Method and system for controlling consumption of braking energy of electric motor, and truck crane

Abstract

A method and system for controlling the consumption of the braking energy of an electric motor, and a truck crane. The system comprises: a vehicle control unit, which is connected to all of a rheostatic braking system, a thermal management system, a traction battery system and a superstructure electric system, and is used for sending operating instructions; the thermal management system, which exchanges information with the vehicle control unit and receives an operating instruction sent by the vehicle control unit; the rheostatic braking system, which receives an operating instruction from the vehicle control unit, and generates heat and consumes electric energy when powered on; a power distribution unit, which is connected at one end to a high-voltage bus of a truck crane and connected at the other end to all of the traction battery system, the superstructure electric system, the rheostatic braking system and the thermal management system, and distributes electric energy; the traction battery system, which exchanges information with the vehicle control unit; and the superstructure electric system, which controls a superstructure to decelerate and brake. Energy generated by the deceleration and braking of an electric motor is effectively consumed, thereby ensuring normal deceleration and braking of a superstructure electric motor of the truck crane.

Description

Motor braking energy consumption control method, system and automobile crane TECHNICAL FIELD

[0001] The present application relates to a motor braking energy consumption control method, system and automobile crane, belonging to the electric vehicle technical field. BACKGROUND

[0002] With the development of new energy technology, the electrification of automobile cranes has become the main direction of the current development of automobile cranes. Replacing the hydraulic system with an electric motor to directly drive the crane's winch, slewing, amplitude and other actions has become a development trend in recent years. When the winch motor, slewing motor and / or amplitude motor decelerates and brakes, the motor enters a power generation state to generate an induced electromotive force and raise the bus voltage. Excessive bus voltage can harm electrical equipment. At this time, the power battery is mainly relied on to recover energy to ensure the stability of the bus voltage. When the battery cannot recover energy due to a high SOC (State Of Charger refers to the percentage of the current storage capacity of the battery under certain conditions, expressed in %), the motor cannot act due to the inability to consume braking energy, otherwise the motor control will be damaged due to high voltage. How to consume the energy generated by the motor deceleration and braking has become a problem that needs to be solved in the development of the electric drive of the vehicle mechanism of the automobile crane. SUMMARY

[0003] The purpose of the present application is to overcome the shortcomings of the prior art, provide a motor braking energy consumption control method, system and automobile crane, which solves the technical problems of high cost and difficult arrangement when the braking resistance power is large, and slow energy consumption when the braking resistance power is small when the power battery cannot recover energy due to a high SOC.

[0004] To achieve the above purpose, the technical scheme adopted by the present application is:

[0005] In a first aspect, the present application provides a motor braking energy consumption control method, characterized in that it comprises:

[0006] When the vehicle operation is performed and the vehicle motor deceleration and braking state is obtained, it is determined whether the braking current of the vehicle electric system is greater than the preset charging current of the power battery system;

[0007] If the braking current of the vehicle electric system is not greater than the preset charging current of the power battery system, the power battery system recovers the braking current;

[0008] If the braking current of the vehicle electric system is greater than the preset charging current of the power battery system, the resistance braking system and / or the heat management system are started according to the difference between the braking current of the vehicle electric system and the preset charging current of the power battery system to consume energy.

[0009] In combination with the first aspect, further, according to the difference between the braking current of the on-board electric system and the preset recharging current of the power battery system, the energy consumption of the resistance braking system and / or the heat management system is started, including:

[0010] If the difference between the braking current of the on-board electric system and the preset recharging current of the power battery system is less than the preset current value of the resistance braking system, a start instruction is sent to the resistance braking system;

[0011] If the difference between the braking current of the on-board electric system and the preset recharging current of the power battery system is less than the preset current value of the heat management system, a start instruction is sent to the heat management system;

[0012] If the difference between the braking current of the on-board electric system and the preset recharging current of the power battery system is greater than the preset current value of the resistance braking system or the heat management system, a start instruction is sent to the resistance braking system and the heat management system.

[0013] Further, the start instruction is sent to the resistance braking system and the heat management system, and the difference between the braking current of the on-board electric system and the preset recharging current of the power battery system does not exceed the maximum preset current value of the resistance braking system or the heat management system.

[0014] In the second aspect, the present application provides a computer readable storage medium, which stores a computer program / instruction, and the computer program / instruction is executed by a processor to realize the control method described above.

