WO2023103556A1 - Permanent magnet direct-drive torpedo ladle car and control method therefor - Google Patents

Abstract

The present invention relates to the technical field of molten iron transport in the metallurgical industry. Disclosed are a permanent magnet direct-drive torpedo ladle car and a control method therefor. The permanent magnet direct-drive torpedo ladle car comprises: a front-end traveling device directly driven by a permanent magnet motor; a rear-end traveling device which has the same structure as the front-end traveling device and is directly driven by the permanent magnet motor; and a dump mechanism and a torpedo ladle body which are located between the front-end traveling device and the rear-end traveling device. A first traction transmission system is provided in the front-end traveling device; a second traction transmission system is provided in the rear-end traveling device; a first car control device in the first traction transmission system is a main control device of the torpedo ladle car; a second car control device in the second traction transmission system is an auxiliary control device of the torpedo ladle car; the main control device and the auxiliary control device are interconnected and controlled by means of a wireless reconnection module. According to the present invention, without changing the main structure of an existing torpedo ladle car, self-propelled travelling of the torpedo ladle car directly driven by a permanent magnet motor and a "one ladle from BF to BOF" transport mode are achieved, and the turnover rate and utilization efficiency of torpedo ladle cars can be greatly improved.

Description

A kind of permanent magnet direct drive mixed iron car and its control method technical field

The invention relates to the technical field of molten iron transportation in the metallurgical industry, in particular to a permanent magnet direct drive mixed iron car and a control method thereof.

Background technique

The use of mixed iron cars to transport molten iron is the main method of iron and steel transportation in iron and steel enterprises. At present, mixed iron cars use locomotive traction operation mode, which has the characteristics of strong time rigidity and frequent changes in operation plans.

In order to organize the transportation of molten iron and ensure the normal production of the blast furnace and the rhythm of iron and steel production, one locomotive is often used to pull one or more mixed iron cars to run, so there are links such as locomotive scheduling, job waiting, and hook removal that affect mixed iron. vehicle operating efficiency.

The operating efficiency of the mixed iron car directly affects the production efficiency and the temperature drop of molten iron. How to change the operation mode of the mixed iron car and improve the operating efficiency of the mixed iron car is a common problem in the field of molten iron transportation technology that needs to be solved urgently.

With the continuous development and progress of technology, the solution of self-powered walking of mixed railway vehicles provides the possibility to solve the above problems. At present, most of the proposed self-propelling schemes for mixed-rail cars are redesigning the running device on one side of the mixed-rail car. Compared with the original running device on the other side of the mixed-rail car, the structure has changed a lot: large and small frames The lateral size and height have increased, the wheels have become larger, and the position of the center plate on the right side of the large frame has been adjusted to the right and up. Under this scheme, the center plate of the power bogie and the non-power bogie have a large asymmetry relative to the center plate of the frame body, the center of mass is offset, and the axle loads of the power bogie and the non-power bogie are unbalanced, which makes the mixed-rail car The stress and dynamic performance of the replaced traveling device have changed greatly compared with those before the transformation, and many parts are not common to those before the transformation, and the cost of transformation and maintenance is high. In addition, this solution does not have the redundancy of the power system. Once the power system fails, the mixed-rail car will not be able to move, which will affect the overall production efficiency.

Contents of the invention

In view of this, the present invention provides a permanent-magnet direct-drive hybrid car and a control method thereof, which are used to realize self-powered running of the hybrid car and improve the operating efficiency of the hybrid car.

In order to achieve the above object, the present invention provides the following technical solutions:

On the one hand, the present invention provides a kind of permanent magnet direct drive hybrid iron car, comprising:

The front-end running device directly driven by a permanent magnet motor; the rear-end running device that has the same structure as the front-end running device and is directly driven by a permanent-magnet motor; and the front-end running device and the rear-end running device Tilting mechanism and torpedo tank;

The front-end running device is provided with a first traction drive system; the first traction-drive system includes a first charging device, a first rectifier, a first energy storage device, and a first traction inverter in the front-end running device , a first auxiliary inverter, a first vehicle control device, a first permanent magnet direct drive traction motor and a first auxiliary load;

The rear running device is provided with a second traction drive system; the first traction drive system includes a second charging device, a second rectifier, a second energy storage device, and a second traction inverter in the rear running device. inverter, a second auxiliary inverter, a second vehicle control device, a second permanent magnet direct drive traction motor, and a second auxiliary load;

said first traction-drive system and said second traction-drive system are mutually redundant;

The first vehicle control device in the first traction drive system is the main control device of the mixed iron car, and the second vehicle control device in the second traction drive system is the auxiliary control device of the mixed iron car; The main control device and the auxiliary control device are interconnected and mutually controlled through a wireless reconnection module, so as to realize the running control of the mixed-rail car.

