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NL2039051A - Electric slewing brake system and control method therefor - Google Patents

Electric slewing brake system and control method therefor Download PDF

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Publication number
NL2039051A
NL2039051A NL2039051A NL2039051A NL2039051A NL 2039051 A NL2039051 A NL 2039051A NL 2039051 A NL2039051 A NL 2039051A NL 2039051 A NL2039051 A NL 2039051A NL 2039051 A NL2039051 A NL 2039051A
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NL
Netherlands
Prior art keywords
unit
electric
braking
swing
motor
Prior art date
Application number
NL2039051A
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Dutch (nl)
Other versions
NL2039051B1 (en
Inventor
Zhu Feng
Liu Jichao
Zhang Weizhe
Song Ji
Original Assignee
Jiangsu Xcmg Construction Machinery Res Institute Ltd
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Publication of NL2039051A publication Critical patent/NL2039051A/en
Application granted granted Critical
Publication of NL2039051B1 publication Critical patent/NL2039051B1/en

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Classifications

    • 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
    • B60L7/22—Dynamic electric resistor braking, combined with dynamic electric regenerative braking
    • 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
    • B60L1/00—Supplying electric power to auxiliary equipment of 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
    • B60L1/00—Supplying electric power to auxiliary equipment of vehicles
    • B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
    • 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
    • B60L1/00—Supplying electric power to auxiliary equipment of vehicles
    • B60L1/20—Energy regeneration from auxiliary equipment
    • 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
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • 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
    • 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
    • B60L7/10—Dynamic electric regenerative braking
    • 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
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/18—Controlling the braking effect
    • 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
    • B60L7/20—Braking by supplying regenerated power to the prime mover of vehicles comprising engine-driven generators
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/54—Drive Train control parameters related to batteries
    • B60L2240/545—Temperature
    • 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
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/54—Drive Train control parameters related to batteries
    • B60L2240/549—Current

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Operation Control Of Excavators (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

Disclosed is an electric slewing brake system and a control method therefor. The electric slewing brake system includes: an electric slewing unit; configured to generate braking-regenerated electric energy during electric slewing braking; a power battery unit; configured to consume the braking-regenerated electric energy generated by the electric slewing unit and be charged for energy storage in a case where charging is allowed; an ISG (integrated-starter-generator) motor unit; configured to consume the braking-regenerated electric energy generated by the electric slewing unit to drive an engine unit and a hydraulic unit in a case where eXhaust braking is allowed; and to consume the braking-regenerated 10 electric energy generated by the electric slewing unit to drive the hydraulic unit in a case where eXhaust braking is not allowed; a brake resistor unit and a whole-machine electric accessory unit; configured to consume the braking-regenerated electric energy generated by the electric slewing unit.

Description

ELECTRIC SLEWING BRAKE SYSTEM AND CONTROL METHOD THEREFOR
TECHNICAL FIELD
[0001] The present invention relates to the technical field of engineering machinery, and, in particular, to an electric slewing braking system and a control method therefor.
BACKGROUND
[0002] Conventional excavators use engines as power sources and also use hydraulic media to provide a hydraulic energy as a driving source to drive actuators. However, hydraulic devices are often accompanied by problems such as energy loss. Especially, hydraulic slewing devices have large rotational inertia, a large amount of energy is lost at valve ports of hydraulic valves during the rotation and braking process, thereby causing energy waste, heating of the hydraulic system and life reduction of components. In order to reduce this energy loss, motor-driven slewing systems, namely electric slewing, have gradually emerged. Electric slewing uses electric motors to replace hydraulic motors and drives the slewing devices by means of speed reducers to realize the slewing motion of construction machinery, thereby reducing energy loss. However, with the gradual application of electric slewing, related problems also arise. Especially for electric slewing excavators with frequent slewing operations, when a battery is at low temperature and fully charged, in order to ensure the normal braking function, a brake resistor has high installed power, high cost, and low utilization of regenerated energy.
SUMMARY
[0003] An objective of the present invention is to overcome the deficiencies in the prior art and provide an electric slewing brake system and a control method therefor to solve the technical problems of the existing electric slewing brake system, such as high cost and low utilization of regenerative energy.
