CN114872681A - Electric drive road roller and its driving control method and system - Google Patents

Abstract

The invention relates to an electric drive road roller, in order to solve the problem that the existing electric drive road roller needs to be equipped with a braking resistor so as to realize full electric driving; an electric driving road roller and a driving control method and system thereof are provided, wherein the control method steps are in a fully electric state. Execute the following controls: the whole machine controller sends a zero-value anti-drag torque limit command and a maximum torque limit command to the motor controller; When the handle swing angle changes after the walking joystick leaves the neutral position, the driving braking current increases or decreases correspondingly with the increase or decrease of the handle swing angle; The controller sends speed control commands. The invention solves the problem of driving downhill with full electric power of the road roller without arranging the braking resistor, which simplifies the structure and reduces the cost.

Description

Electric drive road roller and driving control method and system thereof

technical field

The present invention relates to an electric drive road roller, more particularly, to an electric drive road roller and a driving control method and system thereof.

Background technique

Electric drive roller is an important equipment in construction machinery. The transmission system of the electric drive roller includes a traveling motor, a gearbox and a drive axle which are connected in sequence. The traveling motor is usually a permanent magnet motor. When the roller decelerates, descends or brakes, the inertia of the machine can be used to reverse the drag of the traveling motor through the transmission system to generate electricity, and the energy can be recovered while decelerating the machine. However, when the power battery of the roller is fully charged, the electric energy generated by the anti-drag braking of the traveling motor cannot be recovered. Therefore, it is necessary to set a braking resistor on the roller, so that when the power battery is fully charged, the braking resistor generates heat. Consume the energy generated by the anti-drag braking of the travel motor. Setting up a braking resistor requires additional costs.

On some electric drive rollers, the power battery is not fully charged, and the power of the power battery is limited below a certain value, so that the energy generated by the anti-drag braking of the traveling motor can be recovered. This scheme limits the ability of the power battery to play, and needs to prevent the charging power from exceeding the limit in real time during the charging process, which has certain limitations.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide an electric-driven road roller and a driving control method and system thereof in view of the problems caused by the existing electric-driven road rollers needing to be equipped with braking resistors or to limit the charging capacity of the power battery. In the case of dynamic resistance, it solves the problem of full electric driving of electric drive rollers.

The technical scheme of the present invention to achieve its purpose is as follows: a driving control method for an electric drive road roller is provided, and the travel drive system of the road roller includes a travel motor that is drive-connected between the travel motor and the drive axle and a motor for controlling the travel motor. The controller is characterized in that the road roller does not have a braking resistor, and the control method is as follows:

Obtain the stored power of the power battery, and perform the following controls when the stored power is greater than the preset value in a fully charged state:

The whole machine controller sends the zero-value anti-drag torque limit command and the maximum torque limit command to the motor controller;

When the walking joystick leaves the neutral position, the controller of the whole machine outputs the maximum service braking current to the service braking system, and when the handle swinging angle changes after the walking joystick leaves the neutral position, it increases or decreases correspondingly with the increase or decrease of the handle swing angle. service braking current;

When the walking joystick is not in the neutral position, the rotational speed control command is sent to the motor controller according to the handle swing angle of the walking joystick.

In the present invention, the road roller does not have a braking resistor, and the traveling braking system cooperates with the traveling motor in the process of running with full power, so as to solve the problem of running on full power of the road roller.

In the above driving control method for an electric drive roller, in a fully charged state, the maximum torque value corresponding to the maximum torque limit command sent by the complete machine controller to the motor controller is positively correlated with the swing angle of the handle.

In the above-mentioned driving control method for an electric drive roller, in a fully charged state, when the current speed of the traveling motor is greater than the speed corresponding to the current handle swing angle, the current service braking current is increased with a predetermined slope on the basis of the current service braking current, until the motor travels. The motor speed is equal to the speed corresponding to the current handle swing angle; when the current speed of the travel motor is less than the speed corresponding to the current handle swing angle, the service brake current is reduced on the basis of the current service brake current with a predetermined slope until the travel motor rotates. It is equal to the rotation speed corresponding to the current handle swing angle.