Further, the front-end running device includes: a first car body underframe; a first bogie assembly is arranged under the first car body underframe, and the first bogie assembly includes: a non-powered bogie, a power steering frame, small frame and large frame; the front axle of the power bogie is provided with a first permanent magnet direct drive axle drive system, and a basic braking unit is provided on the side frame of the power bogie; the first permanent The magnetic direct drive axle drive system includes: axle, axle box assembly, permanent magnet direct drive traction motor, motor hanger, corbel hanger and boom; the motor hanger is connected to the corbel hanger through a hanger;

The rear running device includes a second vehicle body underframe having the same structure as the first vehicle body underframe.

Further, the front-end running device also includes: a first mechanical room; the first mechanical room is provided with a first energy storage device, a first air brake device, a first flow conversion device, a first remote control receiving device and a second 1. Unmanned driving device;

The first air brake device includes two sets of independent air source devices, a parking brake module and an emergency brake module, which are respectively installed in the air brake cabinet in the first machine room, wherein the air source device includes an air compressor machines and dryers;

The first converter device is connected to the first energy storage device through an intermediate DC link, and the first converter device includes a first traction inverter and a first auxiliary inverter, wherein the first traction inverter Supply power to the first permanent magnet direct drive axle drive system, and at the same time feed back the electric energy generated by the regenerative braking of the first permanent magnet direct drive traction motor to the intermediate DC circuit to charge the first energy storage device, and the first auxiliary inverter The transformer supplies power to the auxiliary load;

The rear-end running device includes a second machine room having the same structure as the first machine room.

Further, the first vehicle control device is arranged in the first machine room; the first vehicle control device includes: a first vehicle control unit, a first traction control unit, a first remote I/O module, a first A switch, a first wireless reconnection module, a first data recording unit, and a communication interface with the remote control receiving device and the first unmanned device;

The second vehicle control device is arranged in the second machine room; the second vehicle control device includes: a second vehicle control unit, a second traction control unit, a second remote I/O module, a second switch and a second Two wireless reconnection modules.

Further, the front-end running device further includes: a first vehicle-mounted power receiving device, and the first vehicle-mounted power receiving device charges the first energy storage device;

The rear-end running device further includes: a second vehicle-mounted power receiving device, and the second vehicle-mounted power receiving device charges the second energy storage device.

Further, the first mechanical room is connected to the angle steel welded on the plane of the vehicle body through bolts;

The second mechanical room is connected with the angle steel welded on the plane of the vehicle body through bolts.

Further, the first vehicle-mounted power receiving device performs power transmission by the first ground power supply device;

The second vehicle-mounted power receiving device performs power transmission by the second ground power supply device.

Further, the charging method for the first vehicle-mounted power receiving device to charge the first energy storage device includes contact or non-contact;

If the contact type is used, the first ground power supply device is provided with a charging power supply inside, and is powered by the power supply equipment after being connected by wires. charging the first energy storage device in contact with a power grid or a brush;

If the non-contact type is used, the first ground power supply device is provided with a charging power supply inside, and the electric energy is transmitted to the first vehicle-mounted power receiving device through a split transformer. The upper iron core and the lower iron core of the split transformer are respectively placed In the first vehicle-mounted power receiving device and the first ground power supply device, secondary coil windings are arranged on the upper core of the split transformer, and primary coil windings are arranged on the lower iron core of the split transformer, The first vehicle-mounted power receiving device or the first ground power supply device is raised and lowered by the lifting mechanism. When the upper and lower iron cores of the split transformer form a closed magnetic circuit, the charging power source is isolated and transformed by the split transformer. , charging the first energy storage device via the rectifier circuit of the first vehicle-mounted power receiving device.

Further, the charging method of the second vehicle-mounted power receiving device for charging the second energy storage device is the same as that of the first vehicle-mounted power receiving device for charging the first energy storage device.

In yet another aspect, the present invention also provides a control method for the above-mentioned permanent magnet direct drive hybrid car, including:

When the unmanned driving controller of the mixed railway vehicle receives the unmanned driving request signal sent by the ground control center, the main control device of the mixed railway vehicle conducts a self-test to confirm that it meets the conditions for unmanned driving, and then feeds back the unmanned driving permission signal to the ground control center , the hybrid car enters unmanned driving mode;

During the unmanned driving process, if the remote control receiving device receives an input command sent by the handheld remote control terminal, the mixed-rail car automatically exits the unmanned driving mode and turns into the remote control mode;

In the unmanned driving mode, the unmanned driving controller receives the instruction from the ground control center through the wireless private network, and communicates with the main control device, so that the main control device controls the hybrid according to the input instruction. The iron car is running; the unmanned controller also feeds back the status of the mixed iron car to the ground control center in real time; the wireless private network adopts a dual-link aggregation network;

In the remote control mode, the remote control receiving device receives input instructions sent by the handheld remote control terminal through the wireless network, and communicates with the main control device, so that the vehicle control device controls the operation of the mixed-rail car according to the input instructions.