[0004] In order to achieve the above objective, the present invention is implemented by adopting the following technical solutions:
[0005] In a first aspect, the present invention provides an electric slewing brake system, including:
[0006] an electric slewing unit, configured to generate braking-regenerated electric energy during electric slewing braking;
[0007] a power battery unit, configured to consume the braking-regenerated electric energy generated by the electric slewing unit and be charged for energy storage in a case where charging is allowed; and not to be charged for energy storage in a case where charging is not allowed;
[0008] an ISG (integrated-starter-generator) motor unit, configured to consume the braking-regenerated electric energy generated by the electric slewing unit to drive an engine unit and a hydraulic unit in a case where exhaust braking is allowed; and to consume the braking-regenerated electric energy generated by the electric slewing unit to drive the hydraulic unit in a case where exhaust braking is not allowed;
[0009] a brake resistor unit and a whole-machine electric accessory unit, configured to consume the braking-regenerated electric energy generated by the electric slewing unit; and
[0010] a power distribution unit, electrically connected to the electric slewing unit, the power battery unit, the ISG motor unit, the brake resistor unit and the whole-machine electric accessory unit, respectively, so as to transfer the braking-regenerated electric energy generated by the electric slewing unit to the power battery unit, the ISG motor unit, the brake resistor unit and the whole-machine electric accessory unit.
[0011] Optionally, when charging is allowed, the following conditions are met: the battery temperature is within a preset temperature threshold range, the battery SOC is lower than a preset state threshold, and the whole machine has no fault alarm;
[0012] The receiving the braking-regenerated electric energy generated by the electric slewing unit includes: taking a smaller one of the current regeneration power of the electric slewing unit and a maximum charging power of the power battery unit as an actual charging power of the power battery unit.
[0013] Optionally, the braking-regenerated electric energy generated by the electric slewing unit is consumed in the following priority order:
[0014] the power battery unit, the whole-machine electric accessory unit, the ISG motor unit and the brake resistor unit.
[0015] Optionally, when the exhaust braking is allowed, the following condition is met: the sum of a hydraulic unit demand power and an exhaust braking power is less than or equal to the current regeneration power of the electric slewing unit.
[0016] Optionally, the electric slewing unit includes:
[0017] a slewing motor controller, connected to the power distribution unit by a high-voltage wire and a low-voltage wire;
[0018] a slewing motor, connected to the slewing motor controller by a high-voltage wire;
[0019] a speed reduction mechanism, mechanically connected to the slewing motor; and
[0020] a slewing mechanism, mechanically connected to the speed reduction mechanism;
[0021] the power battery unit includes:
[0022] a BMS (battery management system), connected to the power distribution unit by a high-voltage wire and a low-voltage wire; and
[0023] a power battery connected to the BMS by a high-voltage wire; 5S [0024] the ISG motor unit includes:
[0025] an ISG motor controller, connected to the power distribution unit by a high-voltage wire and a low-voltage wire; and
[0026] an ISG motor, connected to the ISG motor controller by a high-voltage wire;
[0027] the brake resistor unit includes:
[0028] a brake resistor controller, connected to the power distribution unit by a high-voltage wire and a low-voltage wire; and
[0029] a brake resistor, connected to the brake resistor controller by a high-voltage wire;
[0030] the whole-machine electric accessory unit is connected to the power distribution unit by a high-voltage wire and a low-voltage wire.
[0031] Optionally, the engine unit includes:
[0032] an engine, mechanically connected to the ISG motor; and
[0033] an engine controller, connected to the engine by a signal line and connected to the power distribution unit by a low-voltage wire;
[0034] the hydraulic unit includes: a hydraulic pump, mechanically connected to the ISG motor; and
[0035] a hydraulic pump controller, connected to the hydraulic pump by a signal line and connected to the power distribution unit by a low-voltage wire.
[0036] Optionally, the electric slewing brake system further includes a whole-machine controller which is respectively connected to the power distribution unit, the slewing motor controller, the whole-machine electric accessory unit, the BMS, the hydraulic controller, the engine controller, and the brake resistor controller by signal lines; the whole-machine controller is also connected to the power distribution unit by a low-voltage wire.
[0037] Optionally, the regeneration power #, of the electric rotary unit is expressed as:
PP=wXTXn
[0038] in the case where charging is allowed:
Py =P, +P; + Pa + Ps
Ps =Ps + Py
[0039] in the case where charging is not allowed:
Py = Pz + Py + Ps
[0040] wherein, =, T. 3 respectively represent the speed, braking torque and efficiency factor of the slewing motor, ?, represents the charging power of the power battery unit,
PP, B respectively represent the consumption powers of the whole-machine electric accessory unit, the brake resistor unit, and the ISG motor unit, and 2,7 respectively represent the consumption powers of the engine unit and the hydraulic unit.
[0041] In a second aspect, the present invention provides a control method for an electric slewing brake system, which adopts the electric slewing brake system as described above, wherein the control method includes:
[0042] in response to electric slewing braking, generating braking-regenerated electric energy by the electric slewing unit;
[0043] in response to the case where charging is allowed, transferring the braking-regenerated electric energy to the power battery unit by the power distribution unit to perform charging and energy storage;
[0044] in response to the case where charging is not allowed, transferring the braking-regenerated electric energy to the whole-machine electric accessory unit by the power distribution unit;
[0045] in response to a case where there is still residual braking-regenerated electric energy after the whole-machine electric accessory unit is satisfied, transferring the current residual braking-regenerated electric energy to the ISG motor unit by the power distribution unit; and
[0046] in response to a case where there is still residual braking-regenerated electric energy after the ISG motor unit is satisfied, transferring the current residual braking-regenerated electric energy to the brake resistor unit by the power distribution unit.
