System and method for all electrical operation of mining haul trucks
阅读说明:本技术 用于采矿运输卡车的所有电气操作的系统和方法 (System and method for all electrical operation of mining haul trucks ) 是由 J.马宗达 于 2014-09-26 设计创作,主要内容包括:用所有电力源操作由电气轮马达驱动的采矿运输卡车;也就是说,没有柴油机。当在装载场地上行进时,采矿运输卡车由可以包括超级电容器组的车载能量存储系统供电。采矿运输卡车然后移动到滑接斜坡的底部,并且被耦合到滑接线。当上坡行进时,采矿运输卡车通过滑接线供电,并且车载能量存储系统通过滑接线被充电。当采矿运输卡车到达滑接斜坡的顶部时,采矿运输卡车从滑接线去耦。当在卸载场地上行进时,采矿运输卡车由车载能量存储系统供电。车载能量存储系统还可以通过制动期间由轮马达生成的减速能量来被充电。(Operating a mining haul truck driven by an electric wheel motor with all sources of electrical power; that is, there is no diesel engine. When travelling on the loading site, the mining haul truck is powered by an onboard energy storage system, which may include a bank of ultracapacitors. The mining haul truck then moves to the bottom of the trolley ramp and is coupled to the trolley line. When travelling uphill, the mining haul truck is powered through a trolley line, and the on-board energy storage system is charged through the trolley line. When the mining haul truck reaches the top of the trolley ramp, the mining haul truck is decoupled from the trolley line. While traveling on the unloading site, the mining haul truck is powered by the on-board energy storage system. The on-board energy storage system may also be charged by the retarding energy generated by the wheel motors during braking.)
1. A method for supplying power to electric motors on all electrically driven mining haul trucks equipped with an on-board energy storage system, the method comprising the steps of:
calculating energy required for a mining haul drive operation and performing at least one of the following:
(a) supplying power to the electric motor from the on-board energy storage system;
(b) charging the on-board energy storage system with power from a trolley power system;
(c) charging the on-board energy storage system with power generated by the electric motor during braking of the mining haul truck;
propelling the mining haul truck with electrical power supplied by the trolley power system alone, or by the on-board energy storage system alone, or by a combination of the trolley power system and the on-board energy storage system, without mechanical power supplied by a mechanical engine.
2. The method of claim 1, wherein the required energy is calculated based on a haul profile and a payload state of the mining haul truck.
3. The method of claim 2, wherein the shipping profile includes distance, slope of the floor, and travel path.
4. The method of any of claims 1-3, wherein:
the on-board energy storage system includes at least one ultracapacitor.
5. The method of any of claims 1-3, wherein:
the on-board energy storage system includes at least one battery.
6. The method of any of claims 1 to 3, further comprising:
supplying power to the motor from the trolley power system and/or charging the on-board energy storage system with power from the trolley power system when the mining haul truck is coupled to trolley lines of the trolley power system.
7. The method of claim 6, further comprising:
supplying power to the electric motor from the on-board energy storage system when the mining haul truck is decoupled from the trolley line.
8. The method of claim 6, further comprising:
after the onboard energy storage system is fully charged with power generated by the electric motor during braking of the mining haul truck, the power generated by the electric motor is returned to a utility grid via the trolley line.
9. A power system for supplying power to electric motors on all electrically driven mining haul trucks, the power system comprising:
an on-board energy storage system and energy management controller configured for performing at least one of the following operations based on the calculated energy required for operation of the mining haul truck:
(a) supplying power to the electric motor from the on-board energy storage system;
(b) charging the on-board energy storage system with power from a trolley power system;
(c) charging the on-board energy storage system with power generated by the electric motor during braking of the mining haul truck;
an inverter configured to:
receiving power from the on-board electrical energy storage system,
receiving power from the trolley power system, an
Supplying power to the motor; and
wherein the energy management controller is configured to propel the mining haul truck via electrical power supplied by at least one of the trolley power system alone, the on-board energy storage system alone, or a combination of the trolley power system and the on-board energy storage system, without mechanical power supplied by a mechanical engine.
10. The power system of claim 9, wherein the required energy is calculated based on a haul profile and a payload state of the mining haul truck.