[0015] In the third aspect, the present application provides a control system for motor braking energy consumption, which realizes the control method described above, including:

[0016] The vehicle controller is connected with the resistance braking system, the heat management system, the power battery system and the on-board electric system respectively, and is used to send a working instruction;

[0017] The heat management system is used to interact with the vehicle controller and receive the working instruction sent by the vehicle controller;

[0018] The resistance braking system is used to receive the working instruction of the vehicle controller and generate heat to consume electric energy when energized;

[0019] The power distribution unit is connected to the high-voltage bus of the automobile crane at one end and connected to the power battery system, the on-board electric system, the resistance braking system and the heat management system at the other end, and is used to distribute electric energy;

[0020] The power battery system is used to interact with the vehicle controller;

[0021] The on-board electric system is used to control the on-board deceleration braking.

[0022] In combination with the third aspect, further, the thermal management system comprises a thermal management controller, a water tank, a water pump, a PTC heater, a heat exchanger, an evaporation tank, a condenser, a compressor and several three-way valves;

[0023] The thermal management controller is connected with the water pump, the PTC heater, the compressor, the vehicle controller and the several three-way valves, and is used for exchanging information with the vehicle controller and receiving working instructions from the vehicle controller.

[0024] The heat exchanger and the evaporation tank are connected with the water tank and the water pump through a first three-way valve, and the water pump is connected with the PTC heater,

[0025] The heat exchanger and the evaporation tank are connected with the PTC heater through a second three-way valve,

[0026] The heat exchanger and the evaporation tank are connected with one end of the condenser through a third three-way valve, and the other end of the condenser is connected to the compressor,

[0027] The heat exchanger and the evaporation tank are connected with the compressor through a fourth three-way valve.

[0028] Further, the resistance braking system comprises a braking unit connected with a power distribution unit, and a braking resistor connected with the braking unit.

[0029] The braking unit is connected with the vehicle controller to receive working instructions from the vehicle controller, and controls the power of the braking resistor and monitors the temperature and fault information of the braking resistor.

[0030] The power distribution unit provides electric energy for the resistance braking system, and the braking resistor is used for converting electric energy into heat energy to consume electric energy.

[0031] Further, the on-board electric system comprises an on-board motor controller connected with a power distribution unit, and an on-board motor connected with the on-board motor controller, and the power distribution unit distributes electric energy to the on-board motor controller and receives braking energy generated by the on-board motor.

[0032] In the fourth aspect, the application provides an automobile crane comprising the control system for motor braking energy consumption.

[0033] Compared with the prior art, the application has the following beneficial effects:

[0034] When the ability of the power battery to recover electric energy is limited or even not allowed to recover electric energy due to a high SOC, a path for consuming braking energy is provided to ensure normal deceleration braking of the on-board motor of the automobile crane, improve the economic benefit of the product, and improve the economic benefit of the product.

[0035] The application provides a control system of motor braking energy consumption, which comprises a resistance braking system and a thermal management system, and the resistance braking system and the thermal management system are complementary to each other, can be independently opened and worked, and can be simultaneously opened and worked, so that the reliability of the braking system is effectively improved. Meanwhile, the problems caused by the single selection of the resistance braking system, such as large braking resistance and braking unit power, large volume, poor heat dissipation and difficult arrangement, are avoided, and the existing electric air conditioning system on the truck crane, including a PTC heater and a compressor, is effectively reused, the use efficiency of the air conditioning equipment is improved, and the overall cost of the truck crane is greatly reduced.

[0036] The control method of motor braking energy consumption provided by the application is that the vehicle controller calculates the motor braking power and judges whether the battery meets the energy recovery condition, if the power battery does not meet the energy recovery condition at this time, the resistance braking system and / or the thermal management system are opened according to the braking power, and the motor braking energy is consumed by using the braking resistance and / or the PTC heater and the air conditioning compressor of the thermal management system, so that the impact of the excessive charging current on the power battery is effectively reduced, and the service life of the power battery is improved. BRIEF DESCRIPTION OF DRAWINGS

[0037] Fig. 1 is a structural schematic diagram of the existing motor vehicle crane braking energy absorption;

[0038] Fig. 2 is a structural schematic diagram of the control system of motor braking energy consumption provided by the embodiment of the application;

[0039] Fig. 3 is a flow chart of the control method of motor braking energy consumption provided by the embodiment of the application. DETAILED DESCRIPTION

[0040] The application will be further described below in combination with the drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the application, and cannot be used to limit the protection scope of the application.

