CN113581221A - Distributed hybrid power monorail crane control method - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
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- B61C7/00—Other locomotives or motor railcars characterised by the type of motive power plant used; Locomotives or motor railcars with two or more different kinds or types of motive power
- B61C7/04—Locomotives or motor railcars with two or more different kinds or types of engines, e.g. steam and IC engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention discloses a distributed hybrid power monorail crane control method, which comprises a cab, a lifting beam, a track, a vehicle control unit, an oil power system and an electro-hydraulic power system, wherein the cab is provided with a crane boom; the required torque during running is TrThe torque optimum operating range is Te_min‑Te_max(ii) a When T isr＜Te_minWhen the system is in the pure electric motor driving mode; when T ise_min<Tr<Te_maxWhen the fuel is in the pure fuel driving mode; when T isr>Te_maxWhen it is, the hybrid drive mode is selected. The invention combines the structural characteristics of the monorail crane to arrange two sets of power source systems on the monorail crane vehicle, so that the whole vehicle has multi-section and multi-power-source driven motionThe power characteristics can produce more powerful and stable power, and can solve the problem of insufficient power when the monorail crane is accelerated rapidly, climbs a steep slope and runs at high speed.
Description
Technical Field
The invention relates to a hybrid monorail crane, in particular to a control method of a distributed hybrid monorail crane.
Background
In order to improve the auxiliary transportation efficiency, the modern coal mine continuously puts into use four high-efficient auxiliary transportation devices, namely a trackless rubber-tyred vehicle, a toothed rail vehicle, a rail clamping vehicle and a monorail crane. However, most coal mine tunnels in China have complex environments and poor bottom plate environments, so that application of trackless rubber-tyred vehicles, rail clamping vehicles and gear vehicles, which are auxiliary transportation equipment with high requirements on tunnel bottom plates, is limited. The monorail crane is auxiliary transportation equipment which is hung at the top of the roadway and can realize continuous transportation without transshipment, and the requirement on the bottom of the roadway is low. Therefore, compared with other three types of efficient auxiliary transportation, the monorail crane has stronger applicability and is more suitable for popularization and application.
The modern monorail crane equipment mainly applies an explosion-proof diesel engine monorail crane and an explosion-proof storage battery monorail crane, wherein the diesel engine monorail crane has the advantages of sufficient power, strong bearing capacity and the like, but has the disadvantages of high noise and high pollution emission, and the body health of drivers is seriously influenced; the storage battery type monorail crane adopts the storage battery as a power source, has the greatest advantages of cleanness and no pollution, is influenced by the specific energy of the storage battery, and has poorer cruising ability, bearing capacity and the like. At present, the actual underground running speed of the monorail crane is mostly below 2m/s, which is contrary to the future theme of efficient coal mine transportation.
Therefore, in order to solve the problems, Chinese scholars develop researches on the monorail crane power system by taking the hybrid power technology as a support. The traditional hybrid power system is divided into a series type, a parallel type and a series-parallel type. The invention discloses a monorail crane hybrid power system, which is invented by the invention patent with the application number of 201410496468.4 and named as 'a gasoline-electric hybrid power monorail crane and a power output control method thereof'. The invention provides a series hybrid power system, wherein a diesel engine does not participate in direct driving, and a motor is used as a unique power output source, so that the running speed of a monorail crane cannot be increased; secondly, under the heavy load and the climbing working condition, the diesel engine does not directly provide power for the driving part, but chemical energy of fuel oil is converted into electric energy through the generator to provide power for the motor, and the electric energy is converted into mechanical energy through the motor to drive, so that the energy is converted in multiple stages, and the loss is large. The invention discloses a generalized hybrid monorail crane named as a hybrid monorail crane of a coal mine transportation system, which is 202011463652.0, and the generalized hybrid monorail crane is characterized in that a combination form of a steel wire rope and a storage battery type monorail crane is adopted, so that the transportation efficiency and the bearing capacity are improved, but the requirement on roadway camber is high due to the fact that a power source is arranged outside, and the maneuverability of the whole system is poor.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a control method of a distributed hybrid power monorail crane, which can realize the switching of three modes of motor independent drive, diesel engine independent drive and hybrid power drive according to different working conditions, can solve the problems of a single power source and meet the power requirements of the monorail crane during high-speed running.