In the above-mentioned driving control method of the electric drive roller, in the fully charged state, the maximum driving braking current is output when the walking joystick returns to the neutral position, and the whole machine controller controls the parking brake system to start parking when the rotation speed of the walking motor is zero. Brake and stop outputting the service brake current after a predetermined time after the parking brake is activated.

In the above-mentioned driving control method for an electric-driven road roller, the following controls are performed in a non-full-charge state where the stored power is less than a preset value:

The whole machine controller sends the maximum torque limit command to the motor controller, the speed control command determined according to the swing angle of the handle, and the anti-drag torque limit command that does not send zero limit anti-drag torque value.

In the above driving control method for an electric drive roller, the maximum torque limit value corresponding to the maximum torque limit command sent by the complete machine controller to the motor controller in a non-full power state is the maximum allowable design of the roller.

In the above-mentioned driving control method for an electric-driven road roller, the whole machine controller does not output the service braking current for braking to the service brake when the travel control handle is not in the neutral position in a non-full power state.

In the above-mentioned driving control method of the electric drive road roller, when the walking joystick returns to the neutral position in a non-full power state, the whole machine controller outputs the service braking current that gradually increases to the maximum value to the service brake, and the speed of the traveling motor is zero. When the whole machine controller starts the parking brake and stops outputting the service brake current after a predetermined time after the parking brake is started.

The technical solution of the present invention to achieve its purpose is as follows: a driving control system for an electric drive road roller is provided, which includes a complete machine controller, a driving braking system, a walking driving system, and a walking control handle, and the walking driving system includes a transmission The traveling motor connected between the traveling motor and the drive axle and the motor controller for controlling the traveling motor are characterized in that the traveling control system does not have a braking resistor connected with the motor controller;

When fully charged, the controller runs the control program and executes the following controls:

Send the zero-value anti-drag torque limit command and the maximum torque limit command to the motor controller; when the travel joystick leaves the neutral position, the whole machine controller outputs the maximum service braking current to the service braking system, and when the travel joystick leaves When the handle swing angle changes after the neutral position, the driving braking current is correspondingly decreased and increased with the increase or decrease of the handle swing angle; when the walking joystick is not in the neutral position, the speed control command is sent to the motor controller according to the handle swing angle of the walking joystick; When the handle returns to the neutral position, the maximum service braking current is output, and when the speed of the travel motor is zero, the whole machine controller controls the parking brake system to activate the parking brake and stops outputting the service after a predetermined time after the parking brake is activated. braking current;

When the power is not full, the whole controller runs the control program and executes the following controls:

The whole machine controller sends the maximum torque limit command to the motor controller, the speed control command determined according to the swing angle of the handle, and the anti-drag limit command that does not send zero limit anti-drag torque value;

When the walking control handle is not in the neutral position, the whole machine controller does not output the service braking current for braking to the service brake;

When the walking joystick returns to the neutral position, the controller of the whole machine outputs the service brake current that gradually increases to the maximum value to the service brake, and when the speed of the walking motor is zero, the controller of the whole machine starts the parking brake and stops the parking brake. The output of the service brake current is stopped after a predetermined time after the automatic start.

The technical solution of the present invention to achieve its object is as follows: to provide an electric drive road roller, which is characterized in that the road roller has the aforementioned travel control system.

Compared with the prior art, the present invention solves the problem of running a road roller with full electric power without arranging a braking resistor, simplifies the structure, and reduces the cost.

Description of drawings

Fig. 1 is a block diagram of the traveling control system of the electric drive roller according to the present invention.

FIG. 2 is a block diagram of the running control method of the electric drive roller of the present invention when it is fully charged.

FIG. 3 is a block diagram of the running control method of the electric drive roller of the present invention when the electric drive is not fully charged.

