阅读说明：本技术 一种跨运车车载取力发电控制系统 (Vehicle-mounted power taking and generating control system of straddle carrier ) 是由 李凯 邵诚佳 程寅 于 2021-09-01 设计创作，主要内容包括：本发明提供一种跨运车车载取力发电控制系统,包括：控制系统,用于发出控制指令；柴油发电机组,用于输出驱动跨运车所需的交流电；整流器系统,用于对柴油发电机组输出的交流电进行交流-直流转换以输出直流电；闭环稳压装置,用于实时获取整流器系统输出的实际直流电电压,并结合用户为整流器系统设定的直流电电压,并对柴油发电机组输出的交流电频率实时进行调整,以使整流器系统输出的直流电电压恒定。本发明提供的跨运车车载取力发电控制系统省去了传统整流前端的LCL输入电抗器,减少硬件成本和体积,维护简单,同时,也可以兼容多张类型的柴油发电机,并在任意转速下,平滑无冲击的跟踪运行、维持母线电压恒定。(The invention provides a straddle carrier vehicle-mounted power take-off and power generation control system, which comprises: the control system is used for sending out a control instruction; the diesel generator set is used for outputting alternating current required by driving the straddle carrier; the rectifier system is used for carrying out alternating current-direct current conversion on alternating current output by the diesel generator set so as to output direct current; and the closed-loop voltage stabilizing device is used for acquiring the actual direct current voltage output by the rectifier system in real time, combining the direct current voltage set by a user for the rectifier system, and adjusting the alternating current frequency output by the diesel generator set in real time so as to ensure that the direct current voltage output by the rectifier system is constant. The straddle carrier vehicle-mounted power take-off power generation control system provided by the invention omits an LCL input reactor at the front end of the traditional rectifier, reduces the hardware cost and volume, is simple to maintain, can be compatible with a plurality of types of diesel generators, and can smoothly run without impact and maintain the constant bus voltage at any rotating speed.)

1. The utility model provides a straddle carrier vehicle-mounted power take-off power generation control system which characterized in that includes:

the control system is used for sending out a control instruction;

the diesel generator set is used for outputting alternating current required by driving the straddle carrier;

the rectifier system is used for carrying out alternating current-direct current conversion on alternating current output by the diesel generator set so as to output direct current;

and the closed-loop voltage stabilizing device is used for acquiring the actual direct current voltage output by the rectifier system in real time, combining the direct current voltage set by a user for the rectifier system, and adjusting the alternating current frequency output by the diesel generator set in real time so as to ensure that the direct current voltage output by the rectifier system is constant.

2. The on-board power take-off and generation control system for a straddle carrier of claim 1, wherein the diesel generator set further comprises:

a generator set for cutting the magnetic induction line to output alternating current, the generator set may include a synchronous generator or an asynchronous generator;

and the generator set manager is connected with the diesel generator set to control the start and stop of the generator set.

3. The on-board power take-off and generation control system for a straddle carrier of claim 2, wherein the closed-loop voltage stabilizer comprises:

the voltage setting device is used for setting the direct-current voltage output by the rectifier system;

the direct current adjusting device is used for carrying out proportional-integral control on the actual direct current voltage output by the rectifier system and the direct current voltage set by the voltage setting device so as to calculate the active component of the target current;

the alternating current adjusting device is used for carrying out three-phase-two-phase conversion on alternating current output by the diesel generator set and filtering to obtain a cross-axis current filtering value;

and the frequency setting device is used for carrying out proportional integral control on the horizontal axis current filter value and the target current active component to obtain a frequency adjustment increment, and combining the frequency adjustment increment and the slope setting frequency to obtain a set frequency so that the diesel generator set outputs alternating current according to the set frequency.

4. The on-board power take-off and generation control system for a straddle carrier of claim 3, the closed-loop pressure stabilizer further comprising:

and the frequency converter is used for detecting the residual voltage or excitation of the generator set to obtain the back electromotive force of the generator set so as to calculate the actual rotating speed and phase information of the generator set in real time.

