth wheel-side motor is electrically connected to the fourth motor controller; The third motor controller and the fourth motor controller are both electrically connected to the vehicle-mounted control unit.

4. A multi-motor molten iron transport vehicle drive control system according to claim 1, characterized in that: The first motor controller and the second motor controller are both connected to the vehicle-mounted control unit via a first high-speed bus.

5. A multi-motor molten iron transport vehicle drive control system according to claim 3, characterized in that: The third motor controller and the fourth motor controller are both electrically connected to the vehicle-mounted control unit via a second high-speed bus.

6. A multi-motor molten iron transport vehicle drive control system according to claim 5, characterized in that: A repeater is provided on the second high-speed bus.

7. A multi-motor molten iron transport vehicle drive control system according to claim 1, characterized in that: The power battery pack is connected to the vehicle-mounted control unit via an all-in-one power supply.

8. A multi-motor molten iron transport vehicle drive control system according to claim 1, characterized in that: It also includes a battery, which is connected to the on-board control unit.

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