CN116176286A - Control system and control method of electric drive non-excavation equipment - Google Patents
Control system and control method of electric drive non-excavation equipment Download PDFInfo
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- CN116176286A CN116176286A CN202211727945.4A CN202211727945A CN116176286A CN 116176286 A CN116176286 A CN 116176286A CN 202211727945 A CN202211727945 A CN 202211727945A CN 116176286 A CN116176286 A CN 116176286A
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- motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/02—Dynamic electric resistor braking
- B60L7/04—Dynamic electric resistor braking for vehicles propelled by DC motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L9/00—Electric propulsion with power supply external to the vehicle
- B60L9/02—Electric propulsion with power supply external to the vehicle using DC motors
- B60L9/08—Electric propulsion with power supply external to the vehicle using DC motors fed from AC supply lines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2210/00—Converter types
- B60L2210/30—AC to DC converters
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Ac Motors In General (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
The invention discloses a control system of electric energy driven non-excavation equipment, which consists of an external power supply, a circuit breaker, a generator set, a rectifier, a direct current bus, a motor controller, a motor, a braking unit and a braking resistor, wherein the circuit breaker is connected with the external power supply; the three-phase alternating current power provided by an external power supply or an engine unit is provided for a rectifier through a circuit breaker, the rectifier converts alternating current into direct current power, the direct current power is provided for a motor controller, and the motor controller provides power for a motor; the central control system consists of a rotating handle, a push-pull handle, a mechanical hand operating signal, a gripper operating signal, a mechanical hand valve group, a gripper valve group, a cooling system, a traveling system, a controller, a display screen, a rectifier and a motor controller; the controller is connected with the motor controller, and the display screen is connected with the motor controller through a field bus.
Description
Technical Field
The invention relates to the field of non-excavation equipment, in particular to a control system and a control method of electric drive non-excavation equipment.
Background
The non-excavation equipment is used for paving water supply, power supply, petroleum pipelines and the like on railways, highways, rivers, buildings and other specific places, has the characteristics of wide application range, high construction speed, no environmental pollution, no ground destruction and the like, and plays an increasingly important role in infrastructure construction.
The traditional non-excavation equipment uses a diesel engine as a power source, the engine drives a hydraulic pump, the pump provides power for a liquid level system, and the hydraulic system drives the whole equipment to act. The diesel engine is used as a power source, so that the noise is high and the energy consumption is high; the patent provides a control system and a control method of electric drive equipment, which reduces energy consumption, reduces environmental pollution, solves the pain point of the traditional non-excavation equipment, realizes the self-adaption of torque control of the non-excavation equipment, improves the response rate of the system, enables the system to respond to the change of load very fast, enables equipment to start and stop running stably, and reduces the impact of the system during running.
Disclosure of Invention
The invention aims to provide a control system and a control method of electric drive trenchless equipment.
In order to achieve the above object, the solution of the present invention is: a control system for an electrically powered trenchless assembly: the non-excavation equipment comprises a truck crane (10), a clamp holder (20), a manipulator (30), a power head (40), a control cabinet (50), a girder (60), a motor (70) and a chassis (80); the control system comprises a driving system and a central control system;
the driving system consists of an external power supply (1), a circuit breaker (2), a generator set (3), a rectifier (4), a direct current bus (5), a motor controller (6), a motor (7), a braking unit (8) and a braking resistor (9); the three-phase alternating current power provided by an external power supply or an engine unit is provided for a rectifier through a circuit breaker, the rectifier converts alternating current into direct current power, the direct current power is provided for a motor controller, and the motor controller provides power for a motor;
the central control system consists of a rotating handle, a push-pull handle, a mechanical hand operating signal, a clamp holder operating signal, a mechanical hand valve group, a clamp holder valve group, a cooling system, a traveling system, a controller, a display screen, a rectifier and a motor controller.
The controller is connected with the motor controller, and the display screen is connected with the motor controller through a field bus.
As a preferred technical scheme of the present invention, further:
in the control system of the electric energy driven non-excavation equipment, the external power supply (1) is one or two of mains supply and double power supply of the generator set.
The control system of the non-excavation equipment driven by the electric energy is characterized in that the energy storage system is an energy storage capacitor or a livestock battery or a storage battery pack.
The control system of the aforementioned electric power driven trenchless equipment, the braking unit comprising at least one set of braking resistors.
The controller, the rectifier and the display screen of the control system of the electric energy driven non-excavation equipment adopt CAN bus communication or Profibus-DP bus or Modbus bus.
The control system of the electric energy driven non-excavation equipment comprises a push-pull handle and a rotary handle, wherein the push-pull handle is an analog handle or a bus handle, and the rotary handle is an analog handle or a bus handle.
