CN-121989891-A - Method and device for braking mine car and readable storage medium

CN121989891ACN 121989891 ACN121989891 ACN 121989891ACN-121989891-A

Abstract

The application provides a method and a device for braking a mine car and a readable storage medium, wherein the mine car comprises a driving motor, a braking resistor, a high-voltage loop, a temperature detection module, a mechanical braking mechanism and a driving motor control system, and the method comprises the steps of acquiring gradient data, battery electric quantity data and state data of the driving motor control system; when the battery electric quantity data meet the preset electric quantity condition, the gradient data meet the downhill judging condition and the state data of the driving motor control system is in fault, the working power of a braking resistor required by braking is determined according to the fault state of the driving motor control system, the braking resistor is controlled to be connected into a high-voltage loop based on the working power of the braking resistor, a temperature detection module is controlled to obtain temperature detection data of the braking resistor, and when the temperature detection data reach a temperature threshold value, the working power of the braking resistor is reduced, and a mechanical braking mechanism is controlled to intervene in braking. The application can reduce the power and mechanically brake in parallel at high temperature, and avoid the insufficient brake redundancy.

Inventors

CHEN YUNLAI
ZUO LIFENG
SI ZHENGYONG
ZHANG PENGSHENG

Assignees

三一重型装备有限公司
三一智能装备有限公司

Dates

Publication Date: 20260508
Application Date: 20260312

Claims (10)

1. A method of braking a mine car, the mine car including a drive motor, a brake resistor, a high voltage circuit, a temperature detection module, a mechanical brake mechanism, and a drive motor control system, the method comprising: acquiring gradient data of a mine car, battery power data and state data of a driving motor control system; When the battery electric quantity data meet a preset electric quantity condition, the gradient data meet a downhill judgment condition and the state data of the driving motor control system are faults, determining that the mine car is in a redundant braking working state; in the redundant braking working state, determining the working power of a braking resistor required by braking according to the fault state of the driving motor control system; Controlling the brake resistor to be connected into a high-voltage loop based on the working power of the brake resistor; controlling the temperature detection module to acquire temperature detection data of the brake resistor; And when the temperature detection data reach a temperature threshold value, reducing the working power of the braking resistor, and controlling the mechanical braking mechanism to intervene in braking.
2. A method of braking a mining vehicle according to claim 1, further comprising: When the battery electric quantity data, the gradient data and the state data of the driving motor control system do not meet the judging conditions of the redundant braking working state at the same time, determining that the mine car is in the conventional braking working state; And when the mine car is in a normal braking working state, determining a braking mode of the mine car according to the battery electric quantity data and the state data of the driving motor control system, wherein the braking mode comprises an electric feedback braking mode, a braking resistance braking mode and a mechanical braking mode.
3. A method of braking a mining vehicle according to claim 2, wherein in the electric regenerative braking mode, the drive motor is controlled to enter a generating state.
4. A method of braking a mining vehicle according to claim 2, wherein in the braking mode of the braking resistor, the braking resistor is controlled to switch into the high voltage circuit.
5. A method of braking a mine car according to claim 2, wherein in the mechanical braking mode the mechanical braking mechanism is controlled to intervene in braking and the drive motor is controlled to enter a power generating state and/or the braking resistor is controlled to switch into the high voltage circuit.
6. A method of braking a mining vehicle according to claim 1, wherein the determining the operating power of the braking resistor required for braking based on the fault condition of the drive motor control system includes: When the driving motor control system is in a single-module fault, controlling the braking resistor to limit power to work power, wherein the limit power is electric feedback braking power matched with a single driving motor; And when the driving motor control system is in a two-module fault, controlling the braking resistor to take full-load power as working power.
7. A method of braking a mining vehicle according to claim 1, wherein the reducing the operating power of the braking resistor includes: controlling the on-off duty ratio of a power tube in the high-voltage loop, and reducing the working power of the brake resistor; The power tube is a high-voltage-resistant insulated gate bipolar transistor and is connected in series with the brake resistor in the high-voltage loop.
8. A braking device for a mine car, the device being applied to the mine car, the mine car including a drive motor, a brake resistor, a high voltage circuit, a temperature detection module, a mechanical brake mechanism, and a drive motor control system, the device comprising: the data acquisition unit is used for acquiring gradient data of the mine car, battery power data and state data of the driving motor control system; The state judging unit is used for determining that the mine car is in a redundant braking working state when the battery electric quantity data meet a preset electric quantity condition, the gradient data meet a downhill judging condition and the state data of the driving motor control system are faults; the power determining unit is used for determining the working power of a braking resistor required by braking according to the fault state of the driving motor control system in the redundant braking working state; the circuit control unit is used for controlling the brake resistor to be connected into a high-voltage circuit based on the working power of the brake resistor; The temperature detection unit is used for controlling the temperature detection module to acquire temperature detection data of the brake resistor; And the braking control unit is used for reducing the working power of the braking resistor and controlling the mechanical braking mechanism to intervene in braking when the temperature detection data reach a temperature threshold value.
9. A braking device for a mine car, comprising: A processor; A memory having stored therein a program or instructions which when executed by the processor performs the steps of a method of braking a mining vehicle as claimed in any one of claims 1 to 7.
10. A readable storage medium having stored thereon a program or instructions which when executed by a processor performs the steps of a method of braking a mining vehicle according to any one of claims 1 to 7.