In order to achieve the purpose, the invention adopts the technical scheme that: a distributed hybrid power monorail crane comprises a cab, a lifting beam and a track, wherein the tops of the cab and the lifting beam are respectively connected with the track through a bearing trolley; the system also comprises a vehicle control unit, an oil power system and an electro-hydraulic power system;
the oil power system comprises an engine controller, an explosion-proof diesel engine, a clutch, an explosion-proof generator, a main hydraulic pump, a main hydraulic driving part and a first explosion-proof container; the engine controller, the explosion-proof diesel engine, the clutch, the explosion-proof generator and the main hydraulic pump are arranged in the first explosion-proof container, the main hydraulic driving part is arranged on the upper top surface of the first explosion-proof container, and the first explosion-proof container is connected with the track through the main hydraulic driving part;
the electro-hydraulic power system comprises an explosion-proof power battery pack, a motor controller, a frequency converter, an explosion-proof motor, an auxiliary hydraulic pump station, an auxiliary hydraulic driving part and a second explosion-proof container, wherein the explosion-proof power battery pack, the motor controller, the frequency converter, the explosion-proof motor and the auxiliary hydraulic pump station are arranged in the second explosion-proof container;
the vehicle control unit is arranged outside the second explosion-proof container and is electrically connected with the engine controller, the motor controller and the explosion-proof power battery pack.
Furthermore, the engine controller is electrically connected with the explosion-proof diesel engine and the explosion-proof power battery pack, the explosion-proof diesel engine is connected with the main hydraulic pump, the main hydraulic pump is hydraulically connected with the main hydraulic driving part, the explosion-proof diesel engine is connected with the explosion-proof generator through a clutch, and the explosion-proof generator is electrically connected with the explosion-proof power battery pack.
Furthermore, the motor controller is electrically connected with the explosion-proof power battery pack and the frequency converter, the frequency converter is electrically connected with the explosion-proof motor, the explosion-proof motor is connected with the auxiliary hydraulic pump station, and the auxiliary hydraulic pump station is hydraulically connected with the auxiliary hydraulic driving part.
Furthermore, the explosion-proof power battery pack selects an explosion-proof storage battery pack or an explosion-proof lithium battery pack and other power battery packs with better charge and discharge performance.
Further, the explosion-proof motor is an explosion-proof permanent magnet synchronous motor.
Furthermore, there are two cabs, and an oil power system, a lifting beam and an electro-hydraulic power system are sequentially arranged between the two cabs.
Furthermore, the cab, the oil power system, the lifting beam and the electro-hydraulic power system are connected in pairs through connecting rods.
A distributed hybrid power monorail crane control method sets the required torque of a monorail crane to be T in the running processrThe torque optimum working interval of the explosion-proof diesel engine is Te_min- Te_max(ii) a When T isr ＜ Te_minWhen the system is in the pure electric motor driving mode; when T ise_min < Tr< Te_maxWhen the fuel is in the pure fuel driving mode; when T isr > Te_maxWhen it is, the hybrid drive mode is selected.
Furthermore, when the monorail crane runs, the required torque is in the optimal working range T of the explosion-proof diesel enginee_min < Tr < Te_maxWhen the single-track crane works, the whole vehicle controller disconnects the power source of the explosion-proof motor through the motor controller, stops the work of the electro-hydraulic power system, and simultaneously gives an instruction to the engine controller to control the explosion-proof diesel engine to work so as to drive the main hydraulic pump station to provide power for the main hydraulic driving part to complete the work;
torque T needed in running process of monorail craner > Te_maxWhen the system works, the vehicle control unit issues an instruction to the motor controller to control the explosion-proof power battery pack to provide electric power for the explosion-proof motor through the frequency converter, the explosion-proof motor drives the auxiliary hydraulic pump station to provide power for the auxiliary hydraulic driving part, so that the electro-hydraulic power system works, and simultaneously the vehicle control unit issues an instruction to the engine controller to control the explosion-proof diesel engine to work, so as to drive the main hydraulic pump station to provide power for the main hydraulic driving part and complete the work, and at the moment, the monorail crane power system is an oil-liquid hybrid driving system;
when the monorail crane is in the starting stage or the required torque Tr ＜ Te_minDuring the time, the vehicle control unit gives the instruction and gives the explosion-proof power battery group of machine controller control for explosion-proof motor provides electric power through the converter, and explosion-proof motor drives vice hydraulic power unit and provides power for vice hydraulic drive portion, makes the work of electric hydraulic power system, and vehicle control unit controls explosion-proof diesel engine through engine control unit stop work simultaneously, and the monorail crane uses the work of electric hydraulic power system this moment, is pure electric mode.
