CN102355187A - Control system for novel mining lithium iron phosphate direct current separately-excited chopping speed regulation electric locomotive - Google Patents
Control system for novel mining lithium iron phosphate direct current separately-excited chopping speed regulation electric locomotive Download PDFInfo
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Abstract
The invention discloses a control system for a novel mining lithium iron phosphate direct current separately-excited chopping speed regulation electric locomotive. The system comprises a battery pack management device, a direct current separately-excited electric locomotive chopping speed regulation control device and a charger which are connected with an explosion-proof plug respectively. The direct current separately-excited electric locomotive chopping speed regulation control device comprises a chopper controller, a power conversion module, a photoelectric setter, three insulated gate bipolar transistors, two Hall current sensors, a charging capacitor, three direct current contactors, a booster coil, a motor armature winding, a motor excitation winding and two paths. The system has the advantages of high reliability, high starting torque and good braking effects.
Description
Technical field
The present invention relates to the mining electric locomotive control system.
Background technology
Mining electric locomotive is the important transportation instrument of colliery industry, and the quantity of in the colliery, using is more and more.The electric locomotive of using is main with mechanical hatching gate still when brake at present; A little less than this brake modes does not exist electric braking or electric braking power; Often need assist certain mechanism that sands; Increase frictional force; Use inconvenience, particularly in growing apart from the descending transportation, the electric energy that the kinetic energy of electric locomotive motion can not convert battery to stores; The recovery of energy cannot be accomplished, the service time of battery can not be further prolonged; And electrokinetic cell all adopts lead-acid battery; The cycle life of lead-acid battery is poor; The big heavy of volume; Plumbous and sulfuric acid all can contaminated environment; Charge cycle is long, and cost is increasing year by year, when motor is operated under the on-position; The mechanical energy that motor itself is had can not be converted into the electric energy of electrokinetic cell, waste a part of energy.
Summary of the invention
The object of the present invention is to provide a kind of direct current separate excitation chopping regulating speed electric locomotive managing and control system, have the reliability height, staring torque is big, the advantage of good braking effect.
The present invention to achieve these goals, the technical solution of employing is:
Direct current separate excitation chopping regulating speed electric locomotive managing and control system comprises the management device of battery pack, direct current separately excited machine car chopping regulating speed control device and the charger that are connected respectively with the flame proof latch;
DC chopper excited motor vehicle speed control devices, including chopper controller, power conversion module, optoelectronic devices for a given, three insulated gate bipolar transistors, two Hall current sensors, charging capacitor, three DC contactors , boost coil motor armature windings, the motor field winding and two pathways; photoelectric given, voltage transformation module chopper controller, respectively, the first DC contactor coil, a second DC contactor coil respectively chopper controller; third DC contactor coil is connected between the two paths, a third DC contactor normally open contact connected to the first path, three insulated gate bipolar transistor a gate connected respectively with the chopping controller; motor excitation winding with two, in series with the first passage connected at one end, the other end of the first insulated gate bipolar transistor is connected to the collector, one end of the first Hall current sensor in the motor field winding and the first insulated gate bipolar transistor between the collector and the other end connected to the controller with the chopper, the first DC contactor normally open contacts and normally closed contacts in series, and the second DC contactors The normally open contacts and normally closed contacts in series, normally open and normally closed contacts connected to the common terminal motor armature winding, two normally closed contacts and then connect a second after the passage of two normally open contacts After the connection point and then a third insulated gate bipolar transistor emitter, and the third insulated gate bipolar transistor is connected to the collector of the first passage, a second current sensor connected at one end and two normally closed contacts connected at the other end of the chopper controller, a second insulated-gate bipolar transistor connected between the two paths, the second insulated gate bipolar transistor after the boost coil connected to the collector of the third insulated gate electrode type transistor is connected to the emitter, the second insulated gate bipolar transistor to charge the capacitor connected to the collector.
