WO2019091005A1 - 一种换电运输装置及其定位控制方法 - Google Patents

一种换电运输装置及其定位控制方法 Download PDF

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Publication number
WO2019091005A1
WO2019091005A1 PCT/CN2018/075555 CN2018075555W WO2019091005A1 WO 2019091005 A1 WO2019091005 A1 WO 2019091005A1 CN 2018075555 W CN2018075555 W CN 2018075555W WO 2019091005 A1 WO2019091005 A1 WO 2019091005A1
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WIPO (PCT)
Prior art keywords
transport body
power
information
predetermined direction
position information
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Ceased
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PCT/CN2018/075555
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English (en)
French (fr)
Inventor
马永跃
林海岩
李楠
田小涛
丁习坤
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NIO Nextev Ltd
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NIO Nextev Ltd
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Priority to EP18876278.5A priority Critical patent/EP3708445A4/en
Publication of WO2019091005A1 publication Critical patent/WO2019091005A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
    • B60S5/06—Supplying batteries to, or removing batteries from, vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
    • G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Definitions

  • the invention belongs to the technical field of power battery replacement of a vehicle, and relates to a power station, and particularly relates to a power transmission device for a power station and a positioning control method thereof.
  • new energy vehicles such as electric vehicles
  • new energy vehicles are becoming more and more popular.
  • One of the most important development directions in existing new energy vehicles is the replacement of new energy vehicles, which can significantly shorten the energy supply time compared to plug-in new energy vehicles.
  • a vehicle position adjustment system is needed in the power exchange to move the vehicle that needs to be changed to It is suitable for the target position of the power exchange, and then uses the power transmission device (for example, the electric trolley for loading the power battery pack) to perform automatic power exchange.
  • the power exchange device is required to be able to control its own relative positioning with respect to the characteristic hole on the chassis of the vehicle. Therefore, whether the power exchange process is smooth or not depends largely on the positioning of the power transmission device. control precision.
  • the object of the invention is to improve the positioning control precision of the power transmission device
  • the present invention provides the following technical solutions.
  • a power exchange transport apparatus comprising: one or more servo motors, a motor controller, a transport body capable of being driven by the servo motor to move in a predetermined direction, and a motion controller;
  • the transport device also includes:
  • a position information feedback component for measuring position information of the transport body in the predetermined direction in real time and feeding back the position information to the motion controller
  • the motion controller is configured to control the movement of the transport body in the predetermined direction in a closed loop based on the position information.
  • the power-transporting device is a rail-type power-transporting device, wherein the predetermined direction is a direction in which the track is located, and the transport body can be driven by the servo motor Move along the orbit.
  • the position information feedback component is a coded ruler including a ruler, and the ruler is mounted along the predetermined direction.
  • the code ruler further includes an encoder, wherein the encoder moves synchronously with respect to the ruler in the predetermined direction with the transport body, and is used for Read the location information.
  • a power-transporting apparatus wherein the motion controller is further configured to output an adjustment positioning instruction in real time based on the received position information to adjust a position of the transport body to a predetermined position .
  • a power-transporting apparatus wherein the motion controller is further configured to transmit a predetermined motion speed command for controlling movement of the transport body in the predetermined direction to the motor controller;
  • the motor controller is configured to control the servo motor based on the predetermined motion speed command and to feed back current speed information of the servo motor;
  • the motion controller is further configured to adjust the predetermined motion speed command based on speed information fed back by the motor controller.
  • a power transmission device includes a control bus connection between the motion controller and the motor controller.
  • a power transmission device is provided with a shielding layer for anti-interference on the control bus.
  • a power-transporting apparatus further comprising load measuring means disposed on the transport body for measuring current load information of the transport body.
  • a power-transporting apparatus according to an embodiment of the present invention, wherein the load measuring component is further configured to feed back the load information to the motion controller in real time;
  • the motion controller is further configured to adjust an operating parameter based on a change in the load information.
