CN103465846B - A kind of electric wheel mining vehicle drive control system - Google Patents
A kind of electric wheel mining vehicle drive control system Download PDFInfo
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- CN103465846B CN103465846B CN201310423049.3A CN201310423049A CN103465846B CN 103465846 B CN103465846 B CN 103465846B CN 201310423049 A CN201310423049 A CN 201310423049A CN 103465846 B CN103465846 B CN 103465846B
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Abstract
The present invention relates to a kind of electric wheel mining vehicle drive control system, electric wheel mining vehicle has N number of electric wheel, each electric wheel of electric wheel mining vehicle installs a motor, vehicle management controller is respectively by control cables and rectification brak control unit, powerplant module controller is connected with M electric machine controller, vehicle management controller sends throttle signal to powerplant module controller by CAN, vehicle management controller sends sub-gate signal by CAN, switching signal, braking allows signal to send to rectification brak control unit, vehicle management controller sends gear signal by CAN, rate of braking signal, braking allows signal, throttle high low signal gives each electric machine controller, each electric machine controller is connected with a corresponding motor.Present invention employs multiple-shaft whole-wheel drive scheme, power and the volume of each motor substantially reduce, and its design, manufacture difficulty and cost reduce greatly.
Description
Technical field
The invention belongs to electric wheel mining vehicle Drive Control Technique field, be specifically related to a kind of electric wheel mining vehicle drive control system.
Background technology
Current mining dump truck with electric wheels is widely used in the exploitation of large surface mine, and special multiaxis mining dump truck with electric wheels is mechanical, electrical, liquid integrated product, because its load-carrying capacity is large, is mainly used in the above large surface mine exploitation of ton.Up to now, the large-tonnage mining dump truck with electric wheels of domestic use all adopts 4 × 2 type of drive (twin shaft mine car), and the overwhelming majority still dependence on import, electric wheel mining vehicle electric drive system is all adopt single shaft Dual Drive motor centralized control scheme, each motor has very large power and volume, manufactures and designs difficulty and cost is all very high.This electric wheel mining vehicle control adopts centralized control scheme, all power and control element all Unitings, centralized arrangement.Along with the development of multiaxis mining dump truck with electric wheels, four axle mining dump truck with electric wheels have started to occur, this kind of vehicle can reduce 5% relative to traditional twin shaft mine car consumption of fuel, also can reduce haulway construction cost and better to compatible with environment, it is the inevitable direction of mining dump truck with electric wheels development, if but driving control system supporting with it or employing single shaft Dual Drive motor centralized control scheme, just mean that power and the volume needs of each motor are larger, that is centralized control solution technique difficulty is taked to be difficult to meet requirements, and the generalization degree of centralized control technique is low, poor expandability, cost is very high.
Summary of the invention
Technical matters to be solved by this invention is to provide one and takes decentralised control, generalization degree high, and extensibility is strong, the electric wheel mining vehicle drive control system that cost is low.
For solving the problems of the technologies described above, technical scheme of the present invention is:
A kind of electric wheel mining vehicle drive control system, described electric wheel mining vehicle has N number of electric wheel, described driving control system comprises the motor be arranged on each electric wheel, also comprise vehicle management controller, rectification brak control unit, powerplant module controller and M electric machine controller, described vehicle management controller is respectively by control cables and described rectification brak control unit, described powerplant module controller is connected with M described electric machine controller, described vehicle management controller sends throttle signal to described powerplant module controller by CAN, described vehicle management controller sends sub-gate signal by CAN, switching signal, braking allows signal to described rectification brak control unit, described vehicle management controller sends gear signal by CAN, rate of braking signal, braking allows signal, throttle high low signal is to M described electric machine controller, each described electric machine controller described motor corresponding to connects.
Further, described electric wheel mining vehicle drive control system also comprises man-machine interface, described man-machine interface is connected with described vehicle management controller by control cables, and described electric wheel mining vehicle working state signal, alerting signal are sent to described man-machine interface by CAN by described vehicle management controller.