11. The power system of claim 10, wherein the transportation profile comprises a distance, a slope of a floor, and a travel path.
12. The power system of any of claims 9 to 11, wherein:
the on-board energy storage system includes at least one ultracapacitor.
13. The power system of any of claims 9 to 11, wherein:
the on-board energy storage system includes at least one battery.
14. The power system of any of claims 9-11, wherein the energy management controller is further configured to:
supplying power to the motor from the trolley power system and/or charging the on-board energy storage system with power from the trolley power system when the mining haul truck is coupled to trolley lines of the trolley power system.
15. The power system of claim 14, wherein the energy management controller is further configured to:
supplying power to the electric motor from the on-board energy storage system when the mining haul truck is decoupled from the trolley line.
16. The power system of claim 14, wherein the energy management controller is further configured to:
after the onboard energy storage system is fully charged with power generated by the electric motor during braking of the mining haul truck, the power generated by the electric motor is returned to a utility grid via the trolley line.
17. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, performs a method for supplying power to electric motors on all electrically driven mining haul trucks, wherein the mining haul trucks are equipped with an on-board energy storage system, and the method comprises the steps of:
calculating energy required for a mining haul drive operation and performing at least one of the following:
(a) supplying power to the electric motor from the on-board energy storage system;
(b) charging the on-board energy storage system with power from a trolley power system;
(c) charging the on-board energy storage system with power generated by the electric motor during braking of the mining haul truck;
propelling the mining haul truck with electrical power supplied by the trolley power system alone, or by the on-board energy storage system alone, or by a combination of the trolley power system and the on-board energy storage system, without mechanical power supplied by a mechanical engine.
18. The computer-readable storage medium of claim 17, wherein the required energy is calculated based on a haul profile and a payload state of the mining haul truck.
19. The computer-readable storage medium of claim 18, wherein the shipping profile includes a distance, a slope of a floor, and a travel path.
20. The computer readable storage medium of any of claims 17 to 19, wherein the electric motor is supplied with power from the trolley power system and/or the on-board energy storage system is charged with power from the trolley power system when the mining haul truck is coupled to a trolley line of the trolley power system.
21. The computer readable storage medium of claim 20, wherein the electric motor is supplied with power from the on-board energy storage system when the mining haul truck is decoupled from the trolley line.
22. The method of claim 20, wherein the power generated by the electric motor is returned to a utility grid via the trolley line after the onboard energy storage system is fully charged with the power generated by the electric motor during braking of the mining haul truck.
23. A method for operating an all-electric drive mining haul truck, the mining haul truck including an electric motor and an on-board energy storage system, the method comprising:
calculating energy required for mining haul truck operation and performing at least one of the following:
(a) supplying power to the electric motor from the on-board energy storage system;
(b) charging the on-board energy storage system with power from a trolley power system;
(c) charging the on-board energy storage system with power generated by the electric motor during braking of the mining haul truck;
driving the mining haul truck to a loading site; and
filling the mining haul truck with a payload;
wherein the mining haul truck is propelled by electrical power supplied by the trolley power system alone, or by the on-board energy storage system alone, or by a combination of the trolley power system and the on-board energy storage system, without mechanical power supplied by a mechanical engine.
24. The method of claim 23, wherein the required energy is calculated based on a haul profile and a payload state of the mining haul truck.
25. The method of claim 24, wherein the shipping profile includes distance, slope of the floor, and travel path.
26. The method of any one of claims 23 to 25, wherein:
the on-board energy storage system includes at least one ultracapacitor.
27. The method of any one of claims 23 to 25, wherein:
the on-board energy storage system includes at least one battery.
28. The method of any of claims 23 to 25, further comprising:
driving the mining haul truck to a skid steer incline;
coupling the mining haul truck to a trolley line of the trolley power system;
supplying power to the motor from the trolley power system;
driving the mining haul truck along the trolley ramp; and/or
Charging the on-board energy storage system with power from the trolley power system.
29. The method of claim 28, further comprising:
decoupling the mining haul truck from the trolley line;
supplying power to the electric motor from the on-board energy storage system.
30. The method of any of claims 23 to 25, further comprising:
driving the mining haul truck to an unloading site; and
unloading the payload from the mining haul truck.