  • a positioning control method for a commutating transport device capable of moving a transport body in a predetermined direction comprising the steps of:
  • the position information based on the feedback controls the movement of the transport body in the predetermined direction in a closed loop.
  • a positioning control method wherein the position information is measured and fed back by a code sizing.
  • a positioning control method wherein, in the step of controlling the transport body in a closed loop, an adjustment positioning command is output in real time based on the position information to adjust a position of the transport body to a predetermined position.
  • a positioning control method further includes the steps of:
  • the predetermined motion speed command is adjusted based on the feedback speed information.
  • a positioning control method further includes the steps of:
  • the operating parameters are adjusted based on the change in the load information.
  • a power station comprising the power exchange transport device of any of the above.
  • FIG. 1 is a schematic structural view of a power substation according to an embodiment of the present invention.
  • FIG. 2 is a partial structural schematic view of a power substation of the embodiment shown in FIG. 1.
  • FIG. 3 is a structural view of a power exchange transporting apparatus in accordance with an embodiment of the present invention.
  • FIG. 4 is a schematic view showing the control principle of the electric power transmission device of the embodiment shown in FIG.
  • FIG. 5 is a flow chart of a positioning control method of a power exchange transport apparatus according to an embodiment of the invention.
  • FIG. 6 is a flow chart of a positioning control method of a power exchange transport apparatus according to still another embodiment of the present invention.
  • Fig. 7 is a flow chart showing a method of positioning control of a power-transporting apparatus according to still another embodiment of the present invention.
  • the power-transporting apparatus of the embodiment of the present invention is applied to a power-changing station to construct a power-changing station 10 as shown in FIG.
  • the power station 10 mainly includes a battery compartment 11, a vehicle lift device 20, a rail 13 disposed between the battery compartment 11 and the vehicle lifter 20, and a power exchange transport device 15 traveling on the rail 13.
  • the y direction is defined as the direction in which the track 13 is located
  • the z direction is defined as the height direction
  • the x direction is defined as the direction perpendicular to the y direction in the horizontal plane.
  • Vehicle 900 is a pure electric or hybrid vehicle that is at least partially powered using a power battery.
  • the power battery of the vehicle is installed, for example, at a substantially chassis position of the vehicle, so that if a power-changing operation is performed, in an embodiment, it is first necessary to use the vehicle lifting device 20 as shown in FIGS. 1 and 2 in the z-direction. Lift the vehicle.
  • the vehicle lift device 20 can also lower the vehicle.
  • the specific structure, type, and/or control principles of the vehicle lift device 20 are not limited by the embodiments of the present invention.
  • the power transmission device 15 enters the vehicle 900 of the vehicle lifting device 20 in an unloaded state, and removes the relatively depleted battery pack that needs to be replaced from the chassis. 500, and the depleted battery pack 500 is transferred from the vehicle lift device 20 to the battery compartment 11, and then the battery pack 500 is fully charged from the battery compartment 11 to a fully charged battery pack 500 to the underside of the vehicle 900, and the battery pack 500 and the vehicle are After the corresponding installation position of the 900 (for example, the feature hole) is aligned, the automatic installation is performed.
  • the above workflow is automatic and suitable for miniaturized power stations, and the power station can be modularly expanded.
  • the power exchange transport device 15 primarily includes a transport body 150 and a servo motor 152 (eg, disposed within the transport body 150).
  • the power exchange transport device 15 may specifically be an automatic electric rail car, that is, an RGV trolley guide, which is a rail type electric transport device, and the transport body 150 can be driven by the servo motor 152 to move along the rail 13.
  • the battery pack 150 can be positioned to be loaded on the transport body 150, driven by the servo motor 152, and the transport body 150 can be reciprocated in the y-direction in which the track 13 is located.
  • the movement of the transport body 150 in the y direction requires precise positioning control, such as the need to overcome inherent errors caused by mechanical mechanism clearances, assembly errors caused by mechanism assembly.
  • a rack 131 is arranged in parallel with respect to the rail 13, and the gear of the power transmission device 15 has a gear meshing with the rack 131. Under the driving of the servo motor 152, the gear is along the rack 131. Move in the y direction.
