CN106184176B - Mine car brake control method, device and fault protecting method and device - Google Patents
Mine car brake control method, device and fault protecting method and device Download PDFInfo
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- CN106184176B CN106184176B CN201610672530.XA CN201610672530A CN106184176B CN 106184176 B CN106184176 B CN 106184176B CN 201610672530 A CN201610672530 A CN 201610672530A CN 106184176 B CN106184176 B CN 106184176B
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- trailer system
- electric machine
- diesel engine
- traction electric
- braking
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C17/00—Arrangement or disposition of parts; Details or accessories not otherwise provided for; Use of control gear and control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2260/00—Interaction of vehicle brake system with other systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Regulating Braking Force (AREA)
Abstract
The present invention discloses a kind of mine car brake control method, device and fault protecting method and device, which includes adjusting the revolving speed of diesel engine to the specified tachometer value of non-zero；Control excitation controller enters on-position, and voltage corresponding to regulator generator output voltage to diesel engine speed；And control executes electric braking according to traction electric machine revolving speed in real time；The fault protecting method includes the communications status of real-time monitoring trailer system, if communication failure occurs, executes braking according to above-mentioned brake control method；The brake control includes diesel engine brake control module, excitation controller brake control module and pulling motor braking control module, which includes fault monitor module and above-mentioned brake control.Control for brake of the present invention is suitable for mine vehicle, and environmental suitability is strong and implementation method is simple, safe and reliable, error protection can real-time monitoring mine vehicle trailer system failure, and execute safely and effectively brake in time.
Description
Technical field
The present invention relates to mine vehicle technical field more particularly to a kind of mine car brake control methods, device and event
Hinder guard method and device.
Background technique
Mine vehicle (such as mine electric wheel dump) is mechanical as a kind of large-scale mine Development Engineering, is widely used to
In various mine scenes.Since vehicle is in the scene of mine, running environment very severe, it is often necessary to uninterrupted for a long time to make
Industry, and mine road environment is complicated and changeable, causes Vehicular vibration fierce, and vehicle trouble, thus safe and effective system easily occurs
Dynamic controlling mechanism is particularly important for mine vehicle.
CAN(Controller Area Network, controller local area network) be initially by Germany Bosch be vapour
Vehicle monitoring, control system and design, Hyundai Motor uses electronic device to control more and more, as engine timing, note
Oil control accelerates, brake controls (ASC) and the anti-lock brake system (ABS) of complexity etc..Large-scale mine vehicle is as special purpose vehicle
, trailer system generallys use CAN communication bus as data transmission channel.CAN communication bus is the transmission of vehicle data, is undertaken
Full-vehicle control data and status information transmission, and communication bus is easy to be pulled in system big voltage, heavy current interference, it is mining
Vehicular vibration bad environments, thus it be easy to cause communication failure.When vehicle traction system failure, equipment can be out of hand, if not
The failure can be monitored in time and executes effective braking, be very easy to cause mine personnel and equipment breakdown.Mine car at present
It is out of hand to trailer system due to driving vehicle drivers in the case where communication failure condition occurs, it is typically only capable to using mechanical system
Flowing mode parking；And by the way of mechanical braking, when especially vehicle high-speed is run, mine vehicle load-carrying and self weight are huge,
Brake disc burn observations are easily caused, vehicle and equipment safety are influenced.
Summary of the invention
The technical problem to be solved in the present invention is that, for technical problem of the existing technology, the present invention provides one
Kind can be suitable for mine vehicle, the mine car braking that environmental suitability is strong and implementation method is simple, braking process is safe and reliable
Control method, device, and mine vehicle trailer system failure can be monitored, and execute the failure safely and effectively braked in time and protect
Maintaining method and device.