31. The method of claim 28, further comprising:
after the onboard energy storage system is fully charged with power generated by the electric motor during braking of the mining haul truck, the power generated by the electric motor is returned to a utility grid via the trolley line.
Technical Field
The present invention relates generally to electrical power (power) systems for mining haul trucks, and more particularly to a system and method for all electrical operations of a mining haul truck.
Background
Mining haul trucks are typically equipped with an electrically driven engine. Under conditions of high demand, such as traveling on an uphill grade, power may be supplied through a trolley line. Mining haul trucks draw power from trolley lines via pantographs (pantographs). However, under certain travel conditions, such as inside the mining pit, around the crusher, and on the horizontal plane, the mining haul truck operates independently of the trolley line. The electrical power is then supplied by a generator powered by a diesel engine. Diesel engines require the delivery and storage of a fuel supply and require regular maintenance. In addition, exhaust gas from diesel engines contributes to air pollution.
Disclosure of Invention
In an embodiment of the invention, the mining haul truck driven by the electric motor is operated from all sources of electric power without the need for a diesel engine driving an electric generator. When the mining haul truck is traveling on substantially flat ground, electrical power is supplied by the on-board energy storage system. When the mining haul truck is traveling along an uphill grade, power is supplied through trolley lines. The onboard energy storage system is also charged with power from the trolley line. In an embodiment of the invention, the on-board energy storage system is charged with deceleration energy captured from the electric motor during braking.
These and other advantages of the present invention will be apparent to those of ordinary skill in the art by reference to the following detailed description and the accompanying drawings.
Drawings
Fig. 1 shows a single line diagram of a prior art diesel powered electrical system for a mining haul truck;
FIG. 2 shows a single line diagram of a prior art trolley power system for a mining haul truck;
fig. 3 shows a schematic view of a first travel scenario for a mining haul truck;
fig. 4 shows a schematic view of a second travel scenario for a mining haul truck;
fig. 5A and 5B show a flow chart of a process for all electrical operations of a mining haul truck;
FIG. 6 shows a schematic diagram of a power system with an ultracapacitor energy storage system;
FIG. 7 shows a plot of vehicle speed as a function of travel time and a plot of vehicle acceleration as a function of travel time;
FIG. 8 shows a plot of vehicle traction as a function of travel time and a plot of vehicle driving resistance as a function of travel time;
FIG. 9 shows a graph of travel distance as a function of travel time; and
fig. 10 shows a schematic diagram of an ultracapacitor energy management controller.
Detailed Description
Fig. 1 shows a single line diagram of a prior art mining haul truck power system. The mining haul truck has two drive wheels. Each wheel is driven by a 3-phase Alternating Current (AC) wheel motor (M). Wheel motors (wheel motors) are noted as
In the power system shown in fig. 1, all of the power requirements for the
Fig. 2 shows a single line diagram of a prior art mining haul truck power system including an overhead trolley power system. Similar to the power system shown in fig. 1, a
The inputs of
Figure 3 shows a mining site with a loading site on a downhill slope from an unloading site; for example, the loading site is at the bottom of the pit and the payload is transported out of the pit by a truck. The loading bay 309 is located within the area 321. Within the area 321, the
In the uphill direction, region 321 and region 351 are connected by a trolley ramp 371, along which trolley ramp 371 power is available from trolley line 370 (trolley line 370 refers to a pair of trolley lines for simplicity). In the downhill direction, region 351 and region 321 are connected by a trolley ramp 361, along which trolley ramp 361 power is available from trolley line 360. The trolley wire 370 and the trolley wire 360 are supported overhead by the support arm 312 fitted to the support bar 310.
In an embodiment of the present invention, the mining haul truck is equipped with an on-board energy storage system (OBESS) that provides electrical power when the mining haul truck is operating within region 321 or within region 351. No diesel engine and generator are required. The obass refers to an energy storage system that travels with a mining haul truck (e.g., mounted on, attached to, or mounted on a trailer attached to the mining haul truck). In embodiments of the present invention, the OBESS includes a supercapacitor bank, a battery bank, or both. Further details of the OBESS are provided below. First all the electrical operation of the mining haul truck is described.