Compared with the prior art, the distributed hybrid power system is arranged on the monorail crane, the oil power system and the electro-hydraulic power system are respectively arranged on the two sides of the lifting beam, so that the simultaneous working of the double power systems and the working of the single power system can be realized, and the design of two sets of power systems and multi-section driving can provide stable and powerful power guarantee for the monorail crane. In addition, the distributed hybrid monorail crane has a travelling charging function, and the endurance time of the monorail crane is greatly prolonged. Through the cooperation of the double power systems, the engine can be ensured to work in a high-efficiency area all the time, the pollution emission is greatly reduced, meanwhile, the power battery pack is ensured to be in an optimal charging and discharging area, and the power performance of the monorail crane is greatly improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of a hybrid powertrain connection of the present invention;
in the figure: 1. the system comprises a cab, 2, an oil power system, 201, an engine controller, 202, an explosion-proof diesel engine, 203, a clutch, 204, an explosion-proof generator, 205, a main hydraulic pump station, 206, a main hydraulic driving part, 207, a first explosion-proof container, 3, a carrying trolley, 4, a lifting beam, 5, a connecting rod, 6, a whole vehicle controller, 7, an electro-hydraulic power system, 701, an explosion-proof power battery pack, 702, a motor controller, 703, a frequency converter, 704, an explosion-proof motor, 705, an auxiliary hydraulic pump station, 706, an auxiliary hydraulic driving part, 707, a second explosion-proof container, 8 and a rail.
Detailed Description
The invention will be further explained with reference to the drawings.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and 2, the present invention provides a technical solution:
including driver's cabin 1, lifting beam 4 and track 8, track 8 sets up at underworkings top surface, and driver's cabin 1, lifting beam 4 top are connected with track 8 through bearing trolley 3 respectively, hang on track 8. The system further comprises a vehicle control unit 6, an oil power system 2 and an electro-hydraulic power system 7.
The oil hydraulic power system 2 comprises an engine controller 201, an explosion-proof diesel engine 202, a clutch 203, an explosion-proof generator 204, a main hydraulic pump 205, a main hydraulic driving part 206 and a first explosion-proof container 207; for integrated installation, an engine controller 201, an explosion-proof diesel engine 202, a clutch 203, an explosion-proof generator 204 and a main hydraulic pump 205 are arranged inside a first explosion-proof container 207, a main hydraulic driving part 206 is arranged on the upper top surface of the first explosion-proof container 207, and the first explosion-proof container 207 is connected with a rail 8 through the main hydraulic driving part 206; the engine controller 201 is electrically connected with the explosion-proof diesel engine 202 and the explosion-proof power battery pack 701, the explosion-proof diesel engine 202 is connected with the main hydraulic pump 205, the main hydraulic pump 205 is hydraulically connected with the main hydraulic driving part 206, the explosion-proof diesel engine 202 is connected with the explosion-proof generator 204 through the clutch 203, and the explosion-proof generator 204 is electrically connected with the explosion-proof power battery pack 701.