[0047] Optionally, in response to the case where the exhaust braking is allowed, the ISG motor unit drives the engine unit and the hydraulic unit; and
[0048] in response to the case where the exhaust braking is not allowed, the ISG motor unit drives the hydraulic unit.
[0049] Compared with the prior art, the present invention achieves the following beneficial effects:
[0050] The present invention provides an electric slewing brake system and a control method therefor. In the present invention, the electric slewing unit is combined with the power battery unit, the whole-machine electric accessory unit, the whole-machine hybrid power unit (the ISG motor unit, the engine unit, and the hydraulic unit) and the brake resistor unit to form an electric slewing brake system, thereby ensuring sufficient braking force to improve the safety of the whole machine, and accordingly reducing the installed power of the brake resistor and decreasing the cost. This method first recovers and then reuses and finally consumes the electric energy regenerated by slewing braking. When electric energy is generated during the process of slewing braking, it is first determined whether energy storage is allowed according to the whole-machine fault status and the status of the power battery. If energy storage is allowed, energy recovery is performed according to 5 the energy storage power obtained in real time; otherwise, the electric energy is reused by the whole-machine electric accessory unit and the hydraulic unit; finally, engine exhaust braking consumption and brake resistor consumption are considered. The invention can reduce the loss of braking-regenerated electric energy and improve the utilization of regenerated electric energy, thereby achieving the effect of energy saving.
BRIEF DESCRIPTION OF DRAWINGS
[0051] FIG. 1 is a structural block diagram of an electric slewing brake system according to an embodiment of the present invention;
[0052] FIG. 2 is an energy distribution diagram of an electric slewing brake system according to an embodiment of the present invention; and
[0053] FIG. 3 is a flowchart of a control method for an electric slewing brake system according to an embodiment of the present invention.
DETAILED DESCRIPTION OF THE EMBODIMENTS
[0054] The invention is further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the invention, and cannot be construed as limiting the scope of the invention.
[0055] Embodiment 1:
[0056] As shown in FIGS. 1 and 2, the present invention provides an electric slewing brake system, including an electric slewing unit, a power battery unit, an ISG motor unit, an engine unit, a hydraulic unit, a brake resistor unit, a whole-machine electric accessory unit and a power distribution unit. The power distribution unit is electrically connected to the electric slewing unit, the power battery unit, the ISG motor unit, the brake resistor unit and the whole-machine electric accessory unit, respectively, so as to transfer braking-regenerated electric energy generated by the electric slewing unit to the power battery unit, the ISG motor unit, the brake resistor unit and the whole-machine electric accessory unit.
[0057] The electric slewing unit is configured to generate the braking-regenerated electric energy during electric slewing braking. The electric slewing unit includes: a slewing motor controller, a slewing motor, a speed reduction mechanism and a slewing mechanism. The slewing motor controller is connected to the power distribution unit by a high-voltage wire and a low-voltage wire to transfer energy. The slewing motor controller is connected to the slewing motor by a high-voltage wire to control the slewing motor. The speed reduction mechanism is mechanically connected to the slewing motor to drive the slewing mechanism.
The slewing mechanism is mechanically connected to the speed reduction mechanism to reduce speed and increase torque to transmit power. The slewing mechanism is configured to carry an upper working device.
[0058] The power battery unit is configured to consume the braking-regenerated electric energy generated by the electric slewing unit and be charged for energy storage in a case where charging is allowed, and not to be charged for energy storage in a case where charging is not allowed.
[0059] The power battery unit includes a BMS and a power battery. The BMS is connected to the power distribution unit by a high-voltage wire and a low-voltage wire. The power battery is connected to the BMS by a high-voltage wire. The power battery is configured to store energy for the entire electric slewing brake system and recover braking-regenerated electric energy. The BMS is configured to control the charging and discharging of the power battery and monitor and feed back the key information and status of the battery.
[0060] Specifically in this embodiment: when charging is allowed, the following conditions are met: the battery temperature is within a preset temperature threshold range, the battery SOC is lower than a preset state threshold, and the whole machine has no fault alarm. In order to ensure the safety and stability of the charging process, a smallerone of the current regeneration power of the electric slewing unit and a maximum charging power of the power battery unit is taken as an actual charging power of the power battery unit.