Further, said management device of battery pack comprises battery management processor, display, blow-out contactor, ferric phosphate lithium cell group, and the battery management processor is connected with display, and the coil of blow-out contactor is connected with the battery management processor; After the ferric phosphate lithium cell group forms a branch road by N joint ferric phosphate lithium cell series connection back; Again that the M bar is same branch road is formed in parallel; After the ferric phosphate lithium cell group connects the normally opened contact of blow-out contactor; Be connected with the flame proof latch; Every joint ferric phosphate lithium cell is furnished with the battery control board; Integrated voltage detecting circuit on the battery control board; Temperature sensing circuit; Voltage balance circuit; After each battery control board is connected through bus; Be connected with the battery management processor; Be connected with the insulated gate bipolar transistor npn npn on every ferric phosphate lithium cell series arm; All there are two paths that comprise the CMOS pipe at the two ends of every joint ferric phosphate lithium cell, and the end that is in the path that comprises the CMOS pipe on same the ferric phosphate lithium cell series arm is connected.
Beneficial effect of the present invention:
Excited DC motor connected, the motor armature windings and the third insulated gate bipolar transistors connected in series, the motor excitation winding of the first insulated gate bipolar transistors connected in series, the motor armature winding and field winding are subject to the chopper control controlled separately, were detected by the current sensor and the motor armature winding of the motor current on the excitation winding, the current closed-loop control structure, to ensure that the armature winding current and excitation winding current are approximately equal, in order to achieve series excitation motor Features: starting characteristic soft, traction train according to driving conditions and automatically adjust the running resistance; smaller starting current of a larger starting torque; multiple motors simultaneously, the more balanced load distribution.
The electromagnetic system power of direct current separately excited machine is bigger; When downslope motion; Electric locomotive is operated in on-position, becomes DC generator through the boost inductance coil and the second insulated gate bipolar transistor dc separately excited motor, and gravitional force converts electric energy to and recharges in the ferric phosphate lithium cell group.
The battery management processor, overtension, brownout, the temperature that detects battery is too high, during the electric current overload, and the battery management system processor is all with automatic disconnection blow-out contactor, the protection battery pack.
Description of drawings
Fig. 1 is the circuit diagram of direct current separately excited machine car chopping regulating speed control device.
Fig. 2 is the circuit diagram of management device of battery pack.
Fig. 3 is the circuit diagram of a ferric phosphate lithium cell series arm.
Embodiment
Below in conjunction with Fig. 1 to Fig. 3 the present invention is elaborated:
Direct current separate excitation chopping regulating speed electric locomotive managing and control system comprises the management device of battery pack, direct current separately excited machine car chopping regulating speed control device and the charger that are connected respectively with the flame proof latch.
Direct current separately excited machine car chopping regulating speed control device comprises copped wave controller, power conversion module, photoelectricity control point adjustment, three insulated gate bipolar transistor IGBTs 1, IGBT2, IGBT3, two Hall current sensors 51,52, charging capacitor 2, three D.C. contactor KM1, KM2, KMP, step-up coil L, armature winding S1, motor excitation winding C1, C2 and two paths 3,4.Photoelectricity control point adjustment, voltage transformation module are connected with the copped wave controller respectively, and the coil of the coil of the first D.C. contactor KM1, the second D.C. contactor KM2 is connected with the copped wave controller respectively; The coil of the 3rd D.C. contactor KMP is connected two paths 3, between 4; The normally opened contact of the 3rd D.C. contactor KMP is connected on first path 3, and the grid of three insulated gate bipolar transistor IGBTs 1, IGBT2, IGBT3 is connected with the copped wave controller respectively.Motor excitation winding C1, C2 series connection back one end are connected with first path 3; The other end is connected with the colelctor electrode of first insulated gate bipolar transistor IGBT 1; First Hall current sensor 51 1 terminates between the colelctor electrode of the motor excitation winding C2 and first insulated gate bipolar transistor IGBT 1; The other end is connected with the copped wave controller; The normally opened contact of the first D.C. contactor KM1 and normally-closed contact series connection; The normally opened contact of the second D.C. contactor KM2 and normally-closed contact series connection; The common port of normally opened contact and normally-closed contact is connected armature winding S1; Two normally-closed contacts also connect back connection alternate path 4; Two normally opened contacts also connect the emitter stage that the back connects the 3rd insulated gate bipolar transistor IGBT 3; The colelctor electrode of the 3rd insulated gate bipolar transistor IGBT 3 is connected with first path 3; Second Hall current sensor 52 1 terminates at two normally-closed contact joints, and the other end is connected with the copped wave controller.Second insulated gate bipolar transistor IGBT 2 is connected on two paths 3, between 4; The collector electrode of second insulated gate bipolar transistor IGBT 2 is connected with the emitter of the 3rd insulated gate bipolar transistor IGBT 3 after connecting step-up coil L, and the collector electrode of second insulated gate bipolar transistor IGBT 2 connects charging capacitor 2.