Part names and serial numbers in the picture:

Service brake system 1, travel joystick 2, vehicle controller 3, parking brake system 4, motor controller 5, travel motor 6, gearbox 7, drive axle 8.

Detailed ways

Specific embodiments are described below with reference to the accompanying drawings.

As shown in FIG. 1 , the travel control system of the electric drive roller in this embodiment includes a complete machine controller 4 , a travel motor 7 , a travel joystick 3 , a motor controller 6 , a service brake system 1 , and a parking brake system 5 Wait.

The walking joystick 3 is connected to the complete machine controller 4 through the CAN bus, and is used to operate the roller. The walking joystick 3 controls the traveling and parking brake of the roller by swinging back and forth and returning to the neutral position. When the travel joystick 3 swings forward relative to the machine, the travel motor 7 rotates forward, and the machine travels forward; when the travel joystick 3 swings backward, the travel motor 7 reverses. When the travel handle 3 returns to the neutral position, the service brake system 1 performs the service brake operation. When the rotational speed of the travel motor is zero, the parking brake system 5 performs the parking brake operation. The swing angle of the travel handle 3 is equal to The target rotational speed of the travel motor 7 corresponds linearly.

The motor controller 6 is connected with the whole machine controller 4 and the traveling motor 7 through the CAN bus, and is used for controlling the rotation direction, speed and torque of the traveling motor 7 according to the control instructions of the whole machine controller 4 .

The service braking system 1 is connected to the whole machine controller 4, and is used to perform service braking or release the service brake according to the control command of the whole machine controller 4. The whole machine controller 4 outputs the service braking current to control the service braking system 1 In the service brake proportional valve, the larger the service brake current is, the larger the valve opening of the service brake proportional valve is, and the greater the braking torque generated by the service brake system 1 is.

The parking brake system 5 is connected to the whole machine controller 4 and is used for performing the parking brake or releasing the parking brake according to the control command of the whole machine controller 4 .

The complete machine controller 4 obtains the working loading information of the traveling motor 7, including the rotating speed of the traveling motor, the output torque of the traveling motor, and the like.

The whole machine controller 4 includes a storage unit and a control unit.

The storage unit is used to store the control program and execute the control method of the present invention.

The control unit is used to control the running motor 7 to work according to the predetermined control strategy according to the state change of the running joystick 3 , and to control the running brake system 1 and the parking brake system 5 to work. The traveling motor 7 is a permanent magnet synchronous motor, which is connected to the gearbox 8, and the gearbox 8 is connected to the drive axle 9, and the drive axle 9 drives the roller to rotate the rear wheels.

In the present invention, the road roller is not provided with a braking resistor, brakes and decelerates when the power battery is fully charged, and does not rely on the anti-drag travel motor to absorb the kinetic energy of the machine. The traveling drive system includes a traveling motor that is drive-connected between the traveling motor and the drive axle, and a motor controller for controlling the traveling motor.

The control method of the driving control system of the electric drive road roller of the present embodiment is as follows:

When the walking joystick is not in the neutral position, the whole machine controller sends the corresponding speed command to the motor controller according to the swing angle of the handle, and releases the parking brake of the parking brake system.

The whole machine controller obtains the stored power of the power battery of the machine. If the stored power is greater than a predetermined percentage, it is considered a fully charged state, otherwise it is a non-fully charged state. The power battery in a fully charged state cannot absorb the electric energy generated when the walking motor is reversed.

The following controls are performed in a fully charged state:

The whole machine controller sends the zero-value anti-drag torque limit command and the maximum torque limit command to the motor controller;

After the motor controller receives the zero-value anti-drag torque limit command, even if the travel drive system reverses the tow of the travel motor, the travel motor does not generate electricity.

The maximum torque value corresponding to the maximum torque limit command is positively related to the swing angle of the handle. The larger the swing angle of the walking handle, the larger the maximum torque value corresponding to the maximum torque limit command, and vice versa.