Further, the main control device receives the torque command, or receives the vehicle speed command to generate the torque command through the speed closed-loop control, and then sends the torque command to the first traction control through the Ethernet switch and the wireless reconnection module respectively. The unit and the second traction control unit realize the synchronous control of the torque and speed of the first permanent magnet direct drive axle drive system and the second permanent magnet direct drive axle drive system;

The main control device receives the wheel diameter verification command, sends the wheel diameter verification command to each traction control unit, and at the same time sends the detected real-time position feedback to each traction control unit, and the traction control unit draws according to the permanent magnet direct drive. The angular position information fed back by the motor resolver and the current wheel diameter value are used to calculate the traveling distance of the mixed-rail car, compare the detected traveling distance with the calculated traveling distance, and check the wheel diameter of the power shaft;

The main control device receives the charging instruction, forwards the charging instruction to the ground power supply device and the vehicle-mounted receiving device corresponding to each charging device, and controls each ground power supply device and each vehicle-mounted receiving device after confirming that the parking position of the mixed-rail vehicle meets the charging position requirements. Charging by contact or non-contact;

The main control device receives the fixed-point parking instruction, generates a torque control curve through the speed PI closed-loop control according to the distance of the parking target point and the position feedback of the mixed-rail car, and realizes the position control of the mixed-rail car. Feedback the fixed-point parking completion signal; the given value of the PI closed-loop control is the given value of the permanent magnet direct drive traction motor speed generated according to the distance from the mixed iron car position to the target position; the feedback value of the PI closed-loop control Drive traction motor speed value;

The main control device receives the parking command, sends the parking command to each air brake device, implements the vehicle parking through the parking brake module, and feeds back the parking application signal to the ground control center after the parking is completed;

The main control device receives the emergency stop command, and forwards the emergency stop command to the first traction control unit, the second traction control unit, the first air brake device and the second air brake device, so that regenerative braking and air brake Simultaneously function to realize emergency stop.

Further, the position-aware sensing device of the unmanned driving device adopts a laser ranging radar, a sensory camera or a Gray bus coded cable, and realizes real-time detection of the position of the mixed-rail car through continuous coding and positioning, and real-time detection on the electronic map. Shows the railroad car outline with front and rear ends.

Further, when the signal feedback of the location-aware sensing device generates delay or interference, the real-time location information is corrected in real time by calculating the walking distance.

Further, the wireless private network is used to provide a channel for wireless communication between on-board equipment, and to provide a backup wireless communication channel for wireless reconnection with other mixed-rail vehicles.

Further, it also includes: two or more mixed-rail cars are automatically grouped and de-grouped according to the wireless reconnection command issued by the ground control center.

Compared with the prior art, the present invention has the following beneficial effects:

On the basis of not changing the main structure of the existing mixed iron car, the direct drive of the permanent magnet motor of the mixed iron car and the transportation mode of one tank to the bottom can be realized, which can greatly improve the turnover rate and operation efficiency of the mixed iron car. The mixed-rail car can realize the regenerative braking function in the full speed range, and can realize the braking electric energy recovery in the full speed range, and the energy saving effect is good. The permanent magnet direct drive traction motor control can realize the precise parking of the mixed iron car, and provide accurate positioning guarantee for automatic charging and molten iron filling. It adopts full digital control and is equipped with an unmanned driving system, which can provide guarantee for the unmanned driving and intelligent operation and maintenance of mixed railway vehicles.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without any creative effort.

Fig. 1 is a structural diagram of a permanent magnet direct drive mixed iron car in an embodiment of the present invention;

Fig. 2 is a mechanical room structure diagram of a permanent magnet direct drive mixed iron vehicle in an embodiment of the present invention;

Fig. 3 is an assembly drawing of a bogie of a permanent magnet direct drive mixed iron car in an embodiment of the present invention;

4 is a structural diagram of a permanent magnet direct drive mixed iron axle drive system in an embodiment of the present invention;

Fig. 5 is the electric principle diagram of a kind of permanent magnet direct drive mixed iron car in the embodiment of the present invention;

Fig. 6 is a schematic diagram of the control system of a permanent magnet direct drive mixed iron car in an embodiment of the present invention;

Fig. 7 is a flow chart of a control method for a permanent magnet direct drive mixed-rail car in an embodiment of the present invention.

Detailed ways

In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a sequence of steps or elements is not necessarily limited to the expressly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus.

As shown in Figure 1, a permanent magnet direct drive mixed iron vehicle of the present invention includes: a front-end running device directly driven by a permanent magnet motor; a rear running device that has the same structure as the front-end running device and is directly driven by a permanent magnet motor; and , the tipping mechanism 9 and the torpedo tank 10 between the front end running device and the rear end running device.