Reference is made to the travel scenario shown in fig. 3. Powered by the OBESS, the
Position P331 is an exit for sliding the ramp 371. The
Position 307 is an exit for sliding ramp 361. The
Referring to the travel scenario illustrated in fig. 4, a mining site is illustrated with a loading site at an uphill slope of a self-unloading site. The
In the uphill direction,
Powered by the OBESS, the
Position P431 is an exit for sliding the
Position P407 is the exit for sliding
The method for all electrical operation of the mining haul truck is summarized in the flow charts of fig. 5A and 5B. In step 502, a mining haul truck is started in region 1. In step 504, an on-board energy storage system (OBESS) is initially charged from an available power source, such as a charging station, a trolley line, or a diesel and generator. At step 506, powered by the OBESS, the mining haul truck travels within region 1 (e.g., to a loading site and receives a payload). In step 508, the mining haul truck travels to the trolley ramp 1, powered by the OBESS.
In step 510, a mining haul truck is coupled to trolley line 1. In step 512, the mining haul truck exits area 1 powered by trolley line 1. In step 514, power is supplied through trolley line 1 and the mining haul truck travels along trolley ramp 1. The OBESS is charged by the power from the trolley wire 1. In step 516, the mining haul truck arrives at area 2 powered through trolley line 1.
In step 518, the mining haul truck is decoupled from the trolley line 1. In step 520, powered by the OBESS, the mining haul truck travels within region 2 (e.g., to an unloading site and dumps the payload). In step 522, powered by the OBESS, the mining haul truck travels to the trolley ramp 2.
In step 524, the mining haul truck is coupled to the trolley line 2. In step 526, the mining haul truck exits area 2 powered by trolley line 2. In step 528, the mining haul truck travels along the trolley ramp 2, powered by the trolley line 2. The OBESS is charged by the power from the trolley wire 2. In step 530, the mining haul truck arrives at area 1 powered through trolley line 2. In step 532, the mining haul truck is decoupled from the trolley line 2. The mining haul truck has an OBESS charged and is ready to begin another work cycle.
In an embodiment of the present invention, the OBESS is charged with deceleration energy from the wheel motors. To slow down the moving mining haul truck, the mining haul truck drive system operates in a deceleration mode. Under normal operation, the electric motor converts electrical energy into mechanical energy. The operating mode in which the electric motor converts electric energy into mechanical energy is referred to as a propulsion mode, and the time interval during which the electric motor operates in the propulsion mode is referred to as a propulsion interval. The electric motor may instead operate as a generator to convert mechanical energy into electrical energy (referred to as retarding energy) that is fed into the inverter. The operation mode in which the electric motor converts mechanical energy into electrical energy is referred to as a deceleration mode, and the time interval during which the electric motor operates in the deceleration mode is referred to as a deceleration interval.
Typically, a brake chopper connected to an inverter directs power into a power resistor grid that continuously dissipates retarding energy until the mining haul truck comes to a stop; that is, the deceleration energy is dissipated as waste heat. The braking is smooth, similar to the braking operation in a car, but without mechanical brake wear. For example, refer to the prior art power system shown in fig. 2.
However, in embodiments of the present invention, the OBESS is integrated into the mining haul truck power system to recapture and store retarding energy. In particular, when the mining haul truck is traveling downhill, a significant amount of deceleration energy may be captured and stored (especially if the mining haul truck is carrying a payload of a load) because the mining haul truck is frequently braked and, therefore, there are frequent intervals during which the wheel motors are operating in a deceleration mode. Depending on the terrain, deceleration energy may also be captured during an uphill trip; deceleration energy may also be captured while the mining haul truck is traveling on level ground.
The deceleration energy is then used to charge the OBESS. In an embodiment of the present invention, the OBESS is implemented with an ultracapacitor system comprising an ultracapacitor bank. The amount of energy that can be stored in the ultracapacitor system depends on the size of the ultracapacitor bank. The OBESS may also be implemented with a rechargeable battery system including a battery pack. The amount of energy that can be stored in the battery system depends on the size of the battery pack. The OBESS may also be implemented with a combination of a supercapacitor bank and a battery bank. The storage capacity requirements are described below.