In order to solve the above technical problems, technical solution proposed by the present invention are as follows:
A kind of mine car brake control method, the brake control method include: turn for adjusting diesel engine in trailer system
Speed to non-zero specified tachometer value；Excitation controller enters on-position, and regulator generator output electricity in control trailer system
It is depressed into voltage corresponding when diesel engine is the specified tachometer value；And control motion control unit is in real time according to traction electric machine
Current rotating speed executes electric braking to traction electric machine.
As the further improvement of brake control method of the present invention, the specific steps that electric braking is executed to traction electric machine
Include:
Control motion control unit acquires the current rotating speed of traction electric machine in real time；
The maximum brake power according to corresponding to current rotating speed calculates the maximum braking torque that traction electric machine currently exports, and
Control motion control unit exports the maximum braking torque to traction electric machine to execute electric braking, until the revolving speed of traction electric machine
Less than preset value.
As the further improvement of brake control method of the present invention, the maximum braking torque is specifically according to following formula meter
It obtains；
Tout=9550*P*η/2*N
Wherein ToutFor maximum braking torque, P is maximum brake power, and η is trailer system efficiency, and N is working as traction electric machine
Preceding revolving speed.
Further improvement as brake control method of the present invention: the specified tachometer value is that can guarantee in braking process
The tachometer value of corresponding diesel engine when the ventilating and cooling ability of trailer system；
Further improvement as brake control method of the present invention: the specified tachometer value is 1400rpm；The diesel engine
Corresponding voltage is 1300V when to specify tachometer value.
The present invention further provides a kind of mine car trailer system fault protecting method, the fault protecting method includes:
The communications status of real-time monitoring trailer system executes braking according to above-mentioned brake control method if monitoring communication failure.
As the further improvement of fault protecting method of the present invention, the fault protecting method is especially by trailer system
The CAN bus communications status between excitation controller, motion control unit and diesel engine monitors traction to master controller respectively
The communications status of system.
As the further improvement of brake control method of the present invention, monitored by CAN bus communications status in trailer system
The specific steps of the communications status of trailer system include: control trailer system in master controller respectively to excitation controller, transmission
Control unit sends the life signal value of a self-propagation at interval of specified time, according to excitation controller, motion control unit
The feedback frequency throttle signal that the life signal value and master controller received receives diesel engine judges the logical of trailer system
Letter state.
A kind of mine car brake control, comprising:
Diesel engine brake control module, for adjusting the revolving speed of diesel engine in trailer system to specified tachometer value；
Excitation controller brake control module enters on-position for controlling excitation controller in trailer system, and adjusts
Save voltage corresponding when generator output voltage to diesel engine is the specified tachometer value；
And pulling motor braking control module, for controlling motion control unit in real time according to traction electric machine current rotating speed
Electric braking is executed to traction electric machine.
As the further improvement of brake control of the present invention, the pulling motor braking control module includes:
Revolving speed acquisition control unit acquires the current rotating speed of traction electric machine for controlling motion control unit in real time；
Brak control unit calculates traction electric machine for the maximum brake power as corresponding to collected current rotating speed and works as
The maximum braking torque of preceding output, and control motion control unit and export the maximum braking torque to traction electric machine to execute electricity
Braking, until the revolving speed of traction electric machine is less than preset value.
The present invention further provides a kind of mine car trailer system failure protecting devices, including trailer system malfunction monitoring mould
Block and above-mentioned brake control, the communications status of the trailer system fault monitor module real-time monitoring trailer system, if
It monitors communication failure, starts the brake control and execute braking.