Among them, the front-end running device includes: the first car body underframe 1; the first machine room 2; the first bogie assembly 3; the first vehicle-mounted power receiving device 4;

As shown in Figure 2, the first mechanical room 2 is connected with the angle steel welded on the plane of the car body through bolts, which can be easily disassembled. The first mechanical room 2 is equipped with a first energy storage device 11, a first air brake device 12, a first flow conversion device 13, a first vehicle control device 14, a first remote control receiving device 15 and a first unmanned driving device 16; a headlight 17 and an irradiation lamp 18 are also provided; wherein:

The first air brake device 12 includes two sets of independent air source devices, a parking brake module and an emergency brake module, which are respectively installed in the air brake cabinet in the machine room, wherein the air source device includes an air compressor and a dryer;

The first converter device 13 is connected to the first energy storage device 11 through an intermediate DC circuit, and under the control of the first vehicle control device 14, converts the DC power output from the first energy storage device 11 into an AC power source with adjustable voltage and frequency , the first converter device 13 includes a first traction inverter and a first auxiliary inverter, wherein the first traction inverter supplies power to the first permanent magnet direct drive axle drive system, and at the same time converts the power generated by the regenerative braking of the traction motor to Electric energy is fed back to the intermediate DC circuit to charge the first energy storage device 11, and the first auxiliary inverter supplies power to the first auxiliary load;

The first vehicle control device 14 is the main control device of the mixed-rail car, including the first vehicle control unit, the first traction control unit, the first remote I/O module, the first switch, the first wireless reconnection module, the data recording unit and Communication interface with remote control receiving device and unmanned device;

The first unmanned driving device 16 includes an unmanned driving controller, vehicle protection equipment, sensing equipment, positioning equipment, and video monitoring equipment.

A first bogie assembly 3 is arranged below the first vehicle body chassis 1. As shown in FIG. A small frame 27 and a large frame 28; the first permanent magnet direct drive axle drive system is provided on the axle at the front end of the power bogie 26, and a basic braking unit is provided on the side frame of the power bogie; as shown in Figure 4 As shown, the first permanent magnet direct drive axle drive system includes axle 30, axle box assembly 31, permanent magnet direct drive traction motor 32, motor hanger 33, corbel hanger 34, boom 35, motor hanger 33 and corresponding steering Frame corbel hanger 34 is connected by suspension rod.

Furthermore, the first bogie assembly 3 may also adopt multiple power bogies, and both shafts of the power bogies may be used as power shafts of the permanent magnet direct drive axle drive system.

The first vehicle-mounted power receiving device 4 charges the first energy storage device 11 .

The first charging device, the first rectifier, the first energy storage device, the first traction inverter, the first auxiliary inverter, the first vehicle control device, the first permanent magnet direct drive traction motor and the second An auxiliary load forms the first traction drive system.

The rear-end running device includes: the second car body chassis 5; the second machine room 6; the second bogie assembly 7; the second vehicle-mounted power receiving device 8;

A second bogie assembly 7 is arranged below the second car body chassis 5, and the second bogie assembly 7 includes three non-power bogies, one power bogie, two trolley frames and one cart with the same structure frame; the axle at the front end of the power bogie is provided with a second permanent magnet direct drive axle drive system, and a basic braking unit is provided on the side frame of the power bogie; the second permanent magnet direct drive axle drive system includes: axle, axle box Assembly, permanent magnet motor, motor hanger, corbel hanger and boom; the motor hanger and corbel hanger are connected through the hanger.

Further, the second bogie assembly 7 can also use multiple power bogies, and the two shafts of the power bogies can be used as the power shafts of the permanent magnet direct drive axle drive system.

The second mechanical room 6 is connected with the angle steel welded on the plane of the car body by bolts, which can be easily disassembled. The second mechanical room 6 is provided with a second energy storage device, a second air brake device, a second converter device, a second vehicle control device, a second remote control receiving device and a second unmanned driving device; wherein:

The second air brake device includes two sets of independent air source devices, a parking brake module and an emergency brake module, which are respectively installed in the air brake cabinet in the machine room, where the air source device includes an air compressor and a dryer;

The second converter device is connected to the second energy storage device through an intermediate DC circuit, and under the control of the second vehicle control device, converts the DC power output from the second energy storage device into an AC power source with adjustable voltage and frequency. The current device includes a second traction inverter and a second auxiliary inverter, wherein the second traction inverter supplies power to the second permanent magnet direct drive axle drive system, and at the same time feeds back the electric energy generated by the regenerative braking of the traction motor to the intermediate DC a circuit for charging the second energy storage device, and the second auxiliary inverter supplies power for the second auxiliary load;

The second vehicle control device is an auxiliary control device for a mixed-rail car, including: a second vehicle control unit, a second traction control unit, a second remote I/O module, a second switch, and a second wireless reconnection module;

The second unmanned driving device includes an unmanned driving controller, vehicle-mounted protective equipment, sensing equipment, positioning equipment, and video monitoring equipment;

The second vehicle-mounted power receiving device 8 charges the second energy storage device.

The second charging device, the second rectifier, the second energy storage device, the second traction inverter, the second auxiliary inverter, the second vehicle control device, the second permanent magnet direct drive traction motor and The second auxiliary load constitutes a second traction drive system.

The first traction transmission system, the second traction transmission system and the traction transmission system are mutually redundant. In the case of failure of one traction transmission system, the other traction transmission system can maintain the operation of the mixed-rail car.