In the control system of the electric energy driven trenchless equipment, the rectifier can be independently connected with the controller.
Drawings
FIG. 1 is a block diagram of trenchless equipment;
FIG. 2 is a block diagram of a power head;
FIG. 3 is a schematic diagram of a system scheme of a drive system;
FIG. 4 is a schematic diagram of another system scheme of a drive system;
FIG. 5 is a schematic diagram of a central control system;
FIG. 6 is a system network topology;
fig. 7 is a schematic diagram of a bus control scheme.
Detailed Description
In order to further explain the technical scheme of the invention, the invention is explained in detail by specific examples.
The trenchless equipment is composed of a truck crane (10), a clamp holder (20), a manipulator (30), a power head (40), a control cabinet (50), a girder (60), a motor (70) and a chassis (80), as shown in fig. 1.
As shown in fig. 2, the power head (40) is composed of a rotary motor (410), a rotary speed reducer (420), a rotary speed adjusting mechanism (430), a push-pull motor (440), a push-pull speed reducer (450) and a push-pull speed changing mechanism (460).
The trenchless equipment control system consists of a driving system and a central control system, wherein the scheme of the driving system is shown in fig. 3, and the driving system consists of a commercial power, namely an external power supply (1), a circuit breaker (2), a generator set (3), a rectifier (4), a direct current bus (5), a motor controller (6), a motor (7), a braking unit (8) and a braking resistor (9).
The three-phase alternating current power provided by an external power supply or an engine unit is provided for a rectifier through a circuit breaker, the rectifier converts alternating current into direct current power, the direct current power is provided for a motor controller, and the motor controller provides power for a motor.
The power source of the non-excavation control equipment is mainly supplied by commercial power or can be supplied by a generator set, the generator set and the commercial power supply are respectively controlled by a central control system, and when one power source fails, the other power source is automatically switched into the system to supply power within the set time of the system.
The rectifier provides direct current power supply for the rotating motor and the push-pull motor, and the rotating motor and the push-pull motor share a direct current bus. The common direct current bus enables the system to be more energy-saving than the traditional driving, and the rotating motor and the push-pull motor work simultaneously when the non-excavation equipment works, and the rotating motor and the push-pull motor stop respectively when the non-excavation equipment stops running. When the push-pull motor operates, reverse electromotive force is instantaneously generated when the rotary motor is stopped, current is formed by the reverse electromotive force through a motor loop, generated electric energy is fed back to a direct current bus through a rotary motor controller, and the electric energy on the direct current bus provides energy for driving the push-pull motor through the push-pull motor controller. Similarly, when the rotating motor is in operation, the push-pull motor stops generating reverse electromotive force or in reverse operation, and the electric energy generated by stopping the push-pull motor is fed back to the direct current bus through the push-pull motor controller, and the direct current bus provides energy for the rotating motor.
The motor controller has control and driving functions, drives the motor to run, detects the running state, frequency, current and output torque of the motor, and controls the starting, stopping, running frequency and output torque of the motor to run according to set curves or parameters.
The motor is a permanent magnet synchronous motor or a three-phase asynchronous motor. The permanent magnet synchronous motor is provided with a temperature sensor and an encoder, and can detect the temperature of the motor and the position of a motor spindle in real time.
The braking unit automatically detects the state of the direct current bus, reverse energy generated at the moment of stopping the motor passes through the motor controller to the direct current bus, and when the voltage on the direct current bus exceeds a set value, the braking unit acts, the braking resistor starts to work, and redundant energy is consumed. When the voltage of the direct current bus is in the normal range, the braking unit is closed, and the braking resistor does not work.
The trenchless equipment control system consists of a driving system and a central control system, wherein the scheme II of the driving system is shown in fig. 4, and the driving system is composed of a commercial power, namely an external power supply (1), a circuit breaker (2), a generator set (3), a rectifier (4), a direct current bus (5), a motor controller (6), a motor (7) and an energy storage system (8).
The energy storage system is adopted in the scheme, energy generated when the motor stops running or runs in a decelerating mode is recovered by the energy storage system, impact of the system on the rectifier and the motor controller is reduced, larger starting current is needed when the motor starts, and the energy storage system can release energy, so that impact on the rectifier is reduced. The energy storage system can reduce impact, recover energy, adjust the quality of electric energy in the system and prolong the service life of the rectifier and the motor controller.
The energy storage system can be an energy storage capacitor or a battery pack.
As shown in FIG. 5, the central control system is a control center of the whole equipment, and the controller is a vehicle-specific controller, has high protection level and strong calculation capability, can meet the requirement of strong system instantaneity, and is the control center of the equipment for controlling the operation of the whole system.