[0061] The ISG motor unit is configured to consume the braking-regenerated electric energy generated by the electric slewing unit to drive the engine unit and the hydraulic unit in a case where exhaust braking is allowed; and to consume the braking-regenerated electric energy generated by the electric slewing unit to drive the hydraulic unit in a case where exhaust braking is not allowed. The ISG motor unit includes: an ISG motor controller and an
ISG motor. The ISG motor controller is connected to the power distribution unit by a high-voltage wire and a low-voltage wire. The ISG motor is connected to the ISG motor controller by a high-voltage wire. The ISG motor is installed at an end of the engine and is configured to convert the electric energy regenerated by slewing braking into a mechanical energy. The ISG motor controller is configured to control the ISG motor, monitor and feed back the status information of the ISG motor.
[0062] Specifically in this embodiment: when the exhaust braking is allowed, the following condition is met: the sum of a hydraulic unit demand power and an exhaust braking power is less than or equal to the current regeneration power of the electric slewing unit.
[0063] The engine unit includes: an engine and an engine controller. The engine is mechanically connected to the ISG motor. The engine controller is connected to the engine by a signal line and connected to the power distribution unit by a low-voltage wire. The hydraulic unit includes: a hydraulic pump and a hydraulic pump controller. The hydraulic pump is mechanically connected to the ISG motor. The hydraulic pump controller is connected to the hydraulic pump by a signal line and connected to the power distribution unit by a low-voltage wire. On common construction machinery, the hydraulic unit usually further includes a hydraulic valve, a travel motor, a boom hydraulic cylinder, an arm hydraulic cylinder and a bucket hydraulic cylinder. The hydraulic pump is installed at the other end of the ISG motor and is configured to convert the converted mechanical energy into hydraulic energy to be consumed. The hydraulic valve is installed at a rear end of the hydraulic pump and is configured to control a hydraulic oil circuit. A hydraulic working device is connected to the hydraulic valve by a hydraulic pipeline and is configured to realize a working action. The hydraulic working device includes a boom hydraulic cylinder, an arm hydraulic cylinder, a bucket hydraulic cylinder and a travel motor. The hydraulic controller is connected to the hydraulic pump and the hydraulic valve and is configured to collect the pressure and flow parameters of the hydraulic pump and control the hydraulic valve.
[0064] The brake resistor unit and the whole-machine electric accessory unit are configured to consume the braking-regenerated electric energy generated by the electric slewing unit. The brake resistor unit includes: a brake resistor controller and a brake resistor.
The brake resistor controller is connected to the power distribution unit by a high-voltage wire and a low-voltage wire. The brake resistor is connected to the brake resistor controller by a high-voltage wire. The brake resistor controller is configured to control the consumption power of the brake resistor to ensure sufficient braking force and safe and stable slewing braking. The brake resistor is configured to consume the electric energy regenerated by slewing braking. The whole-machine electric accessory unit is connected to the power distribution unit by a high-voltage wire and a low-voltage wire.
[0065] The electric slewing brake system further includes a whole-machine controller which is respectively connected to the power distribution unit, the slewing motor controller, the whole-machine electric accessory unit, the BMS, the hydraulic controller, the engine controller, and the brake resistor controller by signal lines; the whole-machine controller is also connected to the power distribution unit by a low-voltage wire. The whole-machine controller is connected to the BMS to obtain key information and status of the power battery, determine whether the power battery can recover energy and calculate the recovered power.
The whole-machine controller is connected to the engine controller to perform signal
S interaction with the engine controller to achieve engine exhaust braking. The whole-machine controller is connected to the ISG motor controller to control the start/stop and output of the
ISG motor. The whole-machine controller is connected to the brake resistor controller to control the start/stop and consumption power of the brake resistor. The whole-machine controller is connected to the slewing motor controller to control the start/stop of the swing motor and analyze the electric slewing braking power. The whole-machine controller is connected to a power distribution system to control the on/off of a power supply line of the power distribution system. The whole-machine controller is connected to the hydraulic controller to obtain the pressure and flow of the hydraulic pump and calculate the consumption power of the hydraulic system. The whole-machine controller is connected to the whole-machine electric accessory unit to control the start/stop of the whole-machine electric accessory unit.
[0066] Based on the relevant information obtained, the whole-machine controller first controls the power battery energy storage, and then controls whole-machine electric accessory consumption, engine exhaust braking consumption and hydraulic system consumption, and finally controls brake resistor unit consumption. The engine exhaust braking is achieved by cutting off the oil supply for the engine with the driving of the ISG motor. The hydraulic system consumption is achieved by transferring the braking-regenerated electric energy to the ISG motor to drive the hydraulic pump.
[0067] The regeneration power F, of the electric rotary unit is expressed as:
P,=wxTxn
[0068] in the case where charging is allowed:
Pi =P, +P; +P, + Ps
Ps = Ps +P;
[0069] in the case where charging is not allowed:
Py =P; +P, + Ps
[0070] wherein, =z, FT, respectively represent the speed, braking torque and efficiency factor of the slewing motor, F; represents the charging power of the power battery unit,
BF. Ps respectively represent the consumption powers of the whole-machine electric accessory unit, the brake resistor unit, and the ISG motor unit, and FP; respectively represent the consumption powers of the engine unit and the hydraulic unit.
