CN112031062B - Walking driving system of electric loader and control method - Google Patents
Walking driving system of electric loader and control method Download PDFInfo
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- CN112031062B CN112031062B CN202010836705.2A CN202010836705A CN112031062B CN 112031062 B CN112031062 B CN 112031062B CN 202010836705 A CN202010836705 A CN 202010836705A CN 112031062 B CN112031062 B CN 112031062B
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/207—Control of propulsion units of the type electric propulsion units, e.g. electric motors or generators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
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- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention relates to a loader walking drive, aiming at solving the problem that the walking drive system of the existing engine-driven loader has low transmission efficiency; the walking driving system of the electric loader and the control method are provided, wherein a first motor and a second motor of the system are respectively connected with a first input shaft and a second input shaft of a gearbox, and a first clutch and a second clutch are correspondingly arranged between the first input shaft and the output shaft of the gearbox and between the second input shaft and the output shaft of the gearbox; two ends of an output shaft of the gearbox are in transmission connection with a drive axle; the control unit is used for controlling the first and second motors and the first and second clutches, and comprises a whole machine control module for monitoring the loader load and calculating the traction force demand and the vehicle speed demand, and a walking control module for controlling the motor voltage current and the clutch state. The invention adopts double-motor drive, realizes single-motor independent drive or double-motor coupling drive, and ensures that each power source can work in a high-efficiency area.
Description
Technical Field
The invention relates to a loader walking drive, in particular to an electric loader walking drive system and a control method.
Background
At present, a transmission system of a loader mainly comprises an engine, a hydraulic torque converter and a gearbox assembly. The power source is from the engine, and is transmitted to the wheels of the drive axle after the torque and the rotating speed are adjusted by the hydraulic torque converter and the gearbox assembly, so that the functions of walking and shoveling operation of the loader are realized.
Such a transmission system suffers from the following disadvantages:
1. energy conversion and efficiency are low, energy conversion is performed twice in the power transmission process, mechanical energy is converted into internal energy of liquid and then is converted into mechanical energy again, and the efficiency of hydraulic transmission is lower than that of mechanical transmission.
2. The dynamic braking capacity is weak, the dynamic braking capacity of the hydraulic transmission gearbox is poor, the maximum braking torque is only about one third of the driving torque, and therefore mechanical brakes on wheels of the hydraulic transmission loader are frequently used and wear quickly.
3. The arrangement flexibility is poor, and the spatial position relation of the hydraulic transmission gearbox to the input shaft and the output shaft is strict.
4. Recovering and reusing braking energy: the technical scheme of the temporary brake energy recycling of the hydraulic transmission gearbox is that the brake energy recycling is realized.
Disclosure of Invention
The invention aims to solve the technical problem that the transmission efficiency of a walking drive system of the existing engine-driven loader is low, and provides a walking drive system of an electric loader and a control method thereof, so that the walking control of the loader driven by double motors is realized.
The technical scheme for realizing the purpose of the invention is as follows: provides a walking driving system of an electric loader,
the front drive axle and the rear drive axle are included, and the front drive axle and the rear drive axle are characterized by comprising a first motor, a second motor, a gearbox and a control unit, wherein the gearbox is provided with a first input shaft, a second input shaft and an output shaft; two ends of an output shaft of the gearbox are in transmission connection with the front drive axle and the rear drive axle respectively;
the control unit is used for controlling the first and second motors and the first and second clutches, and comprises:
the whole machine control module is used for monitoring the running state of the loader and determining the traction force and the speed requirement of the whole machine;
and the walking control module controls the voltage and current of the first motor and the second motor and the working states of the first clutch and the second clutch according to the control signal output by the whole machine control module.
In the walking drive system of the electric loader, the whole machine control module comprises a whole machine controller and a pressure sensor which is connected with the whole machine controller and used for monitoring the pressure of the movable arm oil cylinder; the walking control module comprises a two-in-one motor controller connected with the first motor, the second motor, the first clutch and the second clutch.
In the walking drive system of the electric loader, the transmission ratio from the first input shaft to the output shaft is different from the transmission ratio from the second input shaft to the output shaft. The rated power of the first motor is greater than the rated power of the second motor.
The technical scheme for realizing the purpose of the invention is as follows: provides a control method of a walking drive system of an electric loader, which is characterized in that,
the driving system comprises a first motor and a second motor which are respectively connected with a first input shaft and a second input shaft of the gearbox; a first clutch and a second clutch are correspondingly arranged on transmission lines between the first input shaft and the output shaft of the gearbox and between the second input shaft and the output shaft of the gearbox; the control method comprises the following steps:
calculating a traction force demand according to the monitored load and the design parameters of the whole machine, calculating the output rotating speed of the motor according to the traction force demand and obtaining a vehicle speed demand; control signals are output to control the voltage and current of the first and second electric motors and the states of the first and second clutches in response to the tractive effort demand and the vehicle speed demand.