Preferably, described rectification brak control unit comprises left rectification brak control unit and right rectification brak control unit, described vehicle management controller is connected with left rectification brak control unit, right rectification brak control unit respectively by control cables, and described vehicle management controller allows signal to send to described left rectification brak control unit, right rectification brak control unit by CAN CAN2 transmission sub-gate signal, switching signal, braking.
Preferably, described powerplant module controller comprises left powerplant module controller and right powerplant module controller, described vehicle management controller is connected with described left powerplant module controller, right powerplant module controller respectively by control cables, and described vehicle management controller sends throttle signal to described left powerplant module controller, right powerplant module controller by CAN CAN1.
Preferably, described rectification brak control unit comprises rectification brake control module the one DSP, rectification unit and brake unit, described rectification brake control module the one DSP comprises IGBT control module, described rectification unit comprises circuit breaker parallel with one another, diode rectifier bridge and the first electric capacity of voltage regulation, described circuit breaker is connected to described rectification brake control module the one DSP port, and it is in parallel with diode rectifier bridge and the first electric capacity of voltage regulation, described brake unit comprises the first braking resistor, second braking resistor, DC fan, IG1 module, 1G2 module and IG3 module, wherein IG1 module, 1G2 module, IG3 module is parallel with one another and be connected with IGBT control module respectively, first braking resistor R1 and IG1 block coupled in series, second braking resistor and IG2 block coupled in series, DC fan and IG3 block coupled in series.
Preferably, described electric machine controller comprises motor control module, IGBT three phase inverter bridge, the second electric capacity of voltage regulation, wherein said IGBT three phase inverter bridge is in parallel with described second electric capacity of voltage regulation, and each IG module in described IGBT three phase inverter bridge is connected with motor control module DSP respectively.
The invention has the beneficial effects as follows and have employed multiple-shaft whole-wheel drive scheme, drive wheel quantity increases greatly, corresponding number of motors increases greatly, originally the power averaging only having 2 motors to bear is assigned on multiple motor, so the power of each motor and volume substantially reduce, its design, manufacture difficulty and cost reduce greatly; Achieve many motors Collaborative Control simultaneously, greatly improve traveling and the hill climbing ability of vehicle.
Accompanying drawing explanation
Fig. 1 is embodiment of the present invention electric wheel mining vehicle drive control system schematic diagram;
Fig. 2 is rectification brak control unit schematic diagram in embodiment of the present invention electric wheel mining vehicle drive control system;
Fig. 3 is electric machine controller schematic diagram in embodiment of the present invention electric wheel mining vehicle drive control system.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, technical scheme of the present invention is further described in detail.
As shown in Figure 1, a kind of electric drive wheel heavy mining truck is 4 axis, 8 suspensions, 16 electric wheels, and each electric wheel installs a motor.Electric wheel mining vehicle drive control system also comprises vehicle management controller 1, left rectification brak control unit 21, right rectification brak control unit 22, left powerplant module controller 31, right powerplant module controller 32 and 16 electric machine controllers 1011, 1012, 1021, 1022, 1031, 1032, 1041, 1042, 2011, 2012, 2021, 2022, 2031, 2032, 2041, 2042, vehicle management controller 1 is respectively by control cables and left rectification brak control unit 21, right rectification brak control unit 22, left powerplant module controller 31, right powerplant module controller 32 and 16 electric machine controllers 1011, 1012, 1021, 1022, 1031, 1032, 1041, 1042, 2011, 2012, 2021, 2022, 2031, 2032, 2041, 2042 connect, and vehicle management controller 1 sends throttle signal to left powerplant module controller 31 by the first CAN CAN1, right powerplant module controller 32, vehicle management controller 1 sends sub-gate signal by the second CAN CAN2, switching signal, braking allows signal to left rectification brak control unit 21, right rectification brak control unit 22, vehicle management controller 1 sends gear signal by the 3rd CAN CAN3, rate of braking signal, braking allows signal, throttle high low signal is to electric machine controller 1011, 1012, 1031, 1032, 2011, 2012, 2031, 2032, vehicle management controller 1 sends gear signal by the 4th CAN CAN4, rate of braking signal, braking allows signal, throttle high low signal is to electric machine controller 1021, 1022, 1041, 1042, 2021, 2022, 2041, 2042.Owing to have employed two powerplant module controllers and two stream brak control units carry out decentralised control, the bulky problem of control convenience that centralized control brings can be solved, convenient to arrange in compartment.Each electric machine controller is connected with a corresponding motor.Electric wheel mining vehicle multiaxis multi-drive motor cooperative control system also comprises man-machine interface 4, man-machine interface 4 is connected with vehicle management controller 1 by control cables, and electric wheel mining vehicle working state signal, alerting signal are sent to man-machine interface 5 by the 5th CAN CAN5 by vehicle management controller 1.