The push-pull rotation control, the signal of the rotating handle is received by the controller when the equipment operates, and the operation of the rotating motor is controlled through the bus according to the rotating speed mode or the torque mode set by the system. The controller receives the signal of the push-pull handle and controls the operation of the push-pull motor according to the control mode, the rotating speed mode or the torque mode set by the system. Meanwhile, the controller reads running state parameters of the push-pull motor and the rotating motor through a bus, and adjusts the PID parameters in real time by using a fuzzy PID algorithm and expert knowledge so as to realize accurate control of the rotating speed or torque of the motor.
When the non-excavation equipment operates, an operator sends a mechanical manual operation instruction under the condition of a manual mode, and the controller receives the mechanical manual operation instruction and controls the action of a mechanical arm valve group to realize the actions of rod loading, rod unloading and overturning of the mechanical arm. An operator sends a clamp movement instruction, and a controller receives the clamp movement instruction and controls a clamp movement valve group to realize the actions of advancing, retreating, clamping, loosening and overturning of the clamp.
When the non-excavation assembly is operated, the controller detects the state of equipment in an automatic mode, automatically controls the action of the manipulator valve group, and realizes the actions of rod loading, rod unloading and overturning of the manipulator. Similarly, the controller detects the equipment state, the unloading rod or the loading rod state, and automatically controls the gripper valve group to realize the actions of advancing, retreating, clamping, loosening and overturning of the gripper.
The push-pull motor, the rotating motor and the motor control system of the non-excavation equipment adopt a water cooling system, and the push-pull speed changer and the rotating speed changer adopt an oil cooling system. The cooling system operates by using a push-pull motor, a rotary motor, a motor controller and push-pull, wherein the temperature of the rotary speed changer is used as a control target, the controller controls automatic operation, and the temperature is controlled within a set range by using a PID algorithm. When the related mechanism of the equipment acts, the controller controls the cooling system to operate with preset low-speed small cooling power, and when the temperature of the equipment is detected to rise along with the operation of the mechanism or the temperature of the equipment reaches a set value, the controller controls the cooling system to enter a constant temperature control mode, namely a high-power cooling mode, and the constant temperature control adopts a PID algorithm. The hysteresis of temperature control, the temperature compensation coefficient is added in the temperature regulation PID algorithm in the constant temperature control mode, and the response speed of the constant temperature mode of the system can be adjusted by setting the compensation system through the display screen.
The running system of the non-excavation equipment is mainly used for equipment transition, and normally the running system does not work during equipment construction operation. The control system receives the walking action instruction, controls the running of the walking motor and controls the forward, backward and turning running of the equipment. The control system performs safety protection locking on the working mode of the equipment, the walking mode ensures that the walking system only operates in the walking mode, and the working system only operates in the working mode. The running system does not work in the working mode, and the working system does not work in the running process.
The system network topology diagram is shown in fig. 6, and the controller is a vehicle professional controller, has high protection level and strong calculation capability, can meet the requirement of strong system instantaneity, is a control center of the equipment, and controls the operation of the whole system.
The controller is communicated with the rectifier through a can network, configures the operation parameters of the rectifier through a bus, controls the operation and the stop of the rectifier, and monitors the operation state of the rectifier.
The motor controller sets the starting and stopping modes of the motor, controls the starting and stopping of the motor, and enables the starting and stopping of the motor to be stable. Setting an operation curve of the motor, controlling the operation of the motor, and enabling the motor to operate according to the frequency or torque set by the controller. And monitors the frequency, current, torque, temperature, etc. of the motor.
The display screen displays the running rotation speed of the motor, current, push-pull force of the push-pull mechanism, rotation torque, motor temperature, cooling water temperature, rectifier temperature, direct current bus voltage and the like. And calibrating system operation parameters, limiting torque in a motor rotation speed control mode, starting temperature, stopping temperature of the operation of the cooling system and alarm temperature of the motor.
The network communication protocol of the non-excavation equipment adopts the CAN protocol, and CAN also adopt a Profibus-DP network or a Modbus protocol.
As shown in fig. 7, the push-pull handle and the rotating handle may be bus handles, and the bus handles may transmit the rotation command and the push-pull command to the controller, so that the controller controls the motor controller to operate and further controls the push-pull motor and the rotating motor to operate.
The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereto, and any modification made on the basis of the technical scheme according to the technical idea of the present invention falls within the protection scope of the present invention.