In the control method of the electric loader walking drive system, when the traction force demand is greater than 30% of the maximum traction force and the vehicle speed demand is less than or equal to 25% of the maximum vehicle speed, the walking control module controls the first clutch and the second clutch to be in an engaged state and controls the first motor and the second motor to be in a rotating working state;
when the vehicle speed requirement is larger than 25% of the maximum vehicle speed and the traction force requirement is smaller than 30% of the maximum traction force, the first clutch is in a disengaged state and the first motor is in a power-off state, and the second clutch is in an engaged state and the second motor is in a working state;
when the vehicle speed requirement is less than or equal to 25% of the maximum vehicle speed and the traction force requirement is less than 30% of the maximum traction force or the vehicle speed requirement is greater than 25% of the maximum vehicle speed and the traction force requirement is greater than 30% of the maximum traction force, the second clutch is in a disengaged state and the second motor is in a power-off state, and the first clutch is in an engaged state and the first motor is in a working state.
Further, in the control method of the electric loader walking drive system, when the traction force demand is greater than or equal to 70% of the maximum traction force, the walking control module controls the first motor and the second motor according to the peak torque output; the walking control module controls the first motor and the second motor according to the rated torque output when the maximum traction force of 30% is less than the traction force demand and less than 70% of the maximum traction force;
when the vehicle speed requirement is less than 25% of the maximum vehicle speed and the traction force requirement is less than or equal to 30% of the maximum traction force, the walking control module controls the first motor according to the rated torque output;
when the 50% maximum vehicle speed is larger than or equal to the vehicle speed requirement which is larger than or equal to 25% of the maximum vehicle speed and the traction force requirement is smaller than or equal to 30% of the maximum traction force, the walking control module controls the second motor according to the peak torque output; and when the vehicle speed requirement is larger than 50 percent of the maximum vehicle speed, the walking control module controls the second motor according to the rated torque output.
Compared with the prior art, the invention adopts double-motor drive, the motor controller controls the quantity of the motor according to the load, single-motor drive or double-motor coupling drive is realized, and each power source can work in a high-efficiency area. And adopt the configuration of double motor, make things convenient for the part to arrange, and the motor can be used for realizing the braking energy and recycle.
Drawings
Fig. 1 is a schematic diagram of the electric loader travel drive system of the present invention.
Fig. 2 is a logic sequence diagram of the control of the operation process of the dual-motor electric loader according to the present invention.
FIG. 3 is a flow chart of the process control of the dual-motor pure electric loader according to the present invention.
FIG. 4 is a tractive effort-vehicle speed graph of the dual-motor electric-only loader of the present invention.
Fig. 5 is a torque-rotational speed output characteristic diagram of the motor of the present invention.
Part names and serial numbers in the figure:
the device comprises a wheel 1, a two-in-one motor controller 2, a complete machine controller 3, a first motor 4, a gearbox 5, a first clutch 51, a second clutch 52, a second motor 6, a front drive axle 7 and a rear drive axle 8.
Detailed Description
The following description of the embodiments refers to the accompanying drawings.
As shown in fig. 1, the electric loader travel drive system in the present embodiment includes a front drive axle 7 and a rear drive axle 8, a first motor 4, a second motor 6, a transmission 5, and a control unit. The gearbox 5 is provided with a first input shaft, a second input shaft and an output shaft, the first motor 4 and the second motor 6 are respectively connected with the first input shaft and the second input shaft of the gearbox 5, and a first clutch 51 and a second clutch 52 are correspondingly arranged on a transmission route between the first input shaft and the output shaft of the gearbox and between the second input shaft and the output shaft of the gearbox; two ends of an output shaft of the gearbox 5 are in transmission connection with a front drive axle 7 and a rear drive axle 8 through transmission devices respectively. The wheels 1 are respectively installed at the two ends of the front drive axle and the rear drive axle, and the walking drive system drives the wheels to rotate through the front drive axle 7 and the rear drive axle 8, so that the loader walks.
The control unit is used for controlling the rotation and stop of the first and second motors 4 and 6 and the connection or disconnection of the first and second clutches 51 and 52, and comprises: a whole machine control module, a walking control module and the like.
The whole machine control module is used for monitoring the load of the loader and calculating the traction force requirement and the vehicle speed requirement according to the detected load and the whole machine design parameters, and comprises a whole machine controller 3 (called VCU for short), a pressure sensor connected with the whole machine controller and used for detecting the pressure of a movable arm oil cylinder, and a loader movable arm attitude sensor.