Management device of battery pack comprises battery management processor, display, blow-out contactor KM, ferric phosphate lithium cell group, and the battery management processor is connected with display, and the coil of blow-out contactor KM is connected with the battery management processor.After the ferric phosphate lithium cell group forms a branch road by N joint ferric phosphate lithium cell series connection back; Again that the M bar is same branch road is formed in parallel; After the ferric phosphate lithium cell group connects the normally opened contact of blow-out contactor KM; Be connected with the flame proof latch; Every joint ferric phosphate lithium cell is furnished with the battery control board; Integrated voltage detecting circuit on the battery control board; Temperature sensing circuit; Voltage balance circuit; After each battery control board is connected through bus 6; Be connected with the battery management processor; Be connected with insulated gate bipolar transistor npn npn 7 on every ferric phosphate lithium cell series arm; All there are two paths that comprise the CMOS pipe at the two ends of every joint ferric phosphate lithium cell, and the end that is in the path that comprises the CMOS pipe on same the ferric phosphate lithium cell series arm is connected.
The main feature of direct current separately excited machine car chopping regulating speed control device:
1) direct current machine adopts the separate excitation mode to connect; Armature winding S1 connects with IGBT3; Excitation winding C1C2 connects with IGBT1; Armature winding and excitation winding are controlled separately by the copped wave controller all; Detect the electric current on armature winding and the excitation winding respectively through Hall current sensor; In the current closed-loop control structure; Guarantee the electric current of armature winding and the electric current approximately equal of excitation winding; Thereby realize the characteristic of series machine: starting characteristic is soft, and tractive effort can be regulated according to train driving condition and running resistance automatically; Less starting current obtains bigger starting torque; When multiple electric motors was worked simultaneously, sharing of load was relatively more balanced.Under the different phase, the state of each device is:
Stage to overtake: KMP KM1 adhesive, KM2 breaks off, IGBT1 IGBT3 copped wave control, IGBT2 quits work.
Travel phase backward: KMP KM2 adhesive, KM1 breaks off, IGBT1IGBT3 copped wave control, IGBT2 quits work.
The IGBT power tube of working when electric locomotive quickens with high-ball is the same, but the angle of flow during high-ball is 100%.
2) the electromagnetic system power of direct current separately excited machine is bigger; When downslope motion; Electric locomotive is operated in on-position, becomes DC generator through boost inductance coil L and power tube IGBT2 dc separately excited motor, and the electric energy that gravitional force converts to is recharged in the ferric phosphate lithium cell group.Under the different phase, the state of each device is:
Deboost phase forward: KMP KM1 adhesive, KM2 breaks off, IGBT1 IGBT2 copped wave control, IGBT3 quits work.
Deboost phase backward: KMP KM2 adhesive, KM1 breaks off, IGBT1 IGBT2 copped wave control, IGBT3 quits work.
Copped wave control behind diode, buffer capacitor array, KMP contacts of contactor, gas cutoff instrument, flame proof latch, to the charging of ferric phosphate lithium cell group, thereby has prolonged the service time of power battery pack behind step-up coil L boosted voltage.