The electro-hydraulic power system 7 comprises an explosion-proof power battery pack 701, a motor controller 702, a frequency converter 703, an explosion-proof motor 704, an auxiliary hydraulic pump station 705, an auxiliary hydraulic driving part 706 and a second explosion-proof container 707, wherein for integrated installation, the explosion-proof power battery pack 701, the motor controller 702, the frequency converter 703, the explosion-proof motor 704 and the auxiliary hydraulic pump station 705 are arranged inside the second explosion-proof container 707, the auxiliary hydraulic driving part 706 is arranged on the upper top surface of the second explosion-proof container 707, and the second explosion-proof container 707 is connected with the rail 8 through the auxiliary hydraulic driving part 706; the motor controller 702 is electrically connected with an explosion-proof power battery pack 701 and a frequency converter 703, the frequency converter 703 is electrically connected with an explosion-proof motor 704, the explosion-proof motor 704 is connected with an auxiliary hydraulic pump station 705, and the auxiliary hydraulic pump station 705 is hydraulically connected with an auxiliary hydraulic drive part 706.
The vehicle control unit 6 is arranged outside the second explosion-proof container 707, and the vehicle control unit 6 is electrically connected with the engine controller 201, the motor controller 702 and the explosion-proof power battery pack 701; the vehicle control unit 6 controls the explosion-proof diesel engine 202 to provide power for the main hydraulic pump 205 through the engine controller 201; the main hydraulic pump 205 provides hydraulic power to the main hydraulic drive 206; the vehicle control unit 6 controls an explosion-proof motor 704 through a motor controller 702 and a frequency converter 703 to provide power for a secondary hydraulic pumping station 705; the secondary hydraulic pump station 705 provides hydraulic power to the secondary hydraulic drive 706.
In order to ensure the normal work and the stress balance of the whole mechanism, two driving cabs 1 are arranged at two ends of the monorail crane respectively. For balancing the traction force, an oil power system 2, a lifting beam 4 and an electro-hydraulic power system 7 are sequentially arranged between the two cabs 1. The cab 1, the oil power system 2, the lifting beam 4 and the electro-hydraulic power system 7 are connected in pairs through connecting rods 5.
Setting the required torque of the monorail crane to T in the running processrThe torque optimal working interval of the explosion-proof diesel engine 202 is Te_min- Te_max。
When the torque required by the monorail crane during running is in the optimal working area T of the explosion-proof diesel engine 202e_min < Tr < Te_maxDuring the process, the vehicle control unit 6 disconnects the power source of the explosion-proof motor 704 through the motor controller 702, stops the work of the electro-hydraulic power system 7, and simultaneously the vehicle control unit 6 issues an instruction to control the work of the explosion-proof diesel engine 202 to the engine controller 201, so as to drive the main hydraulic pump station 205 to provide power for the main hydraulic driving part 206, so as to complete the work, and at the moment, the monorail crane works with the oil power system 2 in a pure fuel mode.
Torque T needed in running process of monorail craner > Te_maxDuring the process, the vehicle control unit 6 issues an instruction to control the explosion-proof power battery pack 701 to provide electric power for the explosion-proof motor 704 through the frequency converter 703 for the motor controller 702, the explosion-proof motor 704 drives the auxiliary hydraulic pump station 705 to provide power for the auxiliary hydraulic driving part 706, so that the electro-hydraulic power system 7 works, and simultaneously the vehicle control unit 6 issues an instruction to control the explosion-proof diesel engine 202 to work for the engine controller 201, so as to drive the main hydraulic pump station 205 to provide power for the main hydraulic driving part 206, so that the work is completed, and at the moment, the monorail crane power system is an oil-liquid hybrid driving system.
When the monorail crane is in the starting stage or the required torque Tr ＜ Te_minDuring the process, the vehicle control unit 6 issues an instruction to the motor controller 702 to control the explosion-proof power battery pack 701 to provide electric power for the explosion-proof motor 704 through the frequency converter 703, the explosion-proof motor 704 drives the auxiliary hydraulic pump station 705 to provide power for the auxiliary hydraulic driving part 706, so that the electro-hydraulic power system 7 works, meanwhile, the vehicle control unit 6 controls the explosion-proof diesel engine 202 to stop working through the engine controller 201, and at the moment, the monorail crane works with the electro-hydraulic power system 7 and is in a pure electric mode.