Compared with prior art, the advantages of brake control method of the present invention, device, is:
1) the present invention is based on the actual conditions of mine vehicle, when executing control for brake to mine vehicle, by turning for diesel engine
Speed is adjusted to non-zero tachometer value, make it possible to diesel engine carry out revolving speed protection, and diesel engine can Economy urge factor cooling fan,
It is effectively radiated to vehicle power drive system, in combination with the real-time root of control to excitation controller and motion control unit
Electric braking is executed to traction electric machine according to revolving speed, braking process can be adjusted according to rotation speed change in real time, with traditional direct braking
Stop vehicle comparing, braking process is safe and stable and environmental suitability is strong, utmostly ensure that in mine vehicle braking process
The safety of vehicle arrangement and personnel；
2) when control for brake of the present invention, by acquiring the current rotating speed of traction electric machine in real time, as corresponding to current rotating speed
Maximum brake power calculates the maximum braking torque that motor currently exports, according still further to the maximum braking torque of current motor output
Traction electric machine is braked, the adaptive braking based on maximum braking torque can be realized to traction electric machine, to realize efficient
Motor braking；
Compared with prior art, the advantages of fault protecting method of the present invention, device, is:
1) running environment feature of the error protection of the present invention based on mine vehicle, trailer system in real-time monitoring mine vehicle
Malfunction, and for troubleshooting problem when monitoring trailer system failure, respectively to diesel engine, excitation controller with
And motion control unit executes control for brake protection, so as to be executed in time safely, effectively in trailer system communication failure
Braking, improve mine vehicle operation security reliability；
2) error protection of the present invention is when monitoring that trailer system breaks down, by the rotational speed regulation of diesel engine to non-zero-turn
Speed value can carry out revolving speed protection to diesel engine in trailer system failure, and guarantee to carry out vehicle power drive system effective
Heat dissipation, in combination with the control for brake of excitation controller and motion control unit to execute electricity according to traction electric machine revolving speed in real time
Braking protection, guarantee trailer system failure when vehicle in equipment and personnel safety；
3) error protection of the present invention further passes through the life signal value that CAN bus in trailer system sends self-propagation, by
Excitation controller, motion control unit based on the received life signal value and master controller according to the feedback frequency of diesel engine
Throttle signal judges the malfunction of trailer system, effectively combines the design feature of mine vehicle trailer system, realization side
Method is simple and effective.
Detailed description of the invention
Fig. 1 is the implementation process schematic diagram of the present embodiment mine car brake control method.
Fig. 2 is the principle schematic diagram of mine vehicle trailer system.
Fig. 3 is the specific implementation flow schematic diagram for executing braking in the present embodiment to traction electric machine.
Fig. 4 is the implementation process schematic diagram of the present embodiment mine car trailer system fault protecting method.
The specific implementation flow that motion control unit executes control for brake when Fig. 5 is trailer system failure in the present embodiment is shown
It is intended to.
Fig. 6 is the specific implementation flow schematic diagram that trailer system communication failure is judged in the present embodiment.
Fig. 7 is the structural schematic diagram of the present embodiment mine car brake control.
Fig. 8 is the structural schematic diagram of this implementation mine car trailer system failure protecting device.
Specific embodiment
Below in conjunction with Figure of description and specific preferred embodiment, the invention will be further described, but not therefore and
It limits the scope of the invention.
As shown in Figure 1, the present embodiment mine car brake control method includes: in the trailer system for adjust target mine vehicle
The revolving speed of diesel engine to non-zero specified tachometer value；Excitation controller enters on-position in control trailer system, and adjusts hair
Motor output voltage to diesel engine voltage corresponding when being specified tachometer value；And control motion control unit in real time lead by basis
Draw motor current rotating speed and electric braking is executed to traction electric machine, until target mine vehicle automatic stopping.
As shown in Fig. 2, the trailer system of mine vehicle includes master controller (ACU), excitation controller (ECU), transmission control
Unit (DCU) processed, diesel engine (diesel engine), generator (main generator), rectification module, DC filtering link, inversion mould
Block and traction electric machine, wherein master controller (ACU) is diesel engine, generator and traction convertor full-vehicle control, excitation controller
(ECU) voltage for adjusting main generator and issuing is instructed according to master controller, motion control unit (DCU) refers to according to master controller
The signals such as control traction convertor output electric current, voltage and torque are enabled, while acquiring the tach signal of traction electric machine as closed loop
Control amount；Diesel engine provides power resources for vehicle, and diesel oil maneuver energy is converted electric energy by generator, and traction invertor then executes
Ac-dc-ac transform obtains controllable AC frequency conversion power supply and drives two traction electric machine operatings, so that mine vehicle be driven to travel.