As shown in Figure 2, the rectification brak control unit that electric wheel mining vehicle drive control system adopts comprises rectification brake control module the one DSP23, rectification unit 24 and brake unit 25, rectification unit 24 is powered giving brake unit 25 after AC rectification voltage stabilizing, rectification brake control module the one DSP23 comprises IGBT control module, rectification unit 24 comprises circuit breaker Q F, diode rectifier bridge and the first electric capacity of voltage regulation C1, circuit breaker Q F is connected to rectification brake control module the one DSP23 port, and it is in parallel with diode rectifier bridge and the first electric capacity of voltage regulation C1, brake unit 25 comprises the first braking resistor R1, second braking resistor R2, DC fan M, IG1 module, 1G2 module and IG3 module, wherein IG1 module, 1G2 module, IG3 module is parallel with one another and be connected with IGBT control module respectively, first braking resistor R1 and IG1 block coupled in series, second braking resistor R2 and IG2 block coupled in series, DC fan M and IG3 block coupled in series.
Rectification brak control unit gathers bus voltage signal, accepted the port signals such as braking permission signal, switching signal, the sub-gate signal of vehicle management controller 1 transmission simultaneously by CAN and control inner IGBT control module and circuit breaker Q F, IGBT control module drives 3 tunnel IGBT drive circuit work; The data of rectification brak control unit are sent to vehicle management controller by the RS232/CAN module of a DSP23 inside by rectification brak control unit; Rectification brak control unit also accepts by RS232/CAN module the CAN data that vehicle management controller sends and controls self work.
The three plase alternating current of electrical generator is rectified into direct current (DC) by diode rectifier bridge by rectification brak control unit.The braking that brake unit receives the transmission of vehicle management controller 1 allows signal to control the work of braking resistor and blower fan, is specially: after rectification brak control unit receives braking permission signal, DC fan is devoted oneself to work, and postpones to turn off for 10 seconds; When bus voltage is greater than 960V, the first braking resistor R1 and the second braking resistor R2 devotes oneself to work, and when bus voltage is less than 960V, the first braking resistor R1 and the second braking resistor R2 turns off.
As shown in Figure 3, the electric machine controller that electric wheel mining vehicle drive control system adopts comprises IGBT three phase inverter bridge 41, second electric capacity of voltage regulation C2 and motor control module DSP42, wherein IGBT three phase inverter bridge 41 is in parallel with the second electric capacity of voltage regulation C2, and each IG module in IGBT three phase inverter bridge 41 is connected with motor control module DSP42 respectively.The power module of motor control module DSP42 converts bus voltage to control voltage, to IGBT control module, the sensor power of electric machine controller inside, the RS485/CAN module of motor control module DSP42 reads the electric parameter, controller state of a control, alarm condition etc. of electric machine controller, and becomes CAN data to send to vehicle management controller 1 these data transfer.
IGBT three phase inverter bridge 41 inverse of the DC into AC, for drive motor work.Electric machine controller is controlled IGBT by motor control module DSP42, and the alternating current that can export size different with frequency carrys out drive motor.The work of electric machine controller is controlled by vehicle management controller, and electric machine controller receives gear signal, throttle signal, braking permission signal and the rate of braking signal that vehicle management controller sends.Wherein, gear signal is the working signal of electric machine controller, and electric machine controller is started working after receiving gear signal.Throttle signal is the driving torque signal of electric machine control, because electric machine controller adopts Study on direct torque control technology, throttle size is proportional to driving torque size, electric machine controller is according to throttle size, by gathering the tach signal of motor, bus voltage signal and three-phase current signal, the work of control IGBT, and then the level of torque controlling motor.Rate of braking signal is electric machine controller braking torque strength signal, and its principle of work is identical with throttle signal.Braking allows signal for the switching between electric machine controller drive pattern and braking mode.