[0071] Embodiment 2:
[0072] The present invention provides a control method for an electric slewing brake system, which adopts the electric slewing brake system as described above, wherein the control method includes the following steps:
[0073] step SI, in response to electric slewing braking, generating braking-regenerated electric energy by the electric slewing unit;
[0074] step S2, in response to the case where charging is allowed, transferring the braking-regenerated electric energy to the power battery unit by the power distribution unit to perform charging and energy storage;
[0075] step S3, in response to the case where charging is not allowed, transferring the braking-regenerated electric energy to the whole-machine electric accessory unit by the power distribution unit;
[0076] step S4, in response to a case where there is still residual braking-regenerated electric energy after the whole-machine electric accessory unit is satisfied, transferring the current residual braking-regenerated electric energy to the ISG motor unit by the power distribution unit;
[0077] in response to the case where the exhaust braking is allowed, allowing the ISG motor unit to drive the engine unit and the hydraulic unit; and
[0078] in response to the case where the exhaust braking is not allowed, allowing the ISG motor unit to drive the hydraulic unit; and
[0079] step S5, in response to a case where there is still residual braking-regenerated electric energy after the ISG motor unit is satisfied, transferring the current residual braking-regenerated electric energy to the brake resistor unit by the power distribution unit.
[0080] The actual operation process on site, as shown in FIG. 3, includes:
[0081] step 1: power battery energy storage: a vehicle-mounted power battery stores the regenerated electric energy;
[0082] step 2: whole-machine electric accessory consumption: the regenerated electric energy is consumed by the whole-machine electric accessories;
[0083] step 3: whole-machine hybrid power system consumption: the regenerated electric energy is consumed by the hydraulic system in the form of hydraulic energy and consumed by the engine exhaust braking in the form of mechanical energy; and
[0084] step 4: brake resistor consumption: the regenerated electric energy is consumed by the brake resistor in the form of heat energy.
[0085] The power battery energy storage includes the following steps:
[0086] S101, when braking-regenerated electric energy is generated during the braking of the slewing motor, determining whether the power battery is allowed to be charged according to the battery temperature, SOC, and the whole-machine fault status;
[0087] wherein the power battery is allowed to be charged if the battery temperature,
SOC, and the whole-machine fault status are satisfied at the same time:
[0088] condition al, the battery temperature is within a preset threshold range;
[0089] condition a2, the battery SOC is lower than a preset threshold;
[0090] condition a3, the whole machine has no fault alarm;
[0091] S102, if the power battery is allowed to be charged, calculating the regeneration power of the slewing motor and the maximum allowable charging power of the battery in real time by a look-up table algorithm according to the speed and torque of the slewing motor, and taking the smaller one as the energy storage power after comparison; and
[0092] S103, if the power battery is not allowed to be charged, directly carrying out the stage of whole-machine electric accessory consumption.
[0093] The whole-machine electric accessory consumption includes the following steps:
[0094] S201, when there is still residual braking-regenerated electric energy after the energy storage power of the power battery is satisfied, or when the battery is fully charged during the stage of power battery energy storage;
[0095] S202, directly transferring the residual braking-regenerated electric energy to the whole-machine electric accessory consumption.
[0096] The whole-machine hybrid power system consumption includes the following steps:
[0097] S301, when there is still residual braking-regenerated electric energy after the whole-machine electric accessory consumption is satisfied;
[0098] S302, determining whether the engine exhaust braking is allowed according to the hydraulic system demand power, residual regeneration power and engine exhaust braking power calculated in real time;
[0099] S303, if the engine exhaust braking is allowed, directly transferring the residual braking-regenerated electric energy to the ISG motor to be consumed for driving the hydraulic pump and the engine exhaust braking;
[00100] S304, if the engine exhaust braking is not allowed, directly transferring the residual braking-regenerated energy to the ISG motor to be consumed for driving the hydraulic pump.
[00101] Brake resistor consumption: when there is still residual braking-regenerated electric energy after the whole-machine hybrid power system consumption is completed, the residual braking-regenerated electric energy is consumed by the brake resistor in the form of heat energy.
[00102] It should be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) comprising computer-usable program codes.
[00103] The present invention is described with reference to flowcharts and/or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and/or block in the flowcharts and/or block diagrams, as well as the combination of processes and/or blocks in the flowcharts and/or block diagrams, may be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate means for implementing the functions specified in one or more processes of the flowcharts and/or one or more blocks of the block diagrams.
[00104] These computer program instructions may also be stored in a computer-readable memory that can guide the computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device, which implements the functions specified in one or more processes of the flowcharts and/or one or more blocks of the block diagrams.