3) after interior contactor KMP KM1 of copped wave control cabinet or the adhesive of KM2 elder generation, increase the electric current in motor excitation winding or the armature winding gradually by IGBT again, contactor is a no arc switching, non-contact loss, long service life.Contactor KMP can prevent the external battery pack reversal connection, and no-voltage in the copped wave control cabinet also provides path for feedback circuit simultaneously during reversal connection.Contactor KM1 and KM2 are used for changing the armature winding sense of current, thereby change the rotating of motor.
4) adopt the modular construction design; The flame proof latch can directly link to each other with electrical source of power; The Hall current sensor and the photoelectricity control point adjustment linearity are high; Good stability; Adopt closed-loop control system, after 2 Hall current sensors detect over current of motor or 2 overheated actions of temperature detect switch (TDS), the copped wave controller all will block IGBT copped wave and export; Thereby protected motor and IGBT power tube, reduced the failure rate of electric equipment.In the high environment of coal mine gas concentration, system is power-off protection automatically, prevents that blast from taking place, and meets the safety regulations in coal mine requirement.
5) photoelectricity control point adjustment output 0 to 4V analog voltage signal; When the electric locomotive driver turns right the operation handle; The drive travel switch is closed; Pivot angle according to the operation handle; Photoelectricity control point adjustment output corresponding simulating voltage, when the electric locomotive driver turned left the operation handle, it was closed to drive brake switch; According to the pivot angle of operation handle, photoelectricity control point adjustment output corresponding simulating voltage.The copped wave controller is regulated the duty ratio that the IGBT power tube drives pwm signal again according to the given voltage of photoelectricity control point adjustment, and driver operation handle pivot angle is big more, and given aanalogvoltage is high more, and the duty ratio of pwm signal is high more, and electric locomotive speed is fast more.
6) under starting, speed governing and acceleration situation, the voltage input copped wave processing controller that the photoelectricity control point adjustment is given, the proportional with it pwm signal control of output duty cycle IGBT3 break-make, and then generation armature winding electric current I then
aThis electric current is behind Hall current sensor; Produce 0-4V analog signal input copped wave processing controller; Regulate algorithm through internal current closed loop PID (Proportion Integration Differentiation proportion integration differentiation); The proportional with it pwm signal control of output duty cycle IGBT1 break-make, and then produce the excitation winding electric current I
f, this electric current produces 0-4V analog feedback signal input copped wave processing controller behind Hall current sensor, and with the break-make frequency of adjustment IGBT1, the signal voltage that two Hall current sensors are produced equates, also promptly realizes series excitation starting current characteristic I
a=I
f
7) under the braking situation, the voltage input copped wave processing controller that the photoelectricity control point adjustment is given, the proportional with it pwm signal of output duty cycle is controlled the IGBT2 break-make then, and then produces reverse armature induction electric current I
a, charge to the ferric phosphate lithium cell group.This moment given rated exciting current value I
N, regulate algorithm through internal current closed loop PID, the proportional with it pwm signal control of output duty cycle IGBT1 break-make, and then produce the excitation winding electric current I
f, this electric current produces 0-4V analog feedback signal input copped wave processing controller behind Hall current sensor, and the break-make frequency with adjustment IGBT1 makes exciting current I as early as possible
f=I
N, excitation field is more intense and can control like this, so braking force is big, and good braking effect.
8) possess complete sequential logic protection, abnormal operation as changing motor steering in the electric locomotive driving process, is all forbidden response by the copped wave controller.
The main feature of management device of battery pack:
1) ferric phosphate lithium cell is in the connection in series-parallel anabolic process; If first m joint parallel connection; Again with the series connection of the group of the n after the parallel connection; Although can simplify the structure of battery management system; Reduce its cost; But be difficult to realize detection adjusting to the cell electric current; 1 batteries fault; The cell charging and discharging currents that then should organize in residue m-1 joint cell charging and discharging currents and all the other n-1 group no longer equates; Accumulation can cause the deterioration of whole battery group performance when long; Therefore adopted first series connection n batteries; The compound mode of parallelly connected then m branch road is 3.2V according to the voltage of LiFePO4 cell, and it is 100Ah that the colliery limits the monomer heap(ed) capacity; Then the voltage of battery pack is 3.2*n after the connection in series-parallel, and heap(ed) capacity is 100*mAh.