The operational process of this electric wheel mining vehicle drive control system is:
After system starts, the three plase alternating current that electrical generator G sends converts direct current (DC) to through the rectification unit of left and right rectification brak control unit, and direct current (DC) converts three-phase alternating current electric drive 16 motors of changeable frequency to respectively through 16 electric machine controllers.
Mode of operation and alarm message are sent to vehicle management controller respectively by each CAN by each electric machine controller, powerplant module controller, rectification brak control unit, vehicle management controller is analyzed by the mode of operation of data to each parts receiving each CAN, when state is normal, vehicle management controller controls whole system and enters mode of operation, if mal, is reported to the police by man-machine interface.
After system enters mode of operation, the mode of operation of the operating order control car load received from operator's compartment crossed by vehicle management controller 1, when vehicle advances, vehicle management controller 1 progress signal and dtc signal are sent to 16 electric machine controllers, after electric machine controller receives progress signal, control motor steering direction forward, after electric machine controller receives dtc signal, control motor output torque, now vehicle forward, when vehicle rollback, vehicle management controller 1 backing signal and dtc signal are sent to 16 electric machine controllers, after electric machine controller receives backing signal, control motor steering direction backwards, after electric machine controller receives dtc signal, control motor output torque, now vehicle rollback, vehicle management controller is by receiving operator's compartment accelerator pedal signal and the current driving condition of vehicle controls by control cables the control that left and right powerplant module controller realizes engine speed by analysis, when vehicle performs electric braking, vehicle management controller 1 exports braking and allows signal to 16 electric machine controllers and a left side, right rectification brak control unit, now motor controller controls motor performs braking, the brake pedal strength signal of cabin interior is also sent to 16 electric machine controllers by vehicle management controller respectively simultaneously, electric machine controller controls motor according to rate of braking signal control and realizes rate of braking regulatory function, when car brakeing, motor reverse power generation, the electricity that motor sends after receiving braking permission signal by rectification brak control unit is by two braking resistor R1, R2 consumes thus realizes electric braking.
This electric wheel mining vehicle drive control system have employed 4 axle 16 wheel drive schemes, drive wheel quantity increases greatly, corresponding number of motors increases greatly, originally the power averaging only having 2 motors to bear is assigned on 16 motors, so the power of each motor and volume substantially reduce, its design, manufacture difficulty and cost reduce greatly; Achieve many motors Collaborative Control simultaneously, greatly improve traveling and the hill climbing ability of vehicle.
It should be noted last that, above detailed description of the invention is only in order to illustrate technical scheme of the present invention and unrestricted, although with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, can modify to technical scheme of the present invention or equivalent replacement, and not departing from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of right of the present invention.
Claims (5)
1. an electric wheel mining vehicle drive control system, described electric wheel mining vehicle has N number of electric wheel, it is characterized in that, described driving control system comprises the motor be arranged on each electric wheel, also comprise vehicle management controller, rectification brak control unit, powerplant module controller and M electric machine controller, described vehicle management controller is respectively by control cables and described rectification brak control unit, described powerplant module controller is connected with M described electric machine controller, described vehicle management controller sends throttle signal to described powerplant module controller by CAN, described vehicle management controller sends sub-gate signal by CAN, switching signal, braking allows signal to described rectification brak control unit, described vehicle management controller sends gear signal by CAN, rate of braking signal, braking allows signal, throttle high low signal is to M described electric machine controller, each described electric machine controller described motor corresponding to connects,
Described rectification brak control unit comprises rectification brake control module the one DSP, rectification unit and brake unit, described rectification brake control module the one DSP comprises IGBT control module, described rectification unit comprises circuit breaker parallel with one another, diode rectifier bridge and the first electric capacity of voltage regulation, described circuit breaker is connected to described rectification brake control module the one DSP port, and it is in parallel with diode rectifier bridge and the first electric capacity of voltage regulation, described brake unit comprises the first braking resistor, second braking resistor, DC fan, IG1 module, 1G2 module and IG3 module, wherein IG1 module, 1G2 module, IG3 module is parallel with one another and be connected with IGBT control module respectively, first braking resistor R1 and IG1 block coupled in series, second braking resistor and IG2 block coupled in series, DC fan and IG3 block coupled in series.