The main control device and the auxiliary control device are interconnected and controlled through the wireless reconnection module;

In the forward direction of the mixed iron car, the front left side of each mechanical room is provided with a driver's compartment 19, and the rear is provided with a car ladder 22, and a driver's seat 20 is arranged on the step of the driver's compartment, facing the forward direction of the mixed iron car, A car window 21 is provided in front of the driver's seat, and a corridor 23 and a car door 24 are provided above the car ladder.

In each mechanical room (the first mechanical room or the second mechanical room), the source of power supply is an energy storage device or an external power supply. The energy storage device can be charged through the rectifier through the charging device, and can also be charged through an external power supply. The charging device is composed of two parts: the ground supply device and the vehicle-mounted power receiving device. The whole vehicle is equipped with two independent first vehicle-mounted power receiving devices and the second vehicle-mounted power receiving device. The ground power supply device and the second ground power supply device, the ground power supply device and the vehicle-mounted power receiving device transmit electric energy in a contact or non-contact manner to charge the energy storage device.

If the contact charging method is used, the two ground power supply devices are respectively equipped with charging power sources, and after being connected by wires, they are powered by power supply equipment such as the grid or brushes. The expansion and contraction of the device is in contact with the grid or the brush to charge the energy storage device.

If the non-contact charging method is adopted, the two ground power supply devices are respectively equipped with charging power sources, and the electric energy is transmitted to the two vehicle-mounted power receiving devices through two split transformers respectively. The upper iron core and the lower iron core of the split transformer They are respectively placed in the vehicle-mounted power receiving device and the ground power supply device. The upper iron core of the split transformer is arranged with secondary coil windings, and the lower iron core of the split transformer is arranged with primary coil windings. The vehicle-mounted power receiving device or the ground power supply device It can be raised and lowered by the lifting mechanism. When the upper and lower iron cores of the split transformer form a closed magnetic circuit, the charging power supply is isolated and transformed by the split transformer, and then the energy storage device is charged by the rectifier circuit of the vehicle-mounted power receiving device. .

As shown in Figure 5, the principle of the traction drive system of a permanent magnet direct drive mixed iron car of the present invention: the mixed iron car is provided with two sets of traction drive systems that are mutually standby, and the principle of a set of traction drive system is shown in Figure 5 , where the left end of the dotted line is the ground charging device. The ground charging device is equipped with a three-phase AC charging power supply and a DC charging power supply. The three-phase AC power supply is the power supply for the split transformer TR, and the secondary coil and upper iron core of the split transformer are assembled on the vehicle. In the power receiving device, the primary side coil and the lower iron core are assembled in the ground power supply device. When charging, the ground power supply device can be raised by the ground lifting mechanism. When the upper and lower iron cores of the split transformer form a closed magnetic circuit, the charging power supply After isolation and conversion by the split transformer, the energy storage device is charged by the rectifier. The DC charging power supply of the ground charging device can also be used to charge the energy storage device through the CN connector. Under the control of the vehicle control unit, the traction inverter and the auxiliary inverter supply power to the permanent magnet direct drive motor and auxiliary equipment respectively.

As shown in Figure 6, the principle of the control system of a permanent magnet direct drive mixed iron car in the present invention: the first vehicle control device in the first traction drive system is the main control device of the mixed iron car, and the first vehicle control device in the second traction drive system The second vehicle control device is the auxiliary control device of the mixed-rail car; both the main control device and the auxiliary control device include a vehicle control unit, a traction control unit, a remote I/O module, a switch, and a wireless reconnection module. In addition, the main control device also includes data The recording unit and the communication interface with the remote control receiving device and the unmanned driving device, the main control device and the auxiliary control device are interconnected and mutually controlled through the wireless reconnection module.

As shown in FIG. 7 , it shows a control method of the permanent magnet direct drive hybrid railcar of the present invention, which is applied to the above permanent magnet direct drive hybrid railcar. Firstly, it is judged whether the hybrid railcar is in unmanned driving mode or remote control mode. If the mixed iron car is in unmanned driving mode, the main control device of the mixed iron car reads the unmanned driving communication control command; if the mixed iron car is in the remote control mode, the main control device of the mixed iron car reads the remote communication control command, If neither the unmanned driving mode nor the remote control mode, then directly enter the emergency stop control. If the control command is a speed command, a torque command is generated through the closed-loop control of the speed, and then torque control is performed; if the control command is a torque command, torque control is performed. If the control command is a wheel diameter check command, the wheel diameter check is performed. If the control command is a charging command, then enter the charging control, generate a fixed-point parking command, and then enter the fixed-point parking control; if the control command is a fixed-point parking command, enter the fixed-point parking control. If the control command is a parking command, enter into parking control; if the control command is an emergency stop command, then enter into emergency stop control. Specifically, in the control method, the following program flow is periodically executed:

When the unmanned driving controller of the mixed railway vehicle receives the unmanned driving request signal sent by the ground control center, the main control device of the mixed railway vehicle conducts a self-test to confirm that it meets the conditions for unmanned driving, and then feeds back the unmanned driving permission signal to the ground control center , the hybrid car enters unmanned driving mode;

During the unmanned driving process, if the remote control receiving device receives the input command sent by the handheld remote control terminal, the mixed-rail car will automatically exit the unmanned driving mode and switch to the remote control mode;