The present embodiment is for running environment such as mine vehicle work and road conditions complicated and changeable in actual condition, to mining
When vehicle executes control for brake, by the rotational speed regulation of diesel engine to the economic speed value of a non-zero, make it possible to diesel engine
Revolving speed protection, and diesel engine and energy Economy urge factor cooling fan are carried out, is effectively radiated to vehicle power drive system, is tied simultaneously
It closes the control to excitation controller and motion control unit and electric braking is executed to traction electric machine according to revolving speed in real time, it can be real-time
Braking process is adjusted according to rotation speed change, compared with traditional directly braking stopping vehicle, braking process is safe and stable and environment
It is adaptable, it utmostly ensure that the safety of vehicle arrangement and personnel in mine vehicle braking process.
In the present embodiment, the specific steps for executing electric braking to traction electric machine include:
Control motion control unit acquires the current rotating speed of traction electric machine in real time；
The maximum brake power according to corresponding to current rotating speed calculates the maximum braking torque that traction electric machine currently exports, and
Control motion control unit exports maximum braking torque to traction electric machine to execute electric braking, until the revolving speed of traction electric machine is less than
Preset value.
As shown in figure 3, when the present embodiment executes electric braking to traction electric machine, it is real especially by motion control unit (DCU)
When acquire traction electric machine current rotating speed N, according to motor characteristic by the maximum braking work of the available current motor of current rotating speed
Rate P calculates the maximum braking torque T of current motor output according to current maximum brake power Pout；Motion control unit
(DCU) T is exported by inverter moduleoutThe torque traction electric machine of size, so that traction electric machine gradually subtracts under braking moment effect
Speed, until the revolving speed of traction electric machine is less than preset value (the present embodiment specifically takes 30rpm), motion control unit (DCU) stops defeated
To traction electric machine, traction electric machine, which is shut down, completes control for brake for torque out.
When the present embodiment executes electric braking to traction electric machine, by acquiring the current rotating speed of traction electric machine in real time, by current
Maximum brake power corresponding to revolving speed calculates the maximum braking torque that motor currently exports, according still further to current motor output
Maximum braking torque braking motor can be realized the adaptive braking to traction electric machine based on maximum braking torque, and brake effect
Rate is high.
In the present embodiment, maximum braking torque is specifically calculated according to following formula；
Tout=9550*P*η/2*N
Wherein ToutFor maximum braking torque, P is maximum brake power, and η is trailer system efficiency, and N is working as traction electric machine
Preceding revolving speed.
By above formula, the maximum braking turn that motor currently exports can be calculated after collecting the revolving speed of traction electric machine in real time
Square, to give control motor braking by maximum braking torque in real time.
It is right when specifying ventilating and cooling ability of the tachometer value for that can guarantee trailer system in braking process in the present embodiment
The tachometer value for the diesel engine answered can specifically make it possible to according to the temperature progress value of generator, traction electric machine in trailer system
Guarantee ventilating and cooling ability in trailer system while carrying out revolving speed protection to diesel engine, to combine to excitation controller and biography
The control for brake of dynamic control unit realizes secure parking, so that it is guaranteed that equipment and personnel safety in vehicle when braking.The present embodiment
Specified tachometer value is specifically taken as 1400rpm, can increase in trailer system when diesel engine speed is set as 1400 rpm divulge information it is cold
But ability；Correspondingly, it is 1300V that diesel engine, which specifies voltage corresponding to tachometer value, that is, control excitation controller regulator generator
Output voltage to 1300V.