2. electric wheel mining vehicle drive control system according to claim 1, it is characterized in that, also comprise man-machine interface, described man-machine interface is connected with described vehicle management controller by control cables, and described electric wheel mining vehicle working state signal, alerting signal are sent to described man-machine interface by CAN by described vehicle management controller.
3. electric wheel mining vehicle drive control system according to claim 1 and 2, it is characterized in that, described rectification brak control unit comprises left rectification brak control unit and right rectification brak control unit, described vehicle management controller is connected with left rectification brak control unit, right rectification brak control unit respectively by control cables, and described vehicle management controller allows signal to send to described left rectification brak control unit, right rectification brak control unit by CAN CAN2 transmission sub-gate signal, switching signal, braking.
4. electric wheel mining vehicle drive control system according to claim 1 and 2, it is characterized in that, described powerplant module controller comprises left powerplant module controller and right powerplant module controller, described vehicle management controller is connected with described left powerplant module controller, right powerplant module controller respectively by control cables, and described vehicle management controller sends throttle signal to described left powerplant module controller, right powerplant module controller by CAN CAN1.
5. electric wheel mining vehicle drive control system according to claim 1 and 2, it is characterized in that, described electric machine controller comprises motor control module, IGBT three phase inverter bridge, the second electric capacity of voltage regulation, wherein said IGBT three phase inverter bridge is in parallel with described second electric capacity of voltage regulation, and each IG module in described IGBT three phase inverter bridge is connected with motor control module DSP respectively.
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| CN104883099A (en) * | 2015-05-22 | 2015-09-02 | 贵州中航道科技有限公司 | Electric car multi-motor control method and electric car controller |
| CN105480117A (en) * | 2015-10-10 | 2016-04-13 | 杭州伯坦动力科技有限公司 | Multiple-motor driving system for electric automobile and control method of multiple-motor driving system |
| CN107422719A (en) * | 2017-06-08 | 2017-12-01 | 杭州伯坦科技工程有限公司 | Support the electric automobile drive assembly system and its control method of multi_motor control |
| CN109361310A (en) * | 2018-11-21 | 2019-02-19 | 珠海格力电器股份有限公司 | Residual charge leadage circuit, inverter and air conditioner |
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| JP3935039B2 (en) * | 2002-10-07 | 2007-06-20 | 株式会社明電舎 | Speed command control unit and speed control device for electric vehicle |
| US7950481B2 (en) * | 2005-09-29 | 2011-05-31 | Caterpillar Inc. | Electric powertrain for machine |
| US8324846B2 (en) * | 2008-09-15 | 2012-12-04 | Caterpillar Inc. | Electric drive retarding system and method |
| US8386131B2 (en) * | 2009-07-27 | 2013-02-26 | Caterpillar Inc. | Method and system for controlling a driving direction of an electric drive machine |
| CN101973269B (en) * | 2010-09-02 | 2012-10-17 | 北京科技大学 | Control system for mine electric wheel dump truck by using fieldbus technology |
| CN102328595B (en) * | 2011-08-05 | 2013-08-07 | 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 | Electric transmission device of electric wheel mining truck |
| US20130126251A1 (en) * | 2011-11-18 | 2013-05-23 | Caterpillar, Inc. | Power System Control Strategy For Mining Truck |
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Address after: 432000 No. 1 Wan Shan Road, Xiaogan Development Zone, Hubei Applicant after: Aerospace Heavy Engineering Equipment Co., Ltd. Address before: 430040 Wuhan, East and West Lake District, Jinshan Road, No. 9, Hubei Applicant before: Aerospace Heavy Engineering Equipment Co., Ltd. |
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