2) every joint ferric phosphate lithium cell is equipped with 1 battery control board; Integrated voltage detecting circuit, temperature sensing circuit and balancing performance circuit on each battery control board; All embedded battery control boards are through 4 core CAN buses; Be connected to the battery management system processor; On the branch road of every series connection, also has 1 Hall current sensor; Also be connected to the battery management system processor; During, electric current overload too high when the overtension that detects battery, brownout, temperature, the battery management system processor is all with automatic disconnection blow-out contactor KM.
3) the embedded battery control board has electric voltage equalization and current balance function; All there are 2 paths that comprise the CMOS pipe at arbitrary batteries two ends; And electric voltage equalization is continual always the adjusting; Because of the cell pressure drop is 3.2V; Euqalizing current is less than 1A; So adopt CMOS pipe low-cost, voltage-controlled type to serve as electronic switch, respectively the control signal Q that produces by the embedded battery control board
V1Q
V2Q
V3Q
V4Q
V (2n-1)Q
V (2n)Control these electronic switches, carry out electric voltage equalization and regulate.For preventing that battery discharge current is different on the different branch; And discharging current can reach amperes up to a hundred; So on every branch road, be connected in series 1 insulated gate bipolar transistor; Although the price of insulated gate bipolar transistor is high slightly; But the quantity of parallel branch generally can be above 6 in a connection in series-parallel battery pack; The compare price of LiFePO4, the cost of battery management system is very low.
At the electric locomotive duration of work, control Q
V1Q
V2Q
V3Q
V4Q
V (2n-1)Q
V (2n)Signal; All electric voltage equalization cmos switches are broken off; Guaranteed the lasting noiseless of battery discharge; And in electric locomotive section standby time; Voltage energy shifts and controlled by the embedded battery control board; Between each embedded battery control board,, controlled by the battery management system processor through 4 core CAN buses.The transfer of voltage energy can only be carried out between two adjacent batteries, and promptly the r batteries is if shifting energy demand to the t batteries shifts r-t time, as long as adjacent two batteries electric voltage equalizations, then any two batteries voltages also are balanced in the whole battery group.
In Fig. 3, be example with the n# battery to the 1# battery, the process that energy shifts is described:
1. Q
V4Q
V (2n)Effectively, the n# battery discharge stores energy in the inductance capacitance device.
2. Q
V (2n)Invalid, Q
V3Effectively, inductance produces induced electromotive force to the 2# battery charge, and energy stored is transferred to battery.
3. Q
V2Q
V (2n-1)Effectively, the 2# battery discharge stores energy in the inductance capacitance device.
4. Q
V (2n-1)Invalid, Q
V1Effectively, inductance produces induced electromotive force to the 1# battery charge, and energy stored is transferred to battery.
Branch current is regulated and controlled by the battery management system processor; Under the situation that band carries; The size of branch current is regulated through closed-loop control system automatically; Carry out signal feedback through the electric current on the Hall current sensor detection branch; When electric current is bigger than normal, produce the Q of low duty ratio by the battery management system processor
ImThe current balance signal reduces the electric current on this branch road; Otherwise, when electric current is less than normal, produce the current balance signal of high duty ratio.During overheated or fault, then break off the response branch road at battery, and on display display alarm information, remind and in time change or the maintenance battery.
4) in order to reduce the electric locomotive circuitry consumes that external circuit continues when idle, increase by 1 mains switch in the system service time of further improving battery, had only after the mains switch closure, could pass through flame proof latch output/input voltage.