[0041] As shown in Fig. 1, it is a structural schematic diagram of the existing motor vehicle crane braking energy absorption. The existing motor vehicle crane comprises:

[0042] The combined power supply is connected with the bus of the motor vehicle crane, and is used to provide electric energy for the motor vehicle crane;

[0043] The electric energy distribution unit is arranged on the bus, and is used to distribute electric energy. The electric energy distribution unit comprises a first switch and a second switch;

[0044] The on-board high-voltage system is connected with the electric energy distribution unit, and is used to drive the motor vehicle crane to perform on-board operation under the condition that the first switch is closed;

[0045] A braking resistor is connected with the electric energy distribution unit, and is used for consuming the excess electric energy on the bus in the case that the second switch is closed.

[0046] The existing electric motor crane brake energy absorption has the following disadvantages:

[0047] The input condition of the braking resistor is not clear, and the braking resistor is directly connected with the electric energy distribution unit, so when the braking resistor is not used, the second switch needs to be disconnected, the action frequency of the second switch is increased, the service life of the second switch is reduced, and the reliability is low when the braking resistor is used alone to consume the excess energy of the bus.

[0048] Embodiment one:

[0049] As shown in FIG. 2, it is a structural schematic diagram of the motor brake energy consumption control system, which comprises a thermal management system, a resistor braking system, a power distribution unit, a vehicle controller and the like.

[0050] The power distribution unit is connected to the high-voltage bus of the new energy automobile crane, and is used for distributing electric energy. The power distribution unit is connected to the power battery system, and is used for receiving and distributing battery energy; the power distribution unit is connected to the crane motor controller, the crane motor controller is connected to the crane motor, and the power distribution unit is used for distributing electric energy for the crane motor controller and receiving the braking energy generated by the crane motor; the power distribution unit is connected to the resistor braking system, and is used for distributing energy for the resistor braking system; and the power distribution unit is connected to the thermal management system, and is used for distributing energy for the thermal management system.

[0051] The vehicle controller is used for the overall control of the motor brake regenerative energy consumption of the new energy automobile crane, and is connected to the power battery system, used for interacting information with the power battery system, obtaining the SOC, the allowed charging current and the like of the power battery system; the vehicle controller is connected to the crane motor controller, used for interacting information with the crane motor controller, controlling the speed, torque and power information of the crane motor and obtaining the bus current and bus voltage of the crane motor controller.

[0052] The thermal management system comprises a thermal management controller, a water tank, a water pump, a PTC heater, a heat exchanger, an evaporation tank, a condenser, a heat dissipation fan, a compressor and a plurality of three-way valves.

[0053] The thermal management controller is connected with the vehicle controller, and is used for interacting with the vehicle controller and receiving a working mode and a refrigeration and heating instruction sent by the vehicle controller.

[0054] The PTC heater is connected to the power distribution unit, and the power distribution unit provides power required by the PTC heater for working; the vehicle controller is connected to the PTC heater through the thermal management controller, and is used for controlling the PTC heater to start heating when the on-board electric system is decelerated and braked. The PTC heater is used for generating heat to heat the coolant when powered on, so as to consume power.

[0055] The compressor is connected to the power distribution unit, and the power distribution unit provides power required by the compressor for working; the thermal management controller is connected to the compressor, and is used for controlling the compressor to start refrigeration when the on-board electric system is decelerated and braked. The compressor is used for refrigerating when powered on, so as to consume power.

[0056] The three-way valves include a first three-way valve, a second three-way valve, a third three-way valve and a fourth three-way valve, which correspond to the three-way valve 1, the three-way valve 2, the three-way valve 3 and the three-way valve 4 in FIG. 2 respectively.

[0057] The heat exchanger is connected to the three-way valve 1, the three-way valve 1 is connected to the water pump and the water tank through a three-way joint, and the water pump is connected to the PTC heater; the heat exchanger is connected to the PTC heater through the three-way valve 2, the PTC heater is arranged in the water circuit, and the evaporating tank is connected to the three-way valve 1 and the three-way valve 2 respectively, and the evaporating tank is arranged inside the off-board cab of the new energy vehicle crane.