  • the transport body 150 can be a floating lift device to effect its movement in the z-direction.
  • the transport body 150 may be provided with: a lifting and lowering support device, a transfer device for exchanging battery packs (the transport device has a first surface contacting the battery pack), and a floating device; the floating device has a battery plus unlocking device a second surface on which the floating device is suspendedly mounted and floatable at least horizontally relative to the support device, the floating device also having a space for lifting and lowering relative to the conveyor such that when the conveyor contacts the battery pack, A surface is raised above the second surface, and the second surface is raised above the first surface when the floating device unlocks the battery.
  • the specific internal structure of the transport body 150 is not limiting.
  • the power-transporting device 15 further includes a code scale 151 for use as a position information feedback component that includes an encoder 1512 and a ruler 151 mounted in parallel along the track 13 (e.g., a linear ruler)
  • the encoder 1512 moves synchronously with respect to the ruler 1511 in the y direction with the transport body 150; thus, during the movement of the transport body 150 in the y direction, the encoder 1512 can detect that the transport body 150 is relatively fixed in real time.
  • the displacement amount of the ruler 1511 that is, the position information 1519 of the transport body 150 in the y direction is read in real time.
  • the position information 1519 is transmitted as a feedback signal to the motion controller 155 of the power transmission device 15 as shown in FIG. It will be appreciated that the position information 1519 can truly reflect the true position of the transport body 150 in the y-direction.
  • the motion controller 155 is coupled to the motor controller 153 of the servo motor 152, wherein the motor controller 153 is capable of receiving various control commands from the motion controller, as shown in FIG.
  • the servo motor 152 is controlled to perform an action based on the control command generation signal (e.g., pulse).
  • the specific number and type of servo motors 152 are not limiting, and may be selected according to specific power requirements and the like.
  • the motor controller 153 may specifically, but not limited to, be a servo controller.
  • the motion controller 155 is coupled to the motor controller 153 using a control bus 154 to reduce external interference with the transmitted control commands or signals.
  • the control bus 154 may be specifically provided with a shielding layer for anti-interference, so that the fidelity of the control command or signal for transmission is facilitated, and the positioning control accuracy is improved.
  • a closed loop control is formed between the motion controller 155, the motor controller 153, the servo motor 152, and the encoder 151.
  • the motion controller 155 is configured to control the movement of the transport body 150 in the y-direction in a closed loop based on, for example, position information 1519 fed back by the encoder 151, thereby achieving precise positioning control of the transport body 150.
  • the motion controller 155 is further configured to output an adjustment positioning command in real time based on the received position information 1519 to adjust the position of the transport body 150 to a predetermined position, thereby implementing the transport body 150 on the track 13. Precise positioning or positioning.
  • the motor controller 153 can acquire the current speed information of the servo motor 152 while controlling the operation of the servo motor 152.
  • the motion controller 155 sends a predetermined motion speed command for controlling the movement of the transport body 150 in the y direction to the motor controller 153, and the motor controller 153 can control, for example, one or more of the servo motors 152 to operate based on the predetermined motion speed command.
  • the motion controller 155 is also capable of adjusting the predetermined motion speed command based on the speed information fed back by the motor controller 153. In this way, the closed loop control of the speed loop can be realized, and the speed of the transport body 150 can be feedback-adjusted in real time, thereby improving the positioning accuracy of the transport body 150.
  • the power-transporting device 15 further includes a load measuring component (not shown) disposed on the transport body 150 for measuring current load information of the transport body 150. It will be appreciated that the load information will change and be sensed by the load measuring component in real time as the battery pack is loaded and unloaded. The load information of the transport body 150 is also different for different battery packs carried.
  • the load measuring component is further configured to feed back the load information to the motion controller 155 as shown in FIG. 4 in real time, and the motion controller 155 can also adjust the operating parameters, such as the positioning control speed, in real time based on the change of the load information 155. Servo position data and position gain.