The walking control module comprises a two-in-one motor controller 2 connected with the voltage of the first motor and the second motor and the first clutch and the second clutch. The two-in-one Motor Controller (MCU) outputs control signals to control the voltage of the first motor and the second motor and the states of the first clutch and the second clutch according to the traction force demand and the vehicle speed demand.
The transmission ratio from the first input shaft to the output shaft is different from the transmission ratio from the second input shaft to the output shaft. The rated power of the first motor is greater than the rated power of the second motor.
In this embodiment, the first motor and the second motor are both permanent magnet synchronous motors, the permanent magnet synchronous motors adopt a torque control mode, the voltage vector is the only input in the control system, the increase or decrease of the torque and the flux linkage is directly controlled through the voltage vector, the control structure is simple, and excellent dynamic performance can be obtained.
The control method of the electric loader traveling drive system in the embodiment is as follows:
the whole machine control module detects the load of the loader through a detection module, for example, a pressure sensor for detecting the pressure of a boom cylinder and a boom attitude sensor for detecting the attitude of a boom and the pressure of the boom cylinder are detected, and in addition, some design geometric parameters of the loader are added, so that the load of the loader is obtained.
Once the loader is designed and fixed, the maximum traction force Fmax and the maximum vehicle speed Vmax of the loader are determined.
The whole machine control module calculates the traction force requirement and the vehicle speed requirement according to the detected load and the whole machine design parameters;
according to the driving theory of the wheel type engineering machinery, the traction balance expression is as follows: ft＝P
The total load equation:
cutting resistance: pQ＝106Kbbh；
Rolling resistance: pf＝Mgfrcosα；
Wind resistance:
wherein, KbFor specific cutting resistance, b is the width of the cutting edge, h is the thickness of the cutting layer, M is the working weight of the whole machine, g is the acceleration of gravity, frIs the rolling resistance coefficient, alpha is the angle of the slope to the plane, KwThe coefficient of air resistance is A, the windward area of the whole machine is A, and the speed of the whole machine is V.
The tractive force equation:
Tpfor the output of torque of the motor, igIs the overall gear ratio of the transmission, i0Eta is the transmission efficiency for the transaxle transmission ratio.
According to the speed equation of the whole vehicle:
according to a motor power conservation equation:
where n is the maximum rotational speed of the drive motor, igAs a total gear ratio, rdIs the tire rolling radius.
The walking control module outputs control signals to control the voltage of the first motor and the second motor and the states of the first clutch and the second clutch according to the traction force demand and the vehicle speed demand. The control logic for both motors is shown in fig. 2 and the control strategy is shown in fig. 4 and the table below.
When the traction force demand is larger than 30% of the maximum traction force, the walking control module controls the first clutch and the second clutch to be in an engaged state and controls the first motor and the second motor to be in a rotating working state; the first motor and the second motor work simultaneously and are coupled with the output torque of the two motors through the gearbox, so that the loader is driven by the two motors, and the power output areas in the graph of fig. 4 are an area A and an area B.
When the vehicle speed demand is greater than 25% of maximum vehicle speed and the traction demand is less than 30% of maximum traction, the first clutch is in a disengaged state and the first electric motor is in a de-energized state, the second clutch is in an engaged state and the second electric motor is in an operating state. At this time, the first clutch is disconnected, the first motor is not in an operating state, the loader is driven by only the second motor, and the power output regions in fig. 4 are a region D and a region E
When the vehicle speed requirement is less than or equal to 25% of the maximum vehicle speed and the traction force requirement is less than 30% of the maximum traction force, the second clutch is in a disengaged state and the second motor is in a power-off state, the first clutch is in an engaged state and the first motor is in a working state. The power output region in fig. 4 is region C.
Further, the walking control module controls the first motor and the second motor according to the peak torque output when the traction demand is greater than or equal to 70% of the maximum traction, and the power output area in fig. 4 is area a; the travel control module controls the first motor and the second motor according to the rated torque output when 30% max traction < traction demand < 70% max traction, with power output region B in fig. 4.
And when the vehicle speed demand is less than 25% of the maximum vehicle speed and the traction demand is less than or equal to 30% of the maximum traction, the walking control module controls the first motor according to the rated torque output, and the power output area in the graph 4 is a C area.
When the 50% maximum vehicle speed is larger than or equal to the vehicle speed requirement which is larger than or equal to 25% of the maximum vehicle speed and the traction force requirement is smaller than or equal to 30% of the maximum traction force, the walking control module controls the second motor according to the peak torque output, and the power output area in the graph of fig. 4 is a D area; when the vehicle speed demand is greater than 50% of the maximum vehicle speed, the traveling control module controls the second motor according to the rated torque output, and the power output area in fig. 4 is the zone E. The power output control strategy is as follows.