[0058] The thermal management controller is connected to the three-way valve 1, the three-way valve 2, the water pump and the evaporating tank, and the thermal management controller controls the water pump to complete the coolant circulation. The thermal management controller controls the coolant circulation path by controlling the states of the three-way valve 1 and the three-way valve 2. When the on-board electric system is decelerated and braked, the thermal management controller controls the three-way valve 1 and the three-way valve 2 to be in state 1, the coolant is heated by the PTC heater and then flows to the heat exchanger through the three-way valve 2, and the coolant completes heat exchange through the heat exchanger and then flows back to the water pump through the three-way valve 1 to continue circulation; when the off-board cab of the new energy vehicle crane needs to be heated, the thermal management controller controls the three-way valve 1 and the three-way valve 2 to be in state 2, at this time, the coolant is heated by the PTC heater and then flows to the evaporating tank through the three-way valve 2, and completes heat exchange in the evaporating tank and then flows back to the water pump through the three-way valve 1 to continue circulation.

[0059] The condenser is connected to the heat exchanger through the three-way valve 3, and simultaneously, the condenser is connected to the evaporating tank through the three-way valve 3; the compressor is connected to the condenser, and the compressor is connected to the heat exchanger through the three-way valve 4, and simultaneously, the compressor is connected to the evaporating tank through the three-way valve 4.

[0060] The heat management controller is connected to the three-way valve 3, the three-way valve 4, the radiator and the evaporating box. The heat management controller controls the refrigerant circulation path by controlling the states of the three-way valve 3 and the three-way valve 4. When the on-board electric system deceleration brake is activated, the heat management controller controls the three-way valve 3 and the three-way valve 4 to be in state 1, at which time the refrigerant is compressed by the compressor and enters the condenser, and then enters the heat exchanger through the three-way valve 3. The refrigerant completes heat exchange through the heat exchanger and then returns to the compressor through the three-way valve 4 to continue circulation. When the new energy vehicle crane cab needs to be refrigerated, the heat management controller controls the three-way valve 3 and the three-way valve 4 to be in state 2, at which time the refrigerant flows to the evaporating box through the three-way valve 3, and then returns to the compressor through the three-way valve 4 to continue circulation after completing heat exchange in the evaporating box.

[0061] The heat dissipation fan is installed on the condenser for heat dissipation of the condenser. When the compressor is started to work, the heat management controller controls the heat dissipation fan to be started to work synchronously.

[0062] The three-way valve 1 and the three-way valve 4 described above at least include two states, state 1 in which the IN1 port and the OUT port are communicated, and state 2 in which the IN2 port and the OUT port are communicated. The three-way valve 2 and the three-way valve 3 described above at least include two states, state 1 in which the IN port and the OUT1 port are communicated, and state 2 in which the IN port and the OUT2 port are communicated.

[0063] The resistance braking system is used to generate heat when energized to consume electric energy. The resistance braking system includes a braking resistor and a braking unit. The braking unit is connected to the vehicle controller and receives the working instructions of the vehicle controller. The braking unit is connected to a power distribution unit, and the braking resistor is connected to the braking unit. The power distribution unit provides electric energy for the resistance braking system, and the braking resistor is used to convert electric energy into heat energy to consume electric energy. The braking unit is used to control the power of the braking resistor and monitor the temperature and fault information of the braking resistor.

[0064] Further, the vehicle controller is also used to determine the size of the braking current generated by the on-board motor controller and the allowable charging current value of the power battery system, so as to determine whether there is still a surplus after the braking current is distributed to the power battery system, and when it is determined that there is still a surplus, the remaining braking current is distributed to the heat management system and the resistance braking system according to its size.

[0065] When the SOC value of the power battery system is high and the power battery system is not allowed to recover electric energy, the vehicle controller allows the power battery system to consume electric energy by starting the resistance braking system and the heat management system, so as to appropriately reduce the SOC value until the power battery system is allowed to recover electric energy.

[0066] When the SOC value of the power battery system is high and the electric energy is not allowed to be recycled, the vehicle controller controls the braking current of the on-board motor system to be less than the sum of the braking current allowed by the thermal management system and the resistance braking system, so as to ensure the on-board motor system to continue to work and protect the power battery system.

[0067] Further, the PTC heater and the compressor of the thermal management system can be used alone to consume the motor braking energy through cold and heat balance.