In unmanned driving mode, the unmanned driving controller receives the instructions from the ground control center through the wireless private network, and communicates with the main control device, so that the main control device can control the operation of the mixed-rail car according to the input instructions; the unmanned driving controller also Real-time feedback to the ground control center on the status of the mixed railway car; the wireless private network adopts a dual-link aggregation network; each node of the wireless private network has the function of automatic splicing and discarding of messages, which can realize dual-link redundant hot backup, and the data is first-come-first-served , effectively reducing communication delay and transmission reliability. The wireless private network is used to provide a channel for wireless communication between on-board equipment, and can also be used to provide a backup wireless communication channel for wireless reconnection with other mixed-rail vehicles.

In the remote control mode, the remote control receiving device receives input instructions sent by the handheld remote control terminal through the wireless network, and communicates with the main control device, so that the main control device controls the operation of the mixed-rail car according to the input instructions.

Specifically, the main control device receives the torque command, or receives the vehicle speed command to generate the torque command through the speed closed-loop control, and then sends the torque command to the front and rear traction control units respectively through the Ethernet switch and the wireless reconnection module (respectively corresponding to the first traction control unit and the second traction control unit), realizing the rotation of the front and rear permanent magnet direct drive axle drive systems (respectively corresponding to the first permanent magnet direct drive axle drive system and the second permanent magnet direct drive axle drive system) Synchronous control of torque and speed;

The main control device receives the wheel diameter calibration command, sends the wheel diameter calibration command to each traction control unit, and at the same time sends the detected real-time position feedback to each traction control unit, and the traction control unit is based on the feedback from the permanent magnet motor resolver. Angle position information and current wheel diameter value, calculate the traveling distance of the mixed iron car, compare the detected traveling distance with the calculated traveling distance, and check the wheel diameter of the power shaft;

The main control device receives the charging command, forwards the charging command to the ground supply device and the on-board receiving device of the charging device, and after confirming that the parking position of the mixed-rail vehicle meets the charging position requirements, controls the power supply module and the power receiving module of the on-board receiving device to contact or Non-contact charging;

The main control device receives the fixed-point parking command, according to the distance of the parking target point and the position feedback of the mixed-rail car, generates a torque control curve through the speed PI closed-loop control, realizes the position control of the mixed-rail car, and feeds back the fixed point to the ground control center after reaching the target parking point Stop completion signal; the given value of PI closed-loop control is the given value of the traction motor speed generated according to the distance from the position of the mixed iron car to the target position; the feedback value of PI closed-loop control is the actual speed value of the traction motor;

The main control device receives the parking command, sends the parking command to the air brake device, implements the vehicle parking through the parking brake module, and feeds back the parking application signal to the ground control center after the parking is completed;

The main control device receives the emergency stop command, and the front and rear traction control units (corresponding to the first traction control unit and the second traction control unit respectively) and the front and rear air brake devices (corresponding to the first air brake device and the second air brake device respectively) braking device) transmits the emergency stop command, so that the regenerative brake and the air brake act simultaneously to realize the emergency stop.

The position-aware sensing equipment of the unmanned driving device adopts laser ranging radar, perception camera or Gray bus coding cable, and realizes real-time detection of the position of the mixed-rail car through continuous coding and positioning. When the signal feedback of the position-aware sensing device produces delay or interference, the real-time position information is corrected in real time by calculating the walking distance.

The ground control center's control of the mixed-rail car also includes: two or more mixed-rail cars are automatically grouped and unmarried according to the wireless reconnection command issued by the ground control center. Specifically, the ground control center sends a master control instruction to one of the accused mixed-rail cars, and sends slave-control instructions to the other charged mixed-rail cars. The mixed-rail car that receives the master control command is the master-controlled mixed-rail car, and the vehicle control unit of the master control device of the mixed-rail car is the marshalling master control unit; the mixed-rail car that receives the slave-control instruction is the slave-controlled mixed-rail car; The control unit of the auxiliary control device of the mixed railway car and other slave control units of the main control device and auxiliary control device of the mixed railway car is a grouped slave control unit. The marshalling master control unit receives the command from the ground control center, and transmits it synchronously to each marshalling slave control unit through the wireless reconnection module or wireless private network, and realizes the virtual Marshalling and synchronous operation control. After the marshalling task is over, the ground control center issues a command to disassemble or reorganize, and the unmarshaled mixed-rail car stops automatically after parking.

In the present invention, on the basis of not changing the main body structure of the existing mixed iron car, the front and rear traveling devices have the same structure, and the front and rear traveling devices are in a symmetrical and balanced state, so that the direct drive of the permanent magnet motor of the mixed iron car and the transportation mode of one tank to the bottom can be realized. Greatly improve the turnover rate and operating efficiency of the mixed iron car; no need to redesign the relevant parts of the bogie, only change the driven shaft at the two ends of the mixed iron car to a permanent magnet direct drive shaft, which has low cost and good component versatility features; two sets of traction drive systems that are mutually redundant, and two braking methods of air brake and regenerative brake, have good safety and reliability; It has the functions of dynamic and electric energy recovery, and has good energy-saving effect; it can realize the full braking force function at "0" speed, and through speed and position control, it can realize precise fixed-point parking of mixed iron cars, and provide accurate positioning guarantee for automatic charging and molten iron filling; The magnetic direct drive axle drive system has a simple structure and is easy to maintain; it adopts full digital control and is equipped with an unmanned driving system, which can provide guarantee for unmanned driving and intelligent operation and maintenance of mixed-rail vehicles.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.