Supercapacitors can provide high power density. For increased electrical energy storage, a plurality of ultracapacitors may be connected in series and parallel to form an ultracapacitor bank. The current flowing into the supercapacitor charges the supercapacitor, and electrical energy is stored via charge separation at the electrode-electrolyte interface. The stored electrical energy may then be used later to output electrical current. To maximize the lifetime of the supercapacitor, the supercapacitor is not fully discharged. Typically, the supercapacitor discharges until its voltage drops to a minimum user-defined lower voltage limit. For example, the lower voltage limit may be half of the voltage that is initially fully charged.
Fig. 6 shows a schematic diagram of an OBESS 626 integrated into a trolley power system. The wheel motors 610 are powered by an
The ultracapacitor electrical
An embodiment of a computing system for implementing the ultracapacitor energy management controller 612 (fig. 6) is shown in fig. 10. The
The
The
The
The
As is well known, computers operate under the control of computer software that defines the overall operation and application of the computer. The
The method steps shown in the flow diagrams in fig. 5A and 5B may be defined by computer program instructions stored in
The required OBESS storage capacity can be estimated from the calculations. For example, assume the following shipping profile (a travel scenario similar to the one shown in FIG. 3):
500m, flat: shoveled (loaded) onto sliding slopes, loaded
2000m, 10% slope: sliding-contact ramps, loaded
500m, flat: sliding on a slope to a dump site (unloading site), loaded
500m, flat: dumping grounds to sliding slopes, empty
2000m, -10% grade: sliding on a slope, empty
500m, flat: slide the ramp to the shovel, empty.
Each branch of the profile specifies: (a) distance traveled, (b) slope of the ground, (c) path of travel, and (d) payload status of the mining haul truck. The weight of the empty mining haul truck is assumed to be 160,000 kg; and the weight of the loaded mining haul truck is assumed to be 400,000 kg.
The speed and acceleration for a mining haul truck operating on the above profile is shown in fig. 7. The curve 702 shows vehicle speed (km/hr) as a function of travel time(s). Curve 704 relates vehicle acceleration (m/s)2) Shown as a function of travel time(s). Refer to fig. 8.
As can be seen in fig. 7: mining haul trucks require approximately 50 seconds to reach the trolley ramp. Similarly, it will take about the same time to travel from the slipover ramp to the dump site (unloading yard). Returning from the dump site to the trolley ramp will require less time because the mining haul truck is empty. The mining haul truck requires approximately 24kWh of energy from the OBESS to move the mining haul truck from the shovel (loading bay) to the trolley ramp. The energy required from the OBESS will be equal to or less than 24kWh for all other regions.
The selection of an appropriate energy storage device is important. Mines are often located in remote locations with extreme climatic conditions. Extremely cold conditions with temperatures below-20 ℃ pose particular challenges. In addition, mining haul trucks are subject to extreme shock and vibration. Suitable candidates for energy storage are traction stage supercapacitors and traction stage batteries.
Reference is made back to the travel scenario shown in fig. 3 and in fig. 4. The trolley power is supplied on both the uphill and downhill paths. In some scenarios, if the OBESS is sufficiently charged at the beginning of the downhill path, and if sufficient deceleration energy is generated along the downhill path to maintain sufficient charging in the OBESS for the mining haul truck to operate along the entirety of the downhill path and within the downhill region (region 321 in fig. 3 or
Embodiments of the present invention can be retrofitted into existing mining haul trucks having diesel engines and generators. The diesel engine may be reserved for operation in fault conditions or for charging the OBESS when idle. In other embodiments of the invention, the mining haul truck is not equipped with a diesel engine and generator: the mining haul truck is propelled by electrical power supplied by trolley lines alone, OBESS alone, or a combination of trolley lines and OBESS.
Embodiments of the present invention have been described with reference to mining haul trucks. Those skilled in the art may develop embodiments of the present invention for use with other vehicles that are driven by an electric motor.
The foregoing detailed description is to be understood as being in every respect illustrative and exemplary, but not restrictive, and the scope of the invention disclosed herein is not to be determined from the detailed description, but rather from the claims as interpreted according to the full breadth permitted by the patent laws. It is to be understood that: the embodiments shown and described herein are merely illustrative of the principles of the invention and various modifications can be made by those skilled in the art without departing from the scope and spirit of the invention. Various other combinations of features may be implemented by those skilled in the art without departing from the scope and spirit of the invention.
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