  • the motion controller 155 is also capable of adjusting operating parameters in real time based on whether the transport body 150 or the battery pack 500 contacts the chassis of the vehicle 900.
  • the introduction of the load measuring member facilitates a smoother movement of the transport body 150 (especially in the z direction) and is resistant to interference.
  • the power-transporting device 15 of the above-described embodiment can realize double closed-loop control of the position loop and the speed loop, and dynamically adjust the servo position in real time, and therefore, the transport body 150 and the battery pack 500 thereon (if loaded)
  • the positioning is more accurate, for example, it can reach the level of 0.01mm, which is convenient for quick and smooth replacement of the battery pack.
  • the motion control system can perform dynamic parameter adjustment according to the current load information, realize automatic tuning parameters, and the motion is more stable and the interference is small.
  • the improvement of the positioning accuracy of the power-transporting device 15 of the embodiment of the present invention is not realized by the gap of the mechanical mechanism and the assembly precision, etc., and therefore, the relative cost is low, and it is easy to implement.
  • FIG. 5 is a flow chart showing a positioning control method of a power transmission device according to an embodiment of the invention.
  • the positioning control method is exemplified based on a closed loop control process of the position loop.
  • step S510 the position detection feedback is turned on.
  • the position information 1519 of the transport body is detected in real time, step S520.
  • the position information is detected by the code ruler 151, and the position information 1519 itself is highly accurate.
  • step S530 the location information 1519 is fed back.
  • the code scale 151 will feed back its detected position information 1519 to the motion controller 155 in real time, and the motion controller 155 can thus know the actual position information of the transport body 150 in the y direction.
  • step S540 is made to determine whether the position information 1519 coincides with the predetermined position. If it matches (determined as "Yes"), it means that the accuracy of the current transport body 150 meets the requirements, and the positioning control at the moment or the end ends; if it does not match (the judgment is "No"), it indicates that the current transport body 150 The positioning accuracy does not meet the requirements, and the positioning adjustment is required.
  • the process proceeds to step S550, and the adjustment positioning command is output based on the position information 1519.
  • the adjustment positioning command can continue to drive the servo motor 152 to perform the corresponding servo operation until the determination in step S540 is “Yes”. .
  • FIG. 6 is a flow chart showing a positioning control method of a power transmission device according to still another embodiment of the present invention.
  • the positioning control method is exemplified based on a closed loop control process of the speed loop.
  • step S610 the speed feedback is turned on.
  • Step S620 transmitting a predetermined motion speed command.
  • motion controller 155 generates a corresponding predetermined motion speed command and sends it to motor controller 153, which will understand that the speed corresponding to the predetermined motion speed command is the speed that is desired to be achieved.
  • Step S630 the servo motor 152 is controlled based on the predetermined motion speed command, for example, the servo motor 152 is controlled to perform a corresponding servo action.
  • the speed information when the servo motor 152 performs the corresponding servo action can be acquired by the motor controller 153, which basically reflects the speed information of the transport body 150 in, for example, the y direction.
  • step S640 the speed information is fed back. That is, the motor controller 153 can feed back the speed information it has acquired to the motion controller 155 in real time.
  • Step S650 determining that the speed information matches the speed corresponding to the predetermined motion speed command, and if it is consistent (determined as "Yes"), it indicates that the motion speed accuracy of the current transport body 150 meets the requirement, and the speed closed loop control at the time or the phase ends; If it does not match (determined as "No"), it means that the current moving speed of the transport body 150 does not meet the requirements, and needs to be adjusted again, and proceeds to step S660, and the predetermined motion speed command is adjusted based on the feedback speed information until the determination in step S650 is "Yes". ".
  • steps S630 and S640 may be completed in the motor controller 153, and the above steps S610, S650 and S660 may be implemented in the motion controller 155.
  • FIG. 7 is a flow chart showing a positioning control method of a power transmission device according to still another embodiment of the present invention.
  • step S710 the load detection feedback is turned on.
  • the load information of the transport body is detected in real time, step S720.
  • the load information is detected or measured by the load measuring component.