Claims (15)

A permanent magnet direct drive mixed iron car, characterized in that it includes: a front-end running device directly driven by a permanent magnet motor; a rear running device that has the same structure as the front end running device and is directly driven by a permanent magnet motor; and, a tipping mechanism and a torpedo tank located between the front end running device and the rear end running device; The front-end running device is provided with a first traction drive system; the first traction-drive system includes a first charging device, a first rectifier, a first energy storage device, and a first traction inverter in the front-end running device , a first auxiliary inverter, a first vehicle control device, a first permanent magnet direct drive traction motor and a first auxiliary load; The rear running device is provided with a second traction drive system; the first traction drive system includes a second charging device, a second rectifier, a second energy storage device, and a second traction inverter in the rear running device. inverter, a second auxiliary inverter, a second vehicle control device, a second permanent magnet direct drive traction motor, and a second auxiliary load; said first traction-drive system and said second traction-drive system are mutually redundant; The first vehicle control device in the first traction drive system is the main control device of the mixed iron car, and the second vehicle control device in the second traction drive system is the auxiliary control device of the mixed iron car; The main control device and the auxiliary control device are interconnected and mutually controlled through a wireless reconnection module, so as to realize the running control of the mixed-rail car. The permanent magnet direct drive mixed iron car according to claim 1, wherein the front end running device comprises: a first car body underframe; a first bogie is arranged under the first car body underframe Assembling, the first bogie assembly includes: a non-power bogie, a power bogie, a small frame and a large frame; the front end axle of the power bogie is provided with a first permanent magnet direct drive axle drive system. The side frame of the power bogie is equipped with a basic braking unit; the first permanent magnet direct drive axle drive system includes: axle, axle box assembly, permanent magnet direct drive traction motor, motor hanger, corbel hanger and boom ; The motor hanger is connected to the corbel hanger through a boom; The rear running device includes a second vehicle body underframe having the same structure as the first vehicle body underframe. According to claim 2, a kind of permanent magnet direct drive mixed iron car, characterized in that, the front end running device also includes: a first mechanical room; the first mechanical room is provided with a first energy storage device, a first Air braking device, first flow conversion device, first remote control receiving device and first unmanned driving device; The first air brake device includes two sets of independent air source devices, a parking brake module and an emergency brake module, which are respectively installed in the air brake cabinet in the first machine room, wherein the air source device includes an air compressor machines and dryers; The first converter device is connected to the first energy storage device through an intermediate DC link, and the first converter device includes a first traction inverter and a first auxiliary inverter, wherein the first traction inverter Supply power to the first permanent magnet direct drive axle drive system, and at the same time feed back the electric energy generated by the regenerative braking of the first permanent magnet direct drive traction motor to the intermediate DC circuit to charge the first energy storage device, and the first auxiliary inverter The transformer supplies power to the auxiliary load; The rear-end running device includes a second machine room having the same structure as the first machine room. The permanent magnet direct drive hybrid iron car according to claim 3, characterized in that, the first vehicle control device is arranged in the first machine room; the first vehicle control device includes: a first vehicle control unit, the first traction control unit, the first remote I/O module, the first switch, the first wireless reconnection module, the first data recording unit and the communication interface with the remote control receiving device and the first unmanned device; The second vehicle control device is arranged in the second machine room; the second vehicle control device includes: a second vehicle control unit, a second traction control unit, a second remote I/O module, a second switch and a second Two wireless reconnection modules. A permanent magnet direct drive hybrid iron car according to claim 3, wherein the front-end running device further comprises: a first vehicle-mounted power receiving device, and the first vehicle-mounted power receiving device is the first power storage device can charge the device; The rear-end running device further includes: a second vehicle-mounted power receiving device, and the second vehicle-mounted power receiving device charges the second energy storage device. A kind of permanent magnet direct drive mixed iron car according to claim 3, characterized in that, the first mechanical room is connected with the angle steel welded on the plane of the car body through bolts; The second mechanical room is connected with the angle steel welded on the plane of the vehicle body through bolts. A kind of permanent magnet direct-drive hybrid iron car according to claim 5, characterized in that, the first vehicle-mounted power receiving device performs electric energy transmission by the first ground power supply device; The second vehicle-mounted power receiving device performs power transmission by the second ground power supply device. The permanent magnet direct drive hybrid iron car according to claim 7, characterized in that, the charging method for the first on-board power receiving device to charge the first energy storage device includes contact type or non-contact type; If the contact type is used, the first ground power supply device is provided with a charging power supply inside, and is powered by the power supply equipment after being connected by wires. charging the first energy storage device in contact with a power grid or a brush; If the non-contact type is used, the first ground power supply device is provided with a charging power supply inside, and the electric energy is transmitted to the first vehicle-mounted power receiving device through a split transformer. The upper iron core and the lower iron core of the split transformer are respectively placed