5. The on-board power take-off and generation control system for a straddle carrier of claim 1, wherein the control system comprises:

the controller is used for sending out a control instruction;

and the steering absolute value encoders are respectively used for detecting the steering positions of the wheels of the straddle carrier and feeding the steering positions back to the controller.

6. The vehicle-mounted power take-off and generation control system for a straddle carrier according to claim 2, further comprising:

the driver system is used for driving a plurality of wheels of the straddle carrier according to the control command sent by the control system;

a battery power system for connecting in parallel with the rectifier system and storing the direct current of the rectifier system for the driver system to drive the plurality of wheels of the straddle carrier.

7. The on-board power take-off and generation control system for a straddle carrier of claim 6, wherein the battery-powered system comprises:

a battery pack;

a battery manager for collecting and transmitting operating parameters of the battery pack to the control system.

8. The straddle carrier vehicle power take-off and generation control system of claim 1, wherein the rectifier system comprises:

the input end of the alternating current filtering buffer circuit is connected with the diesel generator set;

the input end of the rectifier is connected with the output end of the alternating current filtering buffer circuit;

and the input end of the direct current buffer loop is connected with the output end of the rectifier, and the output end of the direct current buffer loop is connected with the driver system.

9. The straddle carrier vehicle power take-off and generation control system of claim 8, wherein the rectifier system further comprises:

and the shore power switching system is used for receiving alternating shore power and transmitting the alternating shore power to the input end of the alternating current filtering buffer loop.

10. The straddle carrier vehicle power take-off and generation control system of claim 1, wherein the drive system further comprises:

the plurality of walking drivers are used for respectively driving the corresponding motors to drive a plurality of wheels of the movable straddle carrier so as to realize the whole vehicle walking of the movable straddle carrier;

the steering servo drivers are used for respectively driving the corresponding motors to drive the wheels of the straddle carrier to steer synchronously so as to realize steering of the straddle carrier;

the lifting motor driver is used for driving a lifting motor of a lifting appliance on the straddle carrier;

a braking unit for braking a plurality of wheels of the straddle carrier;

and the converter is used for carrying out direct current-alternating current inversion on the direct current output by the rectifier system and driving an auxiliary system.

Technical Field

The invention relates to the technical field of vehicles, in particular to a vehicle-mounted power take-off and power generation control system for a straddle carrier.

Background

Straddle carriers are the dominant type of container handling equipment and generally undertake horizontal transport from the quayside to the yard and container stacking at the yard. The straddle carrier has the characteristics of flexibility, high efficiency, good stability, low wheel pressure and the like, and is generally applied. The operation of the container straddle carrier is very beneficial to improving the loading and unloading efficiency of the equipment at the front edge of the wharf. The power of the traditional straddle carrier is provided by a high-power full-speed diesel generator and a rectification system, wherein an LCL high-reactance filter in a rectification link occupies a large volume, and the cost is huge. But this element is indispensable in the conventional energy system.

Disclosure of Invention

In view of the above, the invention provides a vehicle-mounted power take-off power generation control system for a straddle carrier, which is used for solving the problem that an LCL reactance filter is large in size and high in cost in the prior art.

In order to solve the technical problems, the invention adopts the following technical scheme:

according to the embodiment of the invention, the vehicle-mounted power taking and generating control system of the straddle carrier comprises:

the control system is used for sending out a control instruction;

the diesel generator set is used for outputting alternating current required by driving the straddle carrier;

the rectifier system is used for carrying out alternating current-direct current conversion on alternating current output by the diesel generator set so as to output direct current;

and the closed-loop voltage stabilizing device is used for acquiring the actual direct current voltage output by the rectifier system in real time, combining the direct current voltage set by a user for the rectifier system, and adjusting the alternating current frequency output by the diesel generator set in real time so as to ensure that the direct current voltage output by the rectifier system is constant.

In one embodiment of the present invention, the diesel generator set further includes:

the generator set is used for cutting the magnetic induction line to output alternating current, and can comprise a synchronous generator or an asynchronous generator;

and the generator set manager is used for being connected with the generator set generating diesel oil to control the start and stop of the generator set.