[0068] Embodiment two:

[0069] The application further provides a control method of the control system of the motor braking energy consumption, and specifically includes the following steps:

[0070] The vehicle controller determines whether the new energy vehicle crane enters the on-board operation condition, and sends the determination result to the thermal management controller.

[0071] The vehicle controller determines whether the power battery system allows the electric energy to be recycled.

[0072] If the power battery system allows the electric energy to be recycled, when the on-board motor is in the deceleration braking mode, the vehicle controller determines the size relationship between the braking energy and the allowed charging amount of the power battery system; when the braking energy of the on-board motor is less than the allowed charging amount of the power battery system, the braking energy is distributed to the power battery system for charging; when the braking energy is greater than the allowed charging amount of the power battery system, the vehicle controller starts the resistance braking system and / or the thermal management system to consume the energy, sets the thermal management system to the braking energy consumption mode, and distributes the remaining energy to the resistance braking system and / or the thermal management system.

[0073] The control method of the motor braking energy consumption provided by the application distributes the braking energy to the resistance braking system and the thermal management system, and further includes:

[0074] When the energy consumption of the resistance braking system and / or the thermal management system is started, the resistance braking system or the thermal management system or both can be started according to the braking power, so that the energy of the power battery is not consumed by the resistance braking system and the thermal management system, thereby improving the energy use efficiency and saving energy. Specifically, assuming that the difference between the current generated by the motor braking and the current allowed to be recovered by the power battery system is f, the braking current that can be consumed by the resistance braking system is a, the braking current that can be consumed by the thermal management system is b, and the values of a and b are compared. When f is less than the smaller one of a and b, the system with the smaller current is started alone to consume the braking energy; when f is greater than the smaller one of a and b and less than the larger one, the system with the larger current is started alone to consume the braking energy; when f is greater than the larger one of a and b, both the systems corresponding to a and b are started to consume the braking energy, and the size of f is limited by limiting the torque and speed of the motor to be started, so that f is not greater than the sum of a and b.

[0075] The control method of the motor braking energy consumption of the application allocates the braking energy to the resistance braking system and the thermal management system, and further comprises:

[0076] When the thermal management controller receives the starting work condition and the braking energy consumption mode instruction sent by the vehicle controller, the thermal management system consumes electric energy in the form of heat exchange by starting the PTC, the water pump, the compressor, the cooling fan, and placing the three-way valve 1, the three-way valve 2, the three-way valve 3, and the three-way valve 4 in state 1. When the thermal management system does not receive the starting work condition or the braking energy consumption mode instruction, the thermal management controller can respond to the refrigeration or heating instruction of the cab air conditioning panel, and at this time, the thermal management controller controls the three-way valve 1, the three-way valve 2, or the three-way valve 3, and the three-way valve 4 to be in state 2, so that the heating of the PTC or the refrigeration of the compressor enters the cab.

[0077] When the winch motor, the slewing motor, and / or the luffing motor are decelerated and braked, the vehicle controller calculates the motor braking power and judges whether the battery meets the energy recovery condition. If the power battery does not meet the energy recovery condition at this time, the resistance braking system and / or the thermal management system is opened according to the braking power, and the motor braking energy is consumed by the braking resistance and / or the PTC heater and the air conditioning compressor of the thermal management system, so that the bus voltage is maintained at a normal level.

[0078] The priority order of opening the braking resistance and the thermal management system and whether to open the braking resistance and the thermal management system at the same time depends on the size of the braking power.

[0079] Embodiment three:

[0080] The embodiment provides an automobile crane comprising the control system of the motor braking energy consumption mentioned in the embodiment one.

[0081] Embodiment four:

[0082] The embodiment provides a computer readable storage medium, and computer programs / instructions are stored on the computer readable storage medium. The computer programs / instructions are executed by a processor to implement a control method of a motor braking energy consumption control system mentioned in embodiment two. The control method comprises the following steps.

[0083] When the boarding operation is performed and the deceleration braking state of the boarding motor is obtained, it is determined whether the braking current of the boarding electric system is greater than the preset charging current of the power battery system.

[0084] If the braking current of the boarding electric system is not greater than the preset charging current of the power battery system, the power battery system recovers the braking current.

[0085] If the braking current of the boarding electric system is greater than the preset charging current of the power battery system, the difference between the braking current of the boarding electric system and the preset charging current of the power battery system is used to start the resistance braking system and / or the heat management system to consume energy.