Description

Method and device for braking mine car and readable storage medium Technical Field The invention relates to the technical field of mine car braking systems, in particular to a mine car braking method, a mine car braking device and a readable storage medium. Background In the related technology, in the large-scale electric engineering vehicles such as the electric mine car at present, a retarder cannot be installed on part of the vehicle types due to the limitation of the layout of a power structure, and a braking system only depends on electric feedback braking and mechanical braking. The electric feedback brake can fail when the control system of the driving motor fails, at the moment, the braking requirement of the whole vehicle is completely borne by the mechanical brake, and under the working conditions of continuous braking such as downhill and the like, the mechanical brake is easy to overheat and fail to cause safety accidents, and the abrasion is also aggravated due to high-strength use. Disclosure of Invention The present invention aims to solve at least one of the technical problems existing in the prior art or related art. To this end, a first aspect of the invention proposes a method of braking a mine car. A second aspect of the invention provides a brake device for a mining vehicle. A third aspect of the invention provides another braking device for a mining vehicle. A fourth aspect of the application proposes a readable storage medium. In view of the above, a first aspect of the present invention provides a braking method for a mine car, the mine car including a driving motor, a braking resistor, a high-voltage circuit, a temperature detection module, a mechanical braking mechanism and a driving motor control system, the method including obtaining gradient data of the mine car, battery power data and state data of the driving motor control system, determining that the mine car is in a redundant braking operation state when the battery power data satisfies a preset power condition, the gradient data satisfies a downhill determination condition and the state data of the driving motor control system is faulty, determining an operation power of the braking resistor required by braking according to the faulty state of the driving motor control system in the redundant braking operation state, controlling the braking resistor to be connected to the high-voltage circuit based on the operation power of the braking resistor, controlling the temperature detection module to obtain the temperature detection data of the braking resistor, and reducing the operation power of the braking resistor to control the mechanical braking mechanism to intervene in braking when the temperature detection data reaches a temperature threshold. Aiming at the core technical problems of transversely arranged power structures and electric drive axle/electric axle mine cars without transmission shafts (the retarder cannot be installed), the application provides a multi-mode braking system, and particularly realizes all steps of the braking method of the mine car, fills up the braking redundancy blank of the high-risk working condition of the slope of the failure of the electric feedback braking of the mine car (the failure of a driving motor control system), replaces the retarder to realize braking force distribution, and avoids the single dependence on mechanical braking of the mine car. And secondly, the accurate matching of the braking resistance power is realized, the power is adapted according to the fault state of the driving motor control system, and the braking effect of redundant braking is ensured to be matched with the working condition of the mine car. And the hardware protection of the brake resistor and the dual guarantee of the braking safety of the mine car are realized, the overtemperature damage of the brake resistor is avoided through temperature detection and high Wen Liandong mechanical braking, meanwhile, the defect of insufficient braking effect caused by the reduction of the power of the brake resistor is prevented, the use intensity of mechanical braking is reduced, and the service life of a mechanical braking mechanism is prolonged. In some technical schemes of the application, the braking method of the mine car further comprises the steps of determining that the mine car is in a normal braking working state when the battery power data, the gradient data and the state data of the driving motor control system do not meet the judging conditions of the redundant braking working state at the same time, and determining the braking mode of the mine car according to the battery power data and the state data of the driving motor control system when the mine car is in the normal braking working state, wherein the braking mode comprises an electric feedback braking mode, a braking resistance braking mode and a mechanical braking mode. In some embodiments of the present application, the driving motor is controlle