In one embodiment of the present invention, a closed-loop voltage stabilization device includes:

the voltage setting device is used for setting the direct-current voltage output by the rectifier system;

the direct current adjusting device is used for carrying out proportional integral control on the actual direct current voltage output by the rectifier system and the direct current voltage set by the voltage setting device so as to calculate the active component of the target current;

the alternating current adjusting device is used for carrying out three-phase-two-phase conversion on alternating current output by the diesel generator set and filtering to obtain a cross-axis current filtering value;

and the frequency giving device is used for carrying out proportional integral control on the transverse axis current filter value and the target current active component to obtain a frequency adjusting increment, and obtaining a given frequency by combining the frequency adjusting increment and the slope given frequency so that the diesel generating set outputs alternating current according to the given frequency.

In one embodiment of the present invention, the closed-loop voltage stabilizing apparatus further includes:

and the frequency converter is used for detecting the residual voltage or excitation of the generator set to acquire the back electromotive force of the generator set so as to calculate the actual rotating speed and phase information of the generator set in real time.

In one embodiment of the invention, a control system comprises:

the controller is used for sending out a control instruction;

and the steering absolute value encoders are respectively used for detecting the steering positions of the wheels of the straddle carrier and feeding the steering positions back to the controller.

In one embodiment of the invention, the on-board power take-off and generation control system of the straddle carrier further comprises:

the driver system is used for driving a plurality of wheels of the straddle carrier according to the control command sent by the control system;

a battery power system for connecting in parallel with the rectifier system and storing the direct current of the rectifier system for the driver system to drive the plurality of wheels of the straddle carrier.

In one embodiment of the invention, a battery powered system comprises:

a battery pack;

and the battery manager is used for acquiring the operation parameters of the battery pack and transmitting the operation parameters to the control system.

In one embodiment of the invention, a rectifier system includes:

the input end of the alternating current filtering buffer circuit is connected with the diesel generator set;

the input end of the rectifier is connected with the output end of the alternating current filtering buffer circuit;

and the input end of the direct current buffer loop is connected with the output end of the rectifier, and the output end of the direct current buffer loop is connected with the driver system.

In one embodiment of the invention, the rectifier system further comprises:

and the shore power switching system is used for receiving the alternating-current shore power and transmitting the alternating-current shore power to the input end of the alternating-current filtering buffer loop.

In one embodiment of the invention, the drive system further comprises:

the plurality of walking drivers are used for respectively driving the corresponding motors to drive a plurality of wheels of the straddle carrier so as to realize the whole vehicle walking of the straddle carrier;

the steering servo drivers are used for respectively driving the corresponding motors to drive a plurality of wheels of the straddle carrier to steer synchronously so as to realize steering of the straddle carrier;

the lifting motor driver is used for driving a lifting motor of a lifting appliance on the straddle carrier;

a brake unit for braking a plurality of wheels of the straddle carrier;

and the converter is used for carrying out direct current-alternating current inversion on the direct current output by the rectifier system and driving an auxiliary system.

The technical scheme of the invention at least has one of the following beneficial effects:

1. the vehicle-mounted power take-off power generation control system of the straddle carrier uses the closed-loop voltage stabilizer to stabilize the output voltage of the rectification system, and is small in size and low in cost;

2. the vehicle-mounted power take-off power generation control system of the straddle carrier can be compatible with various diesel generators and is suitable for various straddle carriers;

3. the vehicle-mounted power take-off power generation control system for the straddle carrier saves the input reactance at the front end of the rectification system, reduces the hardware cost and volume, and is convenient to maintain.