In the first vehicle-mounted power receiving device and the first ground power supply device, secondary coil windings are arranged on the upper core of the split transformer, and primary coil windings are arranged on the lower iron core of the split transformer, The first vehicle-mounted power receiving device or the first ground power supply device is raised and lowered by the lifting mechanism. When the upper and lower iron cores of the split transformer form a closed magnetic circuit, the charging power source is isolated and transformed by the split transformer. , charging the first energy storage device via the rectifier circuit of the first vehicle-mounted power receiving device. The permanent magnet direct drive hybrid iron car according to claim 8, characterized in that, the charging method of the second vehicle-mounted power receiving device for charging the second energy storage device is the same as that of the first vehicle-mounted power receiving device The charging method for charging the first energy storage device is the same. A method for controlling a permanent magnet direct drive hybrid iron vehicle according to any one of claims 1 to 9, characterized in that it comprises: When the unmanned driving controller of the mixed railway vehicle receives the unmanned driving request signal sent by the ground control center, the main control device of the mixed railway vehicle conducts a self-test to confirm that it meets the conditions for unmanned driving, and then feeds back the unmanned driving permission signal to the ground control center , the hybrid car enters unmanned driving mode; During the unmanned driving process, if the remote control receiving device receives an input command sent by the handheld remote control terminal, the mixed-rail car automatically exits the unmanned driving mode and turns into the remote control mode; In the unmanned driving mode, the unmanned driving controller receives the instruction from the ground control center through the wireless private network, and communicates with the main control device, so that the main control device controls the hybrid according to the input instruction. The iron car is running; the unmanned controller also feeds back the status of the mixed iron car to the ground control center in real time; the wireless private network adopts a dual-link aggregation network; In the remote control mode, the remote control receiving device receives input instructions sent by the handheld remote control terminal through the wireless network, and communicates with the main control device, so that the vehicle control device controls the operation of the mixed-rail car according to the input instructions. The control method according to claim 10, wherein the main control device receives a torque command, or receives a vehicle speed command to generate a torque command through speed closed-loop control, and then passes through an Ethernet switch and a wireless reconnection module Sending the torque commands to the first traction control unit and the second traction control unit respectively, realizing synchronous control of torque and speed of the first permanent magnet direct drive axle drive system and the second permanent magnet direct drive axle drive system; The main control device receives the wheel diameter verification command, sends the wheel diameter verification command to each traction control unit, and at the same time sends the detected real-time position feedback to each traction control unit, and the traction control unit draws according to the permanent magnet direct drive. The angular position information fed back by the motor resolver and the current wheel diameter value are used to calculate the traveling distance of the mixed-rail car, compare the detected traveling distance with the calculated traveling distance, and check the wheel diameter of the power shaft; The main control device receives the charging instruction, forwards the charging instruction to the ground power supply device and the vehicle-mounted receiving device corresponding to each charging device, and controls each ground power supply device and each vehicle-mounted receiving device after confirming that the parking position of the mixed-rail vehicle meets the charging position requirements. Charging by contact or non-contact; The main control device receives the fixed-point parking instruction, generates a torque control curve through the speed PI closed-loop control according to the distance of the parking target point and the position feedback of the mixed-rail car, and realizes the position control of the mixed-rail car. Feedback the fixed-point parking completion signal; the given value of the PI closed-loop control is the given value of the permanent magnet direct drive traction motor speed generated according to the distance from the mixed iron car position to the target position; the feedback value of the PI closed-loop control Drive traction motor speed value; The main control device receives the parking command, sends the parking command to each air brake device, implements the vehicle parking through the parking brake module, and feeds back the parking application signal to the ground control center after the parking is completed; The main control device receives the emergency stop command, and forwards the emergency stop command to the first traction control unit, the second traction control unit, the first air brake device and the second air brake device, so that regenerative braking and air brake Simultaneously function to realize emergency stop. The control method according to claim 10, wherein the position sensing device of the unmanned driving device adopts a laser ranging radar, a sensing camera or a Gray bus coded cable, and realizes the mixed-rail car through continuous coding and positioning. Real-time detection of the position, and real-time display of the outline of the mixed-rail car and the front and rear ends on the electronic map. The control method according to claim 12, characterized in that when the signal feedback of the position-aware sensing device generates delay or interference, the real-time position information is corrected in real time by calculating the walking distance. The control method according to claim 10, characterized in that the wireless private network is used to provide a channel for wireless communication between on-board devices, and to provide a backup wireless communication channel for wireless reconnection with other mixed-rail vehicles. The control method according to claim 10, further comprising: automatically grouping and unmarshalling two or more mixed-rail cars according to the wireless reconnection instruction issued by the ground control center.

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