Claims (7)
1. A control system for an electrically powered trenchless assembly: the non-excavation equipment is characterized by comprising a truck crane (10), a clamp holder (20), a manipulator (30), a power head (40), a control cabinet (50), a girder (60), a motor (70) and a chassis (80); the control system comprises a driving system and a central control system;
the driving system consists of an external power supply (1), a circuit breaker (2), a generator set (3), a rectifier (4), a direct current bus (5), a motor controller (6), a motor (7), a braking unit (8) and a braking resistor (9); the three-phase alternating current power provided by an external power supply or an engine unit is provided for a rectifier through a circuit breaker, the rectifier converts alternating current into direct current power, the direct current power is provided for a motor controller, and the motor controller provides power for a motor;
the central control system consists of a rotating handle, a push-pull handle, a mechanical hand operating signal, a gripper operating signal, a mechanical hand valve group, a gripper valve group, a cooling system, a traveling system, a controller, a display screen, a rectifier and a motor controller;
the controller is connected with the motor controller, and the display screen is connected with the motor controller through a field bus.
2. The control system of electric power driven trenchless equipment of claim 1 wherein: the external power supply (1) is one or two of mains supply and double power supply of the generator set.
3. The control system of electric power driven trenchless equipment of claim 1 wherein: the energy storage system is an energy storage capacitor or a livestock battery or a storage battery pack.
4. The control system of electric power driven trenchless equipment of claim 1 wherein: the brake unit includes at least one set of brake resistors.
5. The control system of electric power driven trenchless equipment of claim 1 wherein: the controller and the rectifier, the display screen and the motor controller adopt CAN bus communication or Profibus-DP bus or Modbus bus.
6. The control system of electric power driven trenchless equipment of claim 1 wherein: the push-pull handle is an analog handle or a bus handle, and the rotary handle is an analog handle or a bus handle.
7. The control system of electric power driven trenchless equipment of claim 1 wherein: the rectifier can be independently connected with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211727945.4A CN116176286A (en) | 2022-12-31 | 2022-12-31 | Control system and control method of electric drive non-excavation equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211727945.4A CN116176286A (en) | 2022-12-31 | 2022-12-31 | Control system and control method of electric drive non-excavation equipment |
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| CN116176286A true CN116176286A (en) | 2023-05-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211727945.4A Pending CN116176286A (en) | 2022-12-31 | 2022-12-31 | Control system and control method of electric drive non-excavation equipment |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2869420A1 (en) * | 2013-10-31 | 2015-05-06 | Siemens Aktiengesellschaft | Power system for a floating vessel |
| CN105134329A (en) * | 2015-08-31 | 2015-12-09 | 奇瑞汽车股份有限公司 | Engine oil cooling device and cooling control method |
| CN109812258A (en) * | 2019-02-28 | 2019-05-28 | 苏州科艺油气工程设备服务有限公司 | A kind of control system of rig and its control method |
| CN110080680A (en) * | 2019-06-11 | 2019-08-02 | 中煤科工集团西安研究院有限公司 | A kind of automatically controlled automated drilling rig of underground coal mine |
| CN210608970U (en) * | 2019-12-04 | 2020-05-22 | 华兴智控(北京)能源有限公司 | Water-cooling permanent magnet motor control system applied to mechanical drilling machine |
| CN217976085U (en) * | 2022-08-15 | 2022-12-06 | 江苏谷登重型机械装备科技有限公司 | Electrically-driven trenchless drilling machine |
| CN218141229U (en) * | 2022-09-28 | 2022-12-27 | 南阳华美石油设备有限公司 | Network electricity energy storage type electrically driven logging truck |
-
2022
- 2022-12-31 CN CN202211727945.4A patent/CN116176286A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2869420A1 (en) * | 2013-10-31 | 2015-05-06 | Siemens Aktiengesellschaft | Power system for a floating vessel |
| CN105134329A (en) * | 2015-08-31 | 2015-12-09 | 奇瑞汽车股份有限公司 | Engine oil cooling device and cooling control method |
| CN109812258A (en) * | 2019-02-28 | 2019-05-28 | 苏州科艺油气工程设备服务有限公司 | A kind of control system of rig and its control method |
| CN110080680A (en) * | 2019-06-11 | 2019-08-02 | 中煤科工集团西安研究院有限公司 | A kind of automatically controlled automated drilling rig of underground coal mine |
| CN210608970U (en) * | 2019-12-04 | 2020-05-22 | 华兴智控(北京)能源有限公司 | Water-cooling permanent magnet motor control system applied to mechanical drilling machine |
| CN217976085U (en) * | 2022-08-15 | 2022-12-06 | 江苏谷登重型机械装备科技有限公司 | Electrically-driven trenchless drilling machine |
| CN218141229U (en) * | 2022-09-28 | 2022-12-27 | 南阳华美石油设备有限公司 | Network electricity energy storage type electrically driven logging truck |
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Application publication date: 20230530 |