Drawings

FIG. 1 is a block diagram of the structure of a vehicle-mounted power take-off and generation control system of a straddle carrier according to an embodiment of the invention;

FIG. 2 is a schematic diagram of a power take-off power generation technical scheme of the vehicle-mounted power take-off power generation control system of the straddle carrier in the embodiment of the invention;

FIG. 3 is a bus closed loop voltage stabilization control block diagram of the straddle carrier vehicle-mounted power take-off power generation control system in the embodiment of the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The power of the traditional straddle carrier is provided by a high-power full-speed diesel generator and a rectification system, and the voltage vector of the diesel generator needs to be consistent with the voltage vector of the rectification system. However, when the grid connection is actually carried out, the two can not be strictly consistent, and the voltage difference vector can drop on the line impedance, so that an LCL (inductor capacitor inductor) large reactance filter needs to be additionally arranged, but the LCL large reactance filter occupies a larger volume in a rectification link, and the cost is also huge. Meanwhile, the element is indispensable in the traditional energy system.

In order to solve the technical problems, the invention adopts the following technical scheme:

referring to fig. 1, a straddle carrier vehicle-mounted power take-off and generation control system according to an embodiment of the present invention includes: the control system is used for sending out a control instruction; the diesel generator set is used for outputting alternating current required by driving the straddle carrier; the rectifier system is used for carrying out alternating current-direct current conversion on alternating current output by the diesel generator set so as to output direct current, and therefore the straddle carrier can be driven by the direct current output by the rectifier system; and the closed-loop voltage stabilizing device is used for acquiring the actual direct current voltage output by the rectifier system in real time, combining the direct current voltage set by a user for the rectifier system, and adjusting the alternating current frequency output by the diesel generator set in real time so as to ensure that the direct current voltage output by the rectifier system is constant. Therefore, the LCL input reactor is omitted, the cost and the size are reduced, the direct current voltage output by the rectifier system is constant, and the stable operation of the straddle carrier is ensured.

Referring to fig. 1 and 2, in an embodiment of the present invention, the diesel generator set further includes: the generator set is used for cutting the magnetic induction line to output alternating current, and can comprise a synchronous generator or an asynchronous generator; and the generator set manager is used for being connected with the diesel generating set to control the start and stop of the generator set, wherein the generator set can be an asynchronous machine generator, a permanent magnet synchronous machine generator and an electric excitation synchronous generator. Therefore, the generator set manager can be used for controlling the starting and stopping of the diesel generator according to the working condition of the straddle carrier, so that fuel is effectively saved, meanwhile, the generator set manager can be compatible with various types of diesel generators, and the general applicability of the system is effectively improved.

Referring to fig. 1 and 3, in an embodiment of the present invention, a closed-loop voltage regulator includes: the voltage setting device is used for setting the direct-current voltage output by the rectifier system, namely the bus voltage; the direct current adjusting device is used for carrying out proportional-integral (PI) control on the actual direct current voltage output by the rectifier system and the direct current voltage set by the voltage setting device, the PI control refers to integral control when the output variation p of the controller is in direct proportion to the integral of the input deviation e, and the PI control can be applied to occasions where the control channel lag is small, the load change is not too large, and the surplus difference is not allowed in the process. In the embodiment of the present invention, PI control may be performed on the input deviation e and the input variation p generated by the bus voltage set by the voltage setting device and the actual bus voltage to calculate the target current active component. The alternating current electric control device is used for carrying out three-phase-two-phase conversion (3s/2r conversion) on alternating current output by the diesel generator set, wherein the three-phase-two-phase conversion is that when the rotating magnetomotive force generated by the three-phase winding and the rotating magnetomotive force generated by the two-phase winding are equal in magnitude and rotating speed, the two-phase winding is equivalent to the three-phase winding, and at the moment, fundamental wave active component and fundamental wave reactive component in a three-phase alternating current system are expressed as direct current components in a d-q coordinate system. In the embodiment of the invention, after 3s/2r conversion is carried out on three-phase alternating current generated by a diesel generator, direct-current component Q-axis current (Iq) Iq and reactive component Id are generated, and Iq is filtered to obtain a cross-axis current filter value, namely a Q-axis current filter value; and the frequency setting device is used for carrying out proportional integral control on the horizontal axis current filter value and the target current active component to obtain a frequency adjustment increment, and at the moment, the frequency adjustment increment and the existing given frequency adjustment are added in a slope setting mode to obtain a given frequency so that the diesel generator set outputs alternating current according to the given frequency. Therefore, the closed-loop voltage stabilizing device can smoothly maintain the bus voltage to be constant without impact at any rotating speed of the diesel generator, and is favorable for stable operation of the straddle carrier.