[0086] The above only describes the preferred embodiments of the present application. It should be noted that those skilled in the art can make some improvements and modifications without departing from the technical principles of the present application. These improvements and modifications should also be considered as the protection scope of the present application.

Claims

1. A control method of electric machine braking energy consumption, characterized in that, The control method comprises the following steps: When the pickup operation is performed, the deceleration braking state of the pickup motor is acquired, and it is determined whether the braking current of the pickup electric system is greater than the preset back charging current of the power battery system; If the braking current of the pickup electric system is not greater than the preset back charging current of the power battery system, the power battery system recovers the braking current; If the braking current of the pickup electric system is greater than the preset back charging current of the power battery system, the difference between the braking current of the pickup electric system and the preset back charging current of the power battery system is used to start the resistor braking system and / or the heat management system to consume energy.

2. The control method according to claim 1, characterized by, The resistor braking system and / or the heat management system consume energy according to the difference between the braking current of the pickup electric system and the preset back charging current of the power battery system, which comprises the following steps: If the difference between the braking current of the pickup electric system and the preset back charging current of the power battery system is less than the preset current value of the resistor braking system, an opening instruction is sent to the resistor braking system; If the difference between the braking current of the pickup electric system and the preset back charging current of the power battery system is less than the preset current value of the heat management system, an opening instruction is sent to the heat management system; If the difference between the braking current of the pickup electric system and the preset back charging current of the power battery system is greater than the preset current value of the resistor braking system or the heat management system, an opening instruction is sent to the resistor braking system and the heat management system.

3. The control method according to claim 2, characterized by, The difference between the braking current of the pickup electric system and the preset back charging current of the power battery system does not exceed the maximum preset current value of the resistor braking system or the heat management system when the opening instruction is sent to the resistor braking system and the heat management system.

4. A computer readable storage medium having stored thereon computer programs / instructions, characterized in that, The computer program / instruction is executed by the processor to implement the control method of any one of claims 1-3.

5. A control system for motor braking energy consumption, characterized in that, The control method of any one of claims 1-3 comprises the following steps: The whole vehicle controller is connected with the resistor braking system, the heat management system, the power battery system and the pickup electric system respectively, and is used to send a working instruction; The heat management system is used to interact with the whole vehicle controller and receive the working instruction sent by the whole vehicle controller; The resistor braking system is used to receive the working instruction of the whole vehicle controller and generate heat to consume energy when powered on; The power distribution unit is connected with the high-voltage bus of the automobile crane at one end and connected with the power battery system, the pickup electric system, the resistor braking system and the heat management system at the other end, and is used to distribute electric energy; The power battery system is used to interact with the whole vehicle controller; The pickup electric system is used to control the pickup deceleration braking.

6. The control system of claim 5, wherein, The heat management system comprises a heat management controller, a water tank, a water pump, a PTC heater, a heat exchanger, an evaporation tank, a condenser, a compressor and a plurality of three-way valves; The heat management controller is connected with the water pump, the PTC heater, the compressor, the whole vehicle controller and the plurality of three-way valves, and is used to interact with the whole vehicle controller and receive the working instruction sent by the whole vehicle controller; The heat exchanger and the evaporation tank are connected with the water tank and the water pump through a first three-way valve, and the water pump is connected with the PTC heater, The heat exchanger and the evaporation tank are connected with the PTC heater through a second three-way valve, The heat exchanger and the evaporation tank are connected with one end of the condenser through a third three-way valve, and the other end of the condenser is connected to the compressor, The heat exchanger and the evaporation box are connected with the compressor through a fourth three-way valve.

7. The control system of claim 5, wherein, The resistance braking system comprises a braking unit connected with the power distribution unit, and a braking resistance connected with the braking unit; The braking unit is connected with the vehicle controller, receives the working instruction of the vehicle controller, controls the power of the braking resistance, and monitors the temperature and fault information of the braking resistance.

8. The control system of claim 5, wherein, The on-board electric system comprises an on-board motor controller connected with the power distribution unit, and an on-board motor connected with the on-board motor controller, wherein the power distribution unit distributes electric energy to the on-board motor controller and receives the braking energy generated by the on-board motor.

9. A truck crane, characterized in that The control system according to any one of claims 5-8.

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