As shown in figure 4, the present embodiment mine car trailer system fault protecting method includes: the logical of real-time monitoring trailer system
Letter state executes braking according to above-mentioned brake control method if monitoring communication failure.Operation ring based on mine vehicle
Border, the present embodiment using above-mentioned fault protecting method can in real-time monitoring mine vehicle trailer system malfunction, simultaneously
Troubleshooting problem when for trailer system communication failure, respectively holds diesel engine, excitation controller and motion control unit
The above-mentioned control for brake of row, so as to execute safe and effective braking automatically in trailer system communication failure, by diesel engine
Rotational speed regulation to non-zero tachometer value, the braking of control excitation controller and regulator generator exports relevant voltage, while real-time root
Electric braking is executed according to traction electric machine revolving speed, improves the security reliability of mine vehicle operation.
As shown in figure 5, control motion control unit (DCU) is right when monitoring vehicle traction system communication failure
Traction electric machine executes braking；When braking, the maximum braking torque currently exported, control are calculated according to traction electric machine current rotating speed in real time
The torque of inverter output maximum braking torque size processed is to traction electric machine, if the revolving speed of traction electric machine is dropped in braking action
30rpm then stops exporting braking moment completion control for brake, and vehicle safety stops when realizing trailer system failure.
In the present embodiment, fault protecting method especially by master controller in trailer system respectively with excitation controller, pass
The communications status of CAN bus communications status monitoring trailer system between dynamic control unit and diesel engine.As shown in Fig. 2, mine
When with passing through CAN communication in vehicle traction system, two-way CAN communication interface being arranged by master controller (ACU), is connected to bavin all the way
(diesel engine speed can also pass through frequency throttle or electricity for oil machine control, adjusting diesel engine speed and monitoring diesel engine operating status
Pressure, electric current throttle mode are adjusted)；In addition excitation controller (ECU) and motion control unit (DCU) are controlled all the way, respectively
The output voltage of generator and the output torque signal of traction convertor are controlled, achievees the purpose that the entire trailer system of control.It leads
Draw system control network system and communication failure, as master controller (ACU) and excitation controller (ECU), transmission control list occurs
Interruption or failure occur for CAN communication between first (DCU), diesel engine, thus pass through master controller and excitation controller, pass
CAN bus communications status between dynamic control unit and diesel engine can monitor to obtain the communications status of trailer system.
In the present embodiment, the specific of the communications status of trailer system is monitored by CAN bus communications status in trailer system
Step includes: to control master controller in trailer system to send out to excitation controller, motion control unit at interval of specified time respectively
The life signal value for sending a self-propagation, the life signal value received according to excitation controller, motion control unit, Yi Jizhu
The feedback throttle signal that controller receives diesel engine judges the communications status of trailer system.
The present embodiment sends one at interval of specified time to excitation controller and motion control unit by master controller
The life signal value of self-propagation, the life signal value that excitation controller, motion control unit real-time reception master controller are sent, and
The state for judging received life signal value respectively, if excitation controller or motion control unit determine continuously pre-
If received life signal value is all the same in periodicity, then master controller and excitation controller or biography in trailer system are determined
Communication failure between dynamic control unit, otherwise continues to execute monitoring；Master controller receives the feedback of diesel engine transmission simultaneously
Throttle signal judges the communications status between master controller and diesel engine according to the feedback throttle signal received.
As shown in fig. 6, the present embodiment is specifically defined a stored count parameter, ECU/ACU each period receives life
When signal value, the life signal value that the life signal value that this period receives is received with a upper communication cycle is compared
Compared with if two signal values are equal, stored count parameter adds 1, if the unequal judgement present communications of two signal values are normal；
When stored count parameter value reaches preset value (the present embodiment specifically takes 50), that is, there is the life signal in continuous 50 periods
It is worth equal, then determines present communications failure.It is judged as and vehicle control by excitation controller (ECU) 2, motion control unit (DCU) 3
Communication failure between device communication failure or entire car controller judgement processed and diesel engine.By send from increase life signal come
Judge trailer system communication failure, determination method is simple and effective, effectively combines the structure based on mine vehicle trailer system special
Point.