[00105] These computer program instructions may also be loaded onto the computer or other programmable data processing device, so that a series of operation steps are performed on the computer or other programmable device to produce a computer-implemented process, and the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes of the flowcharts and/or one or more blocks of the block diagrams.
[00106] The above is only preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of the present invention.

Claims (10)

ConclusiesConclusions 1. Elektrisch zwenkremsysteem, omvattende: een elektrische, zwenkeenheid, ingericht om regeneratieve elektrische remenergie op te wekken tijdens het elektrisch zwenkremmen; een energiebatterij-eenheid, ingericht om de regeneratieve elektrische remenergie die opgewekt wordt door de elektrische zwenkeenheid te verbruiken en te worden opgeladen voor energieopslag in een geval waarin opladen is toegestaan; en niet te worden opgeladen voor energieopslag in een geval waarin opladen niet is toegestaan; een ISG (integrated-starter-generator) motoreenheid, ingericht om de regeneratieve elektrische remenergie die opgewekt wordt door de elektrische zwenkeenheid te verbruiken voor het aandrijven van een motoreenheid en een hydraulische eenheid in een geval waarin remmen op de uitlaatgassen is toegestaan, en om de regeneratieve elektrische remenergie die opgewekt wordt door de elektrische zwenkeenheid te verbruiken voor het aandrijven van de hydraulische eenheid in een geval waarin remmen op de uitlaatgassen niet is toegestaan; een remweerstandseenheid en een algemene elektrische accessoire-eenheid, ingericht om de regeneratieve elektrische remenergie die opgewekt wordt door de elektrische zwenkeenheid te verbruiken; en een stroomverdeeleenheid die elektrisch verbonden is met respectievelijk de elektrische zwenkeenheid, de energiebatterij-eenheid, de ISG-motoreenheid, de remweerstandseenheid en de algemene elektrische accessoire-eenheid, zodanig dat de regeneratieve elektrische remenergie die opgewekt wordt door de elektrisch, zwenkeenheid wordt doorgegeven aan de energiebatterij-eenheid, de ISG-motoreenheid, de remweerstandseenheid en de algemene elektrische accessoire-eenheid.1. Electric swing brake system, comprising: an electric swing unit configured to generate regenerative electric braking energy during electric swing braking; an energy battery unit configured to consume the regenerative electric braking energy generated by the electric swing unit and to be charged for energy storage in a case where charging is permitted; and not to be charged for energy storage in a case where charging is not permitted; an integrated-starter-generator (ISG) motor unit configured to consume the regenerative electric braking energy generated by the electric swing unit for driving a motor unit and a hydraulic unit in a case where exhaust braking is permitted, and to consume the regenerative electric braking energy generated by the electric swing unit for driving the hydraulic unit in a case where exhaust braking is not permitted; a brake resistor unit and a general electrical accessory unit, adapted to consume the regenerative electrical braking energy generated by the electric swing unit; and a power distribution unit electrically connected to the electric swing unit, the energy battery unit, the ISG motor unit, the brake resistor unit and the general electrical accessory unit, respectively, such that the regenerative electrical braking energy generated by the electric swing unit is transmitted to the energy battery unit, the ISG motor unit, the brake resistor unit and the general electrical accessory unit. 2. Het elektrische zwenkremsysteem volgens conclusie 1, waarin in het geval waarin opladen is toegestaan, aan de volgende voorwaarden zijn voldaan: de batterijtemperatuur ligt binnen een vooraf ingesteld temperatuurdrempelbereik, de SOC-status van de batterij is lager dan een vooraf ingestelde statusdrempel en de hele machine heeft geen storingsalarm; het ontvangen van de regeneratieve elektrische remenergie die opgewekt wordt door de elektrische zwenkeenheid omvat: het nemen van de kleinste van het huidige regeneratieve vermogen van de elektrische zwenkeenheid en een maximaal laadvermogen van de energiebatterij-eenheid als een feitelijk laadvermogen van de energiebatterij-eenheid.2. The electric swing brake system according to claim 1, wherein in the case where charging is allowed, the following conditions are met: the battery temperature is within a preset temperature threshold range, the SOC status of the battery is lower than a preset status threshold, and the whole machine has no fault alarm; receiving the regenerative electric braking energy generated by the electric swing unit comprises: taking the smaller of the current regenerative power of the electric swing unit and a maximum charging power of the energy battery unit as an actual charging power of the energy battery unit. 3. Het elektrische zwenkremsysteem volgens conclusie 1, waarin de regeneratieve elektrische remenergie die opgewekt wordt door de elektrische zwenkeenheid in de volgende