When the walking joystick leaves the neutral position, the controller of the whole machine outputs the maximum service braking current to the service braking system, and when the handle swinging angle changes after the walking joystick leaves the neutral position, it increases or decreases correspondingly with the increase or decrease of the handle swing angle. Service braking current; the swing angle of the walking joystick increases, the output service braking current of the whole machine controller decreases, the swing angle of the walking joystick decreases, and the output service braking current increases,

When the walking joystick is not in the neutral position, the rotational speed control command is sent to the motor controller according to the handle swing angle of the walking joystick. The motor controller controls the running motor to run to the target speed corresponding to the speed control command according to the speed control command and the maximum torque limit command.

In a fully charged state, when the current speed of the travel motor is greater than the speed corresponding to the current handle swing angle, the service brake current is increased on the basis of the current service brake current at a predetermined slope until the travel motor speed is equal to the current handle swing angle. When the current speed of the travel motor is less than the speed corresponding to the current handle swing angle, reduce the service brake current on the basis of the current service brake current with a predetermined slope until the travel motor speed is equal to the speed corresponding to the current handle swing angle. .

In a fully charged state, when the travel joystick returns to the neutral position, the maximum service braking current is output, and when the speed of the travel motor is zero, the controller of the whole machine controls the parking brake system to activate the parking brake and activates the parking brake. After a predetermined time, the output of the service brake current is stopped.

The following controls are performed in a partially charged state, as shown in Figure 3:

The whole machine controller sends the maximum torque limit command to the motor controller, the speed control command determined according to the swing angle of the handle, and the anti-drag torque limit command that does not send zero limit anti-drag torque value.

In the non-full power state, the maximum torque limit value corresponding to the maximum torque limit command sent by the complete machine controller to the motor controller is the maximum allowable value for the design of the roller, that is, the maximum torque limit value corresponding to the maximum torque limit command does not follow the walking joystick. The swing angle is different.

The whole machine controller does not limit the anti-drag torque of the walking motor. When the swing angle of the walking handle decreases rapidly, the walking drive system reverses the dragging of the walking motor, and the motor controller controls the anti-drag torque, so that the walking motor can generate electric energy and store the electric energy into the power. in the battery.

When the walking control handle is not in the neutral position in a non-full power state, the controller of the whole machine does not output the service braking current for braking to the service brake. In a non-full power state, if the speed needs to be decelerated, it is completely realized by the travel drive system anti-towing the travel motor, and the service brake system does not brake.

In the non-full power state, when the walking joystick returns to the neutral position, the whole machine controller outputs the service braking current that gradually increases to the maximum value to the service brake, and the whole machine controller starts the parking brake when the speed of the walking motor is zero. and stops outputting the service brake current after a predetermined time after the parking brake is activated.

Claims (10)

1. A running control method of an electrically driven road roller is characterized in that the road roller does not have a brake resistor, and the control method comprises the following steps:

acquiring the electric energy storage quantity of the power battery, and executing the following control in a full-charge state that the electric energy storage quantity is larger than a preset numerical value:

the complete machine controller sends a zero value anti-dragging torque limiting instruction and a maximum torque limiting instruction to the motor controller;

when the walking control handle leaves the middle position, the whole machine controller outputs the maximum running braking current to the running braking system, and when the swing angle of the handle changes after the walking control handle leaves the middle position, the whole machine controller correspondingly reduces and increases the running braking current along with the increase and decrease of the swing angle of the handle;

and when the walking control handle is not in the middle position, a rotating speed control instruction is sent to the motor controller according to the handle swinging angle of the walking control handle, and the motor controller controls the running motor to operate in a rotating speed mode.

2. The driving control method of the electrically-driven road roller according to claim 1, wherein in a full-power state, a maximum torque value corresponding to a maximum torque limit command sent by the complete machine controller to the motor controller is positively correlated with a handle swing angle.