For the present embodiment when monitoring that trailer system breaks down, specific control is according to other non-CAN bus communication modes
Whole system ventilating and cooling ability when diesel engine speed being adjusted to 1400rpm and carries out revolving speed protection, while increasing braking；Excitation
Controller (ECU) enters brake working condition, and the output adjusting of generator voltage at this time is corresponding defeated to diesel engine 1400rpm
Voltage 1300V out；Motion control unit (DCU) maximum braking torque according to corresponding to current motor revolving speed is controlled simultaneously to leading
Draw motor and execute adaptive electric braking, control pulling motor braking slows down, until motor stopping.
As shown in fig. 7, the present embodiment mine car brake control includes:
Diesel engine brake control module, for adjusting the revolving speed of diesel engine in trailer system to specified tachometer value；
Excitation controller brake control module enters on-position for controlling excitation controller in trailer system, and adjusts
Saving generator output voltage is that diesel engine specifies voltage corresponding to tachometer value；
And pulling motor braking control module, for controlling motion control unit in real time according to traction electric machine current rotating speed
Corresponding maximum brake power executes electric braking to traction electric machine.
In the present embodiment, pulling motor braking control module includes:
Revolving speed acquisition control unit acquires the current rotating speed of traction electric machine for controlling motion control unit in real time；
Brak control unit calculates traction electric machine for the maximum brake power as corresponding to collected current rotating speed and works as
The maximum braking torque of preceding output, and control and maximum braking torque is exported to traction electric machine to execute electric system by motion control unit
It is dynamic, until the revolving speed of traction electric machine is less than preset value.
As shown in figure 8, mine car trailer system failure protecting device in the present embodiment, including trailer system malfunction monitoring
Module and above-mentioned brake control, the communications status of trailer system fault monitor module real-time monitoring trailer system, if prison
Communication failure is measured, starts the brake control and executes braking.
In the present embodiment, trailer system fault monitor module includes:
Life signal sends control unit, for being controlled respectively through CAN bus from master controller in trailer system to encouraging
Magnetic controller and motion control unit are believed from diesel engine to the life that master controller sends a self-propagation at interval of specified time
Number value；
Trailer system breakdown judge unit is used for excitation controller, motion control unit and master controller real-time reception
Life signal value, and judge whether received life signal value is continuously all the same in predetermined period number respectively, if sentenced
Break to being then to determine trailer system communication failure, otherwise continues to execute monitoring.
For verify effectiveness of the invention, on model machine to above-mentioned control for brake, fault protecting method carried out trial-production and
Debugging, result of field running demonstrate of the invention with feasibility and reliable for operation.
Above-mentioned only presently preferred embodiments of the present invention, is not intended to limit the present invention in any form.Although of the invention
It has been disclosed in a preferred embodiment above, however, it is not intended to limit the invention.Therefore, all without departing from technical solution of the present invention
Content, technical spirit any simple modifications, equivalents, and modifications made to the above embodiment, should all fall according to the present invention
In the range of technical solution of the present invention protection.
Claims (11)
1. a kind of mine car brake control method, which is characterized in that if the brake control method includes: to monitor trailer system
Communication failure adjusts the revolving speed of diesel engine in trailer system to the specified tachometer value of non-zero；Control excitation in trailer system
Controller enters on-position, and the electricity that when regulator generator output voltage to diesel engine is the specified tachometer value is corresponding
Pressure；And control motion control unit in real time the maximum brake power according to corresponding to traction electric machine current rotating speed to traction electric machine
Execute electric braking.
2. mine car brake control method according to claim 1, which is characterized in that described to execute electricity system to traction electric machine
Dynamic specific steps include:
Control motion control unit acquires the current rotating speed of traction electric machine in real time；
The maximum brake power according to corresponding to current rotating speed calculates the maximum braking torque that traction electric machine currently exports, and controls
Motion control unit exports the maximum braking torque to traction electric machine to execute electric braking, until the revolving speed of traction electric machine is less than
Preset value.