prioriteitsvolgorde wordt verbruikt: de energiebatterij-eenheid, de algemene elektrische accessoire-eenheid, de ISG- motoreenheid en de remweerstandseenheid.3. The electric swing brake system according to claim 1, wherein the regenerative electric braking energy generated by the electric swing unit is consumed in the following priority order: the energy battery unit, the general electric accessory unit, the ISG motor unit and the brake resistor unit. 4. Het elektrische zwenkremsysteem volgens conclusie 1, waarin in het geval waarin remmen op de uitlaatgassen is toegestaan aan de volgende voorwaarde is voldaan: de som van een vraagvermogen van de hydraulische eenheid en een uitlaatremvermogen is kleiner dan of is gelijk aan het huidige regeneratievermogen van de elektrische zwenkeenheid.4. The electric swing brake system according to claim 1, wherein in the case where exhaust gas braking is allowed, the following condition is met: the sum of a demand power of the hydraulic unit and an exhaust braking power is less than or equal to the current regeneration power of the electric swing unit. 5. Het elektrische zwenkremsysteem volgens conclusie 1, waarin de elektrische zwenkeenheid omvat: een regelaar voor een zwenkmotor, aangesloten op de stroomverdeeleenheid via een hoogspanningsdraad en een laagspanningsdraad; een zwenkmotor, aangesloten op de regelaar voor een zwenkmotor via een hoogspanningsdraad; een snelheidsreductiemechanisme, mechanisch verbonden met de zwenkmotor; en een zwenkmechanisme, mechanisch verbonden met het snelheidsreductiemechanisme; waarin de energiebatterij-eenheid omvat: een BMS (battery management system), aangesloten op de stroomverdeeleenheid via een hoogspanningsdraad en een laagspanningsdraad; en een energiebatterij, aangesloten op de BMS via een hoogspanningsdraad, waarin de ISG-motoreenheid omvat: een regelaar voor een ISG-motoreenheid, aangesloten op de stroomverdeeleenheid via een hoogspanningsdraad en laagspanningsdraad,; een ISG-motoreenheid, aangesloten op de regelaar voor een ISG-motoreenheid via een hoogspanningsdraad; waarin de remweerstandseenheid omvat: een remweerstandsregelaar, aangesloten op de stroomverdeeleenheid via een hoogspanningsdraad en een laagspanningsdraad, een remweerstand, aangesloten op de remweerstandregelaar via een hoogspanningsdraad,;5. The electric swing brake system according to claim 1, wherein the electric swing unit comprises: a swing motor controller connected to the power distribution unit via a high-voltage wire and a low-voltage wire; a swing motor connected to the swing motor controller via a high-voltage wire; a speed reduction mechanism mechanically connected to the swing motor; and a swing mechanism mechanically connected to the speed reduction mechanism; wherein the energy battery unit comprises: a BMS (battery management system) connected to the power distribution unit via a high-voltage wire and a low-voltage wire; and a energy battery connected to the BMS via a high-voltage wire, wherein the ISG motor unit comprises: a controller for an ISG motor unit connected to the power distribution unit via a high-voltage wire and a low-voltage wire; an ISG motor unit connected to the controller for an ISG motor unit via a high-voltage wire; wherein the brake resistor unit comprises: a brake resistor controller connected to the power distribution unit via a high-voltage wire and a low-voltage wire, a brake resistor connected to the brake resistor controller via a high-voltage wire,; waarin de algemene elektrische accessoire-eenheid aangesloten is op de stroomverdeeleenheid via een hoogspanningsdraad en een laagspanningsdraad.in which the general electrical accessory unit is connected to the power distribution unit via a high-voltage wire and a low-voltage wire. 6. Het elektrische zwenkremsysteem volgens conclusie 5, waarin de motoreenheid omvat: een motor, mechanisch verbonden met de ISG motoreenheid; een motorregelaar, aangesloten op de motor via een signaallin en op de stroomverdeeleenheid via een laagspanningsdraad; waarin de hydraulische eenheid omvat: een hydraulische pomp, mechanisch verbonden met de ISG-motoreenheid, een hydraulische pompregelaar, aangesloten op de hydraulische pomp via een signaallijn en op de stroomverdeeleenheid via een laagspanningsdraad.6. The electric swing brake system according to claim 5, wherein the motor unit comprises: a motor mechanically connected to the ISG motor unit; a motor controller connected to the motor via a signal line and to the power distribution unit via a low voltage wire; wherein the hydraulic unit comprises: a hydraulic pump mechanically connected to the ISG motor unit, a hydraulic pump controller connected to the hydraulic pump via a signal line and to the power distribution unit via a low voltage wire. 7. Het elektrische zwenkremsysteem volgens conclusie 6, waarin het elektrisch zwenkremsysteem verder een algemene regelaareenheid omvat, en waarin de algemene regelaareenheid respectievelijk is aangesloten op de stroomverdelingseenheid, de regelaar voor een zwenkmotor, de algemene elektrische accessoire-eenheid, de BMS, de hydraulische regelaar, de