Setting the allowable charge-discharge range of the SOC value of the explosion-proof power battery pack 701 to be SOClow- SOChigh。
When the SOC of the explosion-proof power battery pack 701< SOClowIn the process, the vehicle control unit 6 controls the clutch 203 to be connected with the explosion-proof diesel engine 202 and the explosion-proof generator 204 through the engine controller 201, so that the explosion-proof diesel engine 202 drives the explosion-proof generator 204 to charge the explosion-proof power battery pack 701, and the monorail crane is in a travelling charging mode at the moment.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any minor modifications, equivalent replacements and improvements made to the above embodiment according to the technical spirit of the present invention should be included in the protection scope of the technical solution of the present invention.
Claims (9)
1. A distributed hybrid power monorail crane control method comprises a cab (1), a lifting beam (4) and a track (8), wherein the tops of the cab (1) and the lifting beam (4) are respectively connected with the track (8) through a bearing trolley (3);
the system is characterized by also comprising a vehicle control unit (6), an oil power system (2) and an electro-hydraulic power system (7);
the oil hydraulic power system (2) comprises an engine controller (201), an explosion-proof diesel engine (202), a clutch (203), an explosion-proof generator (204), a main hydraulic pump (205), a main hydraulic driving part (206) and a first explosion-proof container (207); an engine controller (201), an explosion-proof diesel engine (202), a clutch (203), an explosion-proof generator (204) and a main hydraulic pump (205) are arranged inside a first explosion-proof container (207), a main hydraulic driving part (206) is arranged on the upper top surface of the first explosion-proof container (207), and the first explosion-proof container (207) is connected with a track (8) through the main hydraulic driving part (206);
the electro-hydraulic power system (7) comprises an anti-explosion power battery pack (701), a motor controller (702), a frequency converter (703), an anti-explosion motor (704), an auxiliary hydraulic pump station (705), an auxiliary hydraulic driving part (706) and a second anti-explosion container (707), wherein the anti-explosion power battery pack (701), the motor controller (702), the frequency converter (703), the anti-explosion motor (704) and the auxiliary hydraulic pump station (705) are arranged inside the second anti-explosion container (707), the auxiliary hydraulic driving part (706) is arranged on the upper top surface of the second anti-explosion container (707), and the second anti-explosion container (707) is connected with a track (8) through the auxiliary hydraulic driving part (706);
the vehicle control unit (6) is arranged outside the second anti-explosion container (707), and the vehicle control unit (6) is electrically connected with the engine controller (201), the motor controller (702) and the anti-explosion power battery pack (701).
2. The distributed hybrid monorail crane control method according to claim 1, wherein the engine controller (201) is electrically connected with the explosion-proof diesel engine (202) and the explosion-proof power battery pack (701), the explosion-proof diesel engine (202) is connected with the main hydraulic pump (205), the main hydraulic pump (205) is hydraulically connected with the main hydraulic driving part (206), the explosion-proof diesel engine (202) is connected with the explosion-proof generator (204) through the clutch (203), and the explosion-proof generator (204) is electrically connected with the explosion-proof power battery pack (701).
3. The distributed hybrid monorail crane control method according to claim 1, wherein the motor controller (702) is electrically connected with the explosion-proof power battery pack (701) and the frequency converter (703), the frequency converter (703) is electrically connected with the explosion-proof motor (704), the explosion-proof motor (704) is connected with the auxiliary hydraulic pump station (705), and the auxiliary hydraulic pump station (705) is hydraulically connected with the auxiliary hydraulic drive unit (706).
4. The distributed hybrid monorail crane control method according to claim 1, wherein the explosion-proof power battery pack (701) is an explosion-proof storage battery pack or an explosion-proof lithium battery pack.
5. A distributed hybrid monorail crane control method as claimed in claim 1, wherein said explosion-proof electric motor (704) is selected from explosion-proof permanent magnet synchronous motors.
6. The distributed hybrid monorail crane control method according to claim 1, wherein there are two cabs (1), and an oil power system (2), a lifting beam (4) and an electro-hydraulic power system (7) are sequentially arranged between the two cabs (1).
7. A distributed hybrid monorail crane control method as defined in claim 6, wherein the cab (1), the hydraulic power system (2), the lifting beam (4) and the electro-hydraulic power system (7) are connected in pairs by connecting rods (5).