3. mine car brake control method according to claim 2, which is characterized in that the maximum braking torque is specifically pressed
It is calculated according to following formula；
Tout=9550*P*η/2*N
Wherein ToutFor maximum braking torque, P is maximum brake power, and η is trailer system efficiency, and N works as forward for traction electric machine
Speed.
4. mine car brake control method according to claim 1 or 2 or 3, it is characterised in that: the specified tachometer value is
It can guarantee the tachometer value of diesel engine corresponding when the ventilating and cooling ability of trailer system in braking process.
5. mine car brake control method according to claim 4, it is characterised in that: the specified tachometer value is
1400rpm；Diesel engine voltage corresponding when being specified tachometer value is 1300V.
6. a kind of mine car trailer system fault protecting method, which is characterized in that the fault protecting method includes: real-time monitoring
The communications status of trailer system, if monitoring communication failure, according to braking described in any one of Claims 1 to 5
Control method executes braking.
7. mine car trailer system fault protecting method according to claim 6, it is characterised in that: the error protection side
Method is especially by the CAN between excitation controller, motion control unit and diesel engine respectively of master controller in trailer system
Bus communication state monitors the communications status of trailer system.
8. mine car trailer system fault protecting method according to claim 7, which is characterized in that monitoring traction system
The specific steps of the communications status of system include: to control master controller in trailer system to control list to excitation controller, transmission respectively
Member sends the life signal value of a self-propagation at interval of specified time, is received according to excitation controller, motion control unit
Life signal value and master controller receive the feedback frequency throttle signal of diesel engine and judge the communication shape of trailer system
State.
9. a kind of mine car brake control characterized by comprising
Diesel engine brake control module, if adjusting diesel engine in trailer system for monitoring trailer system communication failure
Revolving speed to specified tachometer value；
Excitation controller brake control module, if controlling and being encouraged in trailer system for monitoring trailer system communication failure
Magnetic controller enters on-position, and the electricity that when regulator generator output voltage to diesel engine is the specified tachometer value is corresponding
Pressure；
And pulling motor braking control module, if for monitoring trailer system communication failure, control transmission control is single
The maximum brake power according to corresponding to traction electric machine current rotating speed executes electric braking to traction electric machine to member in real time.
10. mine car brake control according to claim 9, which is characterized in that the pulling motor braking control
Module includes:
Revolving speed acquisition control unit acquires the current rotating speed of traction electric machine for controlling motion control unit in real time；
It is currently defeated to calculate traction electric machine for the maximum brake power as corresponding to collected current rotating speed for brak control unit
Maximum braking torque out, and control motion control unit and export the maximum braking torque to traction electric machine to execute electric system
It is dynamic, until the revolving speed of traction electric machine is less than preset value.
11. a kind of mine car trailer system failure protecting device, it is characterised in that including trailer system fault monitor module and
Brake control described in claim 9 or 10, the trailer system fault monitor module real-time monitoring trailer system lead to
Letter state starts the brake control and executes braking if monitoring communication failure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610672530.XA CN106184176B (en) | 2016-08-16 | 2016-08-16 | Mine car brake control method, device and fault protecting method and device |
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|---|---|---|---|
| CN201610672530.XA CN106184176B (en) | 2016-08-16 | 2016-08-16 | Mine car brake control method, device and fault protecting method and device |
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| CN106184176B true CN106184176B (en) | 2019-01-08 |
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| CN106685711A (en) * | 2016-12-26 | 2017-05-17 | 株洲中车时代电气股份有限公司 | System and method for detecting plug-in-level faults of equipment of motor train unit |
| CN107499318B (en) * | 2017-09-20 | 2023-09-19 | 株洲时代电子技术有限公司 | Railway engineering machinery power system |
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| CN106184176A (en) | 2016-12-07 |
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