motorregelaar en de remweerstandregelaar via een signaallijn; waarin de algemene regelaareenheid ook aangesloten is op de stroomverdeeleenheid via een laagspanningsdraad.7. The electric swing brake system according to claim 6, wherein the electric swing brake system further comprises a general controller unit, and wherein the general controller unit is respectively connected to the power distribution unit, the controller for a swing motor, the general electric accessory unit, the BMS, the hydraulic controller, the motor controller and the brake resistor controller via a signal line; wherein the general controller unit is also connected to the power distribution unit via a low-voltage wire. 8. Het elektrische zwenkremsysteem volgens conclusie 6, waarin het regeneratieve vermogen P; van de elektrische zwenkeenheid wordt uitgedrukt als: Pi=wXTXn in het geval dat opladen is toegestaan: Pi =P, +P; +P, + Ps Ps =P +P; in het geval dat opladen niet is toegestaan: Pi =P; +P, + Ps waarin in de formule w,T,n de rotatiesnelheid, het remkoppel en de efficiëntiefactor van de zwenkmotor zijn, P, het laadvermogen van de energiebatterij-eenheid is, P3, Py, Ps respectievelijk het verbruiksvermogen zijn van de algemene elektrische accessoire-eenheid, de remweerstandseenheid en de ISG-motoreenheid, Pg, P; , respectievelijk het verbruiksvermogen zijn van de motoreenheid en de hydraulische eenheid.8. The electric swing brake system according to claim 6, wherein the regenerative power P; of the electric swing unit is expressed as: Pi=wXTXn in the case that charging is allowed: Pi =P, +P; +P, + Ps Ps =P +P; in the case that charging is not allowed: Pi =P; +P, + Ps where in the formula w,T,n are the rotation speed, the braking torque and the efficiency factor of the swing motor, P, is the charging power of the energy battery unit, P3, Py, Ps are the consumption power of the general electric accessory unit, the brake resistor unit and the ISG motor unit, respectively, Pg, P; , are the consumption power of the motor unit and the hydraulic unit, respectively. 9. Werkwijze voor het regelen van een elektrisch zwenkremsysteem, waarin gebruik wordt gemaakt van een elektrisch zwenkremsysteem volgens één der conclusies 1 tot en met 8, en waarin de werkwijze voor het regelen omvat: in reactie op elektrisch zwenkremmen, regeneratieve elektrische remenergie wordt opgewekt door de elektrische zwenkeenheid, in reactie op het geval dat opladen is toegestaan, het overbrengen van regeneratieve elektrische remenergie via de stroomverdeeleenheid naar de energiebatterij-eenheid voor opladen en energieopslag, in reactie op het geval dat opladen is niet toegestaan, het overbrengen van regeneratieve elektrische remenergie via de stroomverdeeleenheid naar de algemene elektrische accessoire- eenheid; in reactie op het geval dat er nog steeds remenergie is nadat de algemene elektrische accessoire-eenheid is voldaan, het overbrengen van de huidige remenergie via de stroomverdeeleenheid naar de ISG-motoreenheid; in reactie op het geval dat er nog steeds resterend elektrisch remenergie is nadat aan de ISG-motoreenheid is voldaan, het overbrengen van de huidige resterend elektrisch remenergie via de stroomverdeeleenheid naar de remweerstandseenheid.9. A method of controlling an electric swing brake system, wherein an electric swing brake system according to any one of claims 1 to 8 is used, and wherein the method of controlling comprises: in response to electric swing braking, regenerative electric braking energy is generated by the electric swing unit; in response to the case that charging is allowed, transferring regenerative electric braking energy through the power distribution unit to the energy battery unit for charging and energy storage; in response to the case that charging is not allowed, transferring regenerative electric braking energy through the power distribution unit to the general accessory electric unit; in response to the case that there is still braking energy after the general accessory electric unit is satisfied, transferring the current braking energy through the power distribution unit to the ISG motor unit; in response to the case that there is still remaining electric braking energy after the ISG motor unit is satisfied, transferring the current remaining electric braking energy through the power distribution unit to the brake resistor unit. 10. Werkwijze voor het regelen van een elektrisch zwenkremsysteem volgens conclusie 9, waarin: in reactie op het geval dat uitlaatremmen is toegestaan, het aandrijven van de motoreenheid en de hydraulische eenheid door de ISG-motoreenheid,; in reactie op het geval dat uitlaatremmen niet is toegestaan, het aandrijven van de hydraulische eenheid door de ISG-motoreenheid.10. A method for controlling an electric swing brake system according to claim 9, wherein: in response to the case that exhaust braking is allowed, driving the motor unit and the hydraulic unit by the ISG motor unit; in response to the case that exhaust braking is not allowed, driving the hydraulic unit by the ISG motor unit.
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