8. The distributed hybrid monorail crane control method according to claim 1, characterized by comprising:
setting the required torque of the monorail crane to T in the running processrThe torque optimal working interval of the explosion-proof diesel engine (202) is Te_min- Te_max(ii) a When T isr ＜ Te_minWhen the system is in the pure electric motor driving mode; when T ise_min < Tr< Te_maxWhen the fuel is in the pure fuel driving mode; when T isr > Te_maxWhen it is, the hybrid drive mode is selected.
9. The distributed hybrid monorail crane control method of claim 8,
when the torque required by the monorail crane in the running process is in the optimal working range T of the explosion-proof diesel engine (202)e_min < Tr < Te_maxWhen the system is used, the vehicle control unit (6) disconnects a power source of an explosion-proof motor (704) through a motor controller (702), stops the work of an electro-hydraulic power system (7), and simultaneously gives an instruction to an engine controller (201) to control an explosion-proof diesel engine (202) to work to drive a main hydraulic pump station (205) to provide power for a main hydraulic driving part (206) to complete the work, and at the moment, the monorail crane works with an oil power system (2) and is in a pure fuel mode;
torque T needed in running process of monorail craner > Te_maxWhen the system is used, the whole vehicle controller (6) gives an instruction to the motor controller (702) to control the explosion-proof power battery pack (701) to provide electric power for the explosion-proof motor (704) through the frequency converter (703), the explosion-proof motor (704) drives the auxiliary hydraulic pump station (705) to provide power for the auxiliary hydraulic driving part (706), so that the electro-hydraulic power system (7) works, and meanwhile, the whole vehicle controller (6) gives an instruction to the engine controller (201) to control the explosion-proof diesel engine (202) to work to drive the main hydraulic pump station (205) to provide power for the main hydraulic driving part (206) to finish work, and at the moment, the monorail crane power system is an oil-liquid hybrid driving system;
when the monorail crane is in the starting stage or the required torque Tr ＜ Te_minDuring the process, the vehicle control unit (6) issues an instruction to the motor controller (702) to control the explosion-proof power battery pack (701) to provide electric power for the explosion-proof motor (704) through the frequency converter (703), the explosion-proof motor (704) drives the auxiliary hydraulic pump station (705) to provide power for the auxiliary hydraulic driving part (706), so that the electro-hydraulic power system (7) works, meanwhile, the vehicle control unit (6) controls the explosion-proof diesel engine (202) to stop working through the engine controller (201), at the moment, the monorail crane works with the electro-hydraulic power system (7), and the monorail crane is in an electric power mode.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114735035A (en) * | 2022-03-21 | 2022-07-12 | 中国矿业大学 | Series-parallel connection type oil-electricity hybrid power monorail crane and control method |
| US11938974B2 (en) | 2022-03-21 | 2024-03-26 | China University Of Mining And Technology | Series-parallel monorail hoist based on oil-electric hybrid power and controlling method thereof |
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| CN104228849A (en) * | 2014-09-25 | 2014-12-24 | 河北煤炭科学研究院 | Oil-electricity hybrid powered monorail crane locomotive and power output control method thereof |
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| CN112172598A (en) * | 2020-10-30 | 2021-01-05 | 中国煤炭科工集团太原研究院有限公司 | Bracket transportation equipment capable of rapidly replacing oil-electric power explosion-proof power supply and use method |
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| CN114735035A (en) * | 2022-03-21 | 2022-07-12 | 中国矿业大学 | Series-parallel connection type oil-electricity hybrid power monorail crane and control method |
| CN114735035B (en) * | 2022-03-21 | 2022-11-29 | 中国矿业大学 | Series-parallel connection type oil-electricity hybrid power monorail crane and control method |
| WO2023178982A1 (en) * | 2022-03-21 | 2023-09-28 | 中国矿业大学 | Series-parallel oil-electricity-hybrid monorail crane and control method |
| US11938974B2 (en) | 2022-03-21 | 2024-03-26 | China University Of Mining And Technology | Series-parallel monorail hoist based on oil-electric hybrid power and controlling method thereof |
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