3. The driving control method of the electrically driven road roller according to claim 1 or 2, wherein in a full-power state, when the current rotating speed of the walking motor is greater than the rotating speed corresponding to the current handle swing angle, the driving brake current is increased on the basis of the current driving brake current with a predetermined slope until the rotating speed of the walking motor is equal to the rotating speed corresponding to the current handle swing angle; and when the current rotating speed of the walking motor is less than the rotating speed corresponding to the current handle swing angle, reducing the driving braking current on the basis of the current driving braking current by a preset slope until the rotating speed of the walking motor is equal to the rotating speed corresponding to the current handle swing angle.

4. The running control method of the electrically-driven road roller according to claim 3, wherein in a full-power state, the maximum running brake current is output when the running control handle returns to a neutral position, and the complete machine controller controls the parking brake system to start the parking brake when the rotating speed of the running motor is zero and stops outputting the running brake current after a preset time after the parking brake is started.

5. The running control method of the electrically-driven road roller according to claim 1, wherein the following control is performed in a non-full-charge state in which the amount of stored electricity is less than a preset value:

the whole machine controller sends a maximum torque limiting instruction, a rotating speed control instruction determined according to the swing angle of the handle and a back dragging torque limiting instruction which does not send a zero limit back dragging torque value to the motor controller.

6. The method for controlling the running of the electrically driven road roller according to claim 5, wherein the maximum torque limit value corresponding to the maximum torque limit command sent by the whole road roller controller to the motor controller in the non-full electric state is the maximum value allowed by the design of the road roller.

7. The driving control method of the electrically-driven road roller according to claim 5, wherein the complete machine controller does not output the service brake current for braking to the service brake when the driving control handle is not in the neutral position in the non-full-power state.

8. The method for controlling the running of the electrically driven road roller according to claim 5, wherein the complete machine controller outputs a service brake current gradually increased to a maximum value to the service brake when the running control handle returns to a neutral position in a non-full-power state, and starts the parking brake when the rotation speed of the running motor is zero and stops outputting the service brake current after a predetermined time after the parking brake is started.

9. A running control system of an electrically driven road roller comprises a complete machine controller, a running brake system, a running drive system and a running control handle, wherein the running drive system comprises a running motor in transmission connection between the running motor and a drive axle and a motor controller for controlling the running motor, and is characterized in that the running control system does not have a brake resistor connected with the motor controller;

when the power is full, the whole machine controller operates a control program to execute the following control:

sending a zero value anti-drag torque limit command and a maximum torque limit command to a motor controller; when the walking control handle leaves the middle position, the whole machine controller outputs the maximum running braking current to the running braking system, and when the swing angle of the handle changes after the walking control handle leaves the middle position, the whole machine controller correspondingly reduces and increases the running braking current along with the increase and decrease of the swing angle of the handle; when the walking control handle is not in the middle position, a rotating speed control instruction is sent to the motor controller according to the handle swinging angle of the walking control handle; the traveling control handle outputs the maximum traveling braking current when returning to the middle position, and the complete machine controller controls the parking braking system to start parking braking when the rotating speed of the traveling motor is zero and stops outputting the traveling braking current after the preset time after the parking braking is started;

when the power is not full, the whole machine controller operates a control program to execute the following control:

the whole machine controller sends a maximum torque limiting instruction, a rotating speed control instruction determined according to the swing angle of the handle and a back dragging limiting instruction which does not send a zero limiting back dragging torque value to the motor controller;

when the walking control handle is not in the middle position, the complete machine controller does not output service braking current for braking to the service brake;

when the walking control handle returns to the middle position, the complete machine controller outputs the service brake current gradually increased to the maximum value to the service brake, and when the rotating speed of the walking motor is zero, the complete machine controller starts the parking brake and stops outputting the service brake current after the preset time after the parking brake is started.

10. An electrically driven road roller, characterised in that the roller has a travel control system as claimed in claim 9.

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