TABLE 1 Power output control strategy Table
Claims (6)
1. A walking driving system of an electric loader comprises a front driving axle and a rear driving axle and is characterized by comprising a first motor, a second motor, a gearbox and a control unit, wherein the gearbox is provided with a first input shaft, a second input shaft and an output shaft, the first motor and the second motor are respectively connected with the first input shaft and the second input shaft of the gearbox, and a first clutch and a second clutch are correspondingly arranged on a transmission route between the first input shaft and the output shaft of the gearbox and between the second input shaft and the output shaft of the gearbox; two ends of an output shaft of the gearbox are in transmission connection with the front drive axle and the rear drive axle respectively;
the control unit is used for controlling the first and second motors and the first and second clutches, and comprises:
the whole machine control module comprises a whole machine controller, a pressure sensor and a loader movable arm attitude sensor, wherein the pressure sensor and the loader movable arm attitude sensor are connected with the whole machine controller and used for monitoring the pressure of a movable arm oil cylinder;
the walking control module controls the voltage and current of the first motor and the second motor and the working state of the first clutch and the second clutch according to the control signal output by the whole machine control module;
when the traction force demand is larger than 30% of the maximum traction force, the walking control module controls the first clutch and the second clutch to be in an engaged state and controls the first motor and the second motor to be in a rotating working state;
when the vehicle speed requirement is larger than 25% of the maximum vehicle speed and the traction force requirement is smaller than 30% of the maximum traction force, the first clutch is in a disengaged state and the first motor is in a power-off state, and the second clutch is in an engaged state and the second motor is in a working state;
when the vehicle speed requirement is less than or equal to 25% of the maximum vehicle speed and the traction force requirement is less than 30% of the maximum traction force, the second clutch is in a disengaged state and the second motor is in a power-off state, and the first clutch is in an engaged state and the first motor is in a working state.
2. The power loader travel drive system of claim 1, wherein the travel control module comprises a two-in-one motor controller coupled to the first and second motors and the first and second clutches.
3. The electric loader travel drive system of claim 1 or 2, wherein the first input shaft to output shaft transmission ratio is unequal to the second input shaft to output shaft transmission ratio.
4. The power loader travel drive system of claim 1, wherein the first motor has a power rating greater than the power rating of the second motor.
5. The control method of the walking drive system of the electric loader is characterized in that the drive system comprises a first motor and a second motor which are respectively connected with a first input shaft and a second input shaft of a gearbox; a first clutch and a second clutch are correspondingly arranged on transmission lines between the first input shaft and the output shaft of the gearbox and between the second input shaft and the output shaft of the gearbox;
the control unit for controlling the first motor, the second motor, the first clutch and the second clutch comprises a whole machine control module and a walking control module; the control method comprises the following steps:
the whole machine control module calculates traction force requirements according to the monitored postures of the movable arms, the pressure of the movable arm oil cylinders and the whole machine design parameters, calculates the output rotating speed of the motor according to the traction force requirements and obtains a vehicle speed requirement; the walking control module outputs control signals to control the voltage and current of the first motor and the second motor and the states of the first clutch and the second clutch according to the traction force demand and the vehicle speed demand;
when the traction force demand is larger than 30% of the maximum traction force, the walking control module controls the first clutch and the second clutch to be in an engagement state and controls the first motor and the second motor to be in a rotation working state;
when the vehicle speed requirement is larger than 25% of the maximum vehicle speed and the traction force requirement is smaller than 30% of the maximum traction force, the first clutch is in a disengaged state and the first motor is in a power-off state, and the second clutch is in an engaged state and the second motor is in a working state;
when the vehicle speed requirement is less than or equal to 25% of the maximum vehicle speed and the traction force requirement is less than 30% of the maximum traction force, the second clutch is in a disengaged state and the second motor is in a power-off state, and the first clutch is in an engaged state and the first motor is in a working state.
6. The control method of the electric loader travel drive system of claim 5, characterized in that:
when the traction force demand is larger than or equal to 70% of the maximum traction force, the walking control module controls the first motor and the second motor according to the peak torque output; the walking control module controls the first motor and the second motor according to the rated torque output when the maximum traction force of 30% is less than the traction force demand and less than 70% of the maximum traction force;
when the vehicle speed requirement is less than 25% of the maximum vehicle speed and the traction force requirement is less than or equal to 30% of the maximum traction force, the walking control module controls the first motor according to the rated torque output;
when the 50% maximum vehicle speed is larger than or equal to the vehicle speed requirement which is larger than or equal to 25% of the maximum vehicle speed and the traction force requirement is smaller than or equal to 30% of the maximum traction force, the walking control module controls the second motor according to the peak torque output; and when the vehicle speed requirement is larger than 50 percent of the maximum vehicle speed, the walking control module controls the second motor according to the rated torque output.
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| CN202010836705.2A CN112031062B (en) | 2020-08-19 | 2020-08-19 | Walking driving system of electric loader and control method |
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