5) if the flame proof latch is connected to the copped wave control cabinet, then the ferric phosphate lithium cell group is in power supply state, and the electric energy of storage changes the kinetic energy of electric locomotive into; If the flame proof latch is connected to charger, then the ferric phosphate lithium cell group is in charged state, and charging begins to adopt constant current charge; Big electric current when preventing low pressure; Later stage in charging is adopted constant voltage charge, prevents that charged battery voltage is too high, and Wai Bu electric energy just changes the electric energy in the battery into like this.
6) display adopts the TFT LCD, and circulation shows the voltage and the temperature of every batteries, the total voltage of battery pack and mean temperature; The charging and discharging currents of every branch road, and total charging and discharging currents of battery pack are if there is fail battery; Then show the fail battery numbering; Prompting changing if overtension, too high, the electric current overload warning of temperature are arranged, then shows corresponding warning message; The convenient processing; If brownout is arranged, then show corresponding warning message, remind charging in time.
Certainly, above-mentioned explanation is not to be limitation of the present invention, and the present invention also is not limited in above-mentioned giving an example, and variation, remodeling, interpolation or replacement that the technical staff in present technique field is made in essential scope of the present invention also should belong to protection scope of the present invention.
Claims (2)
1. direct current separate excitation chopping regulating speed electric locomotive managing and control system is characterized in that: comprise the management device of battery pack, direct current separately excited machine car chopping regulating speed control device and the charger that are connected respectively with the flame proof latch;
DC chopper excited motor vehicle speed control devices, including chopper controller, power conversion module, optoelectronic devices for a given, three insulated gate bipolar transistors, two Hall current sensors, charging capacitor, three DC contactors , boost coil motor armature windings, the motor field winding and two pathways; photoelectric given, voltage transformation module chopper controller, respectively, the first DC contactor coil, a second DC contactor coil respectively chopper controller; third DC contactor coil is connected between the two paths, a third DC contactor normally open contact connected to the first path, three insulated gate bipolar transistor a gate connected respectively with the chopping controller; motor excitation winding with two, in series with the first passage connected at one end, the other end of the first insulated gate bipolar transistor is connected to the collector, one end of the first Hall current sensor in the motor field winding and the first insulated gate bipolar transistor between the collector and the other end connected to the controller with the chopper, the first DC contactor normally open contacts and normally closed contacts in series, and the second DC contactors The normally open contacts and normally closed contacts in series, normally open and normally closed contacts connected to the common terminal motor armature winding, two normally closed contacts and then connect a second after the passage of two normally open contacts After the connection point and then a third insulated gate bipolar transistor emitter, and the third insulated gate bipolar transistor is connected to the collector of the first passage, a second current sensor connected at one end and two normally closed contacts connected at the other end of the chopper controller, a second insulated-gate bipolar transistor connected between the two paths, the second insulated gate bipolar transistor after the boost coil connected to the collector of the third insulated gate electrode type transistor is connected to the emitter, the second insulated gate bipolar transistor to charge the capacitor connected to the collector.
2. direct current separate excitation chopping regulating speed electric locomotive managing and control system according to claim 1; It is characterized in that: said management device of battery pack; Comprise battery management processor, display, blow-out contactor, ferric phosphate lithium cell group; The battery management processor is connected with display, and the coil of blow-out contactor is connected with the battery management processor; After the ferric phosphate lithium cell group forms a branch road by N joint ferric phosphate lithium cell series connection back; Again that the M bar is same branch road is formed in parallel; After the ferric phosphate lithium cell group connects the normally opened contact of blow-out contactor; Be connected with the flame proof latch; Every joint ferric phosphate lithium cell is furnished with the battery control board; Integrated voltage detecting circuit on the battery control board; Temperature sensing circuit; Voltage balance circuit; After each battery control board is connected through bus; Be connected with the battery management processor; Be connected with the insulated gate bipolar transistor npn npn on every ferric phosphate lithium cell series arm; All there are two paths that comprise the CMOS pipe at the two ends of every joint ferric phosphate lithium cell, and the end that is in the path that comprises the CMOS pipe on same the ferric phosphate lithium cell series arm is connected.
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| CN102355187B (en) | 2014-06-18 |
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