Referring to fig. 1 and fig. 3, in an embodiment of the present invention, the closed-loop voltage stabilizing apparatus further includes: the frequency converter is used for detecting residual voltage or excitation of the generator set to obtain back electromotive force of the generator set so as to calculate the rotating speed n and phase information of the generator set in real time to obtain required frequency f, so that the closed-loop voltage stabilizer calculates required frequency adjustment increment and adjusts power generation torque T in real time, wherein n is 60f/P1, P1 is the fixed pole pair number of the generator set, the generator torque T is 9550P/n, and P is the power of the generator set, so that the closed-loop voltage stabilizer can change the current frequency of the generator set by adjusting the torque of the generator set so as to obtain the voltage stability of a stable bus.

Referring to fig. 1, in an embodiment of the present invention, a control system includes: the controller is used for sending out a control instruction; and the steering absolute value encoders are respectively used for detecting the steering positions of the wheels of the straddle carrier and feeding the steering positions back to the controller. Thus, the controller can accurately control the wheel direction according to the steering position of the wheel fed back by the steering absolute value encoder.

Referring to fig. 1, in one embodiment of the present invention, the power take-off and generation control system on the straddle carrier further comprises: the driver system is used for driving a plurality of wheels of the straddle carrier according to the control command sent by the control system; a battery power system for connecting in parallel with the rectifier system and storing the direct current of the rectifier system for the driver system to drive the plurality of wheels of the straddle carrier. In one embodiment of the invention, a battery powered system comprises: a battery pack; and the battery manager is used for acquiring the operation parameters of the battery pack and transmitting the operation parameters to the control system. The battery pack can adopt a modularized long-endurance lithium battery, the number of the battery packs can be flexibly adjusted, direct current output by the rectifier is stored for the straddle carrier to use, and meanwhile, the control system can manage the battery packs according to information of the battery pack manager.

Referring to fig. 1, in an embodiment of the invention, a rectifier system includes: the input end of the alternating current filtering buffer circuit is connected with the diesel generator set; the input end of the rectifier is connected with the output end of the alternating current filtering buffer circuit; and the input end of the direct current buffer loop is connected with the output end of the rectifier, and the output end of the direct current buffer loop is connected with the driver system. The input end of the alternating current filtering buffer circuit is connected with the diesel generator set; the input end of the rectifier is connected with the output end of the alternating current filtering buffer circuit; the input end of the direct current buffer loop is connected with the output end of the rectifier, and the output end of the direct current buffer loop is connected with the driver system; the shore power switching system is used for receiving shore power signals and transmitting the shore power signals to the input end of the alternating current filtering buffer circuit. In addition, the direct current buffer circuit can be connected with the battery pack in parallel.

Referring to fig. 1, in an embodiment of the invention, the rectifier system further includes: and the shore power switching system is used for receiving the alternating-current shore power and transmitting the alternating-current shore power to the input end of the alternating-current filtering buffer loop. The shore power switching system can switch between the power supply of the diesel generator set and the shore power supply, and improves the flexibility of the straddle carrier

Referring to fig. 1, in an embodiment of the invention, the driver system further includes: the plurality of walking drivers are used for respectively driving the corresponding motors to drive a plurality of wheels of the straddle carrier so as to realize the whole vehicle walking of the straddle carrier; the steering servo drivers are used for respectively driving the corresponding motors to drive a plurality of wheels of the straddle carrier to steer synchronously so as to realize steering of the straddle carrier; the lifting motor driver is used for driving a lifting motor of a lifting appliance on the straddle carrier; a brake unit for braking a plurality of wheels of the straddle carrier; and the converter is used for carrying out direct current-alternating current inversion on the direct current output by the rectifier system and driving an auxiliary system. Therefore, the straddle carrier can flexibly move in the wharf area, and the lifting appliance is controlled by the lifting motor driver to transfer the container.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.