  • Step S730 feedback load information. Specifically, the code scale 151 will feed back its detected load information to the motion controller 155 in real time, and the motion controller 155 can thus know the current load of the transport body 150.
  • Step S740 adjusting the operating parameters based on the change of the load information.
  • the motion controller 155 is also capable of adjusting the operating parameters in real time based on whether the transport body 150 or the battery pack 500 contacts the chassis of the vehicle 900 (i.e., contact information). That is to say, the operating parameters can be adjusted by combining the load information and the contact information to realize the tuning of the servo parameters.
  • the motion controller 155 of the above embodiment may be implemented by a programmable controller (PLC) or the like, or may be implemented by a processor or the like that can execute corresponding program instructions.
  • PLC programmable controller
  • the power-transporting device implemented by the invention can realize at least closed-loop control of the position, has high positioning precision, is very suitable for the power-changing operation process, is beneficial to improving the power-changing experience, and has low implementation cost.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

一种换电运输装置，该装置包括一个或多个伺服电机、电机控制器、能够被该伺服电机驱动沿预定方向运动的运输本体、运动控制器和位置信息反馈部件，该位置信息反馈部件用于实时地测量该运输本体在该预定方向上的位置信息以及将该位置信息反馈至该运动控制器；其中，该运动控制器被配置为基于该位置信息闭环地控制该运输本体在该预定方向上的运动。采用该位置信息反馈部件，提高该换电运输装置的定位控制精度，保证顺利换电。还提出了一种换电运输装置的定位控制方法。

Description

一种换电运输装置及其定位控制方法 技术领域
本发明属于车辆的动力电池更换技术领域，涉及换电站，尤其涉及用于换电站的换电运输装置及其定位控制方法。
背景技术
为了适应环保和能源危机，新能源汽车(例如电动汽车)越来越普及。现有的新能源车辆中很重要的一个发展方向就是换电式新能源汽车，相较于插充式新能源汽车而言能够大大缩短能源补给时间。
为方便汽车用户进行换电，需要建立相应的换电站(或称为“换电系统”)。由于人工换电效率太低并不适于换电站内的产业应用，所以，为了实现快速高效的自动换电，在换电站中需要配备车辆位置调节系统，用以将需要进行换电的车辆移动到适于换电的目标位置，，然后利用换电运输装置(例如用于装载动力电池包的换电小车)进行自动换电。在自动换电过程中，需要换电运输装置能够控制其自身相对车辆的底盘上的特征孔进行相对精确地定位，因此，换电过程是否顺利，很大程度上依赖于换电运输装置的定位控制精度。
发明内容
本发明的目的在于，提高换电运输装置的定位控制精度
为实现以上目的或者其他目的，本发明提供以下技术方案。
按照本发明的一方面，提供一种换电运输装置，，包括一个或多个伺服电机、电机控制器、能够被所述伺服电机驱动沿预定方向运动的运输本体、和运动控制器；换电运输装置还包括：
位置信息反馈部件，用于实时地测量所述运输本体在所述预定方向上的位置信息以及将该位置信息反馈至所述运动控制器；
其中，所述运动控制器被配置为基于所述位置信息闭环地控制所述运输本体在所述预定方向上的运动。
根据本发明一实施例的换电运输装置，其中，所述换电运输装置为轨道式换电运输装置，其中所述预定方向为轨道所在的方向，所述运输本体能够被所述伺服电机驱动沿所述轨道运动。
根据本发明一实施例的换电运输装置，其中，所述位置信息反馈部件为包括尺件的编码尺，所述尺件沿所述预定方向安装。
根据本发明一实施例的换电运输装置，其中，所述编码尺还包括编码器，所述编码器随所述运输本体在所述预定方向上同步地相对所述尺件运动，并且用于读取所述位置信息。
根据本发明一实施例的换电运输装置，其中，所述运动控制器还被配置为基于接收到的所述位置信息实时地输出调整定位指令以使所述运输本体的位置被调整至预定位置。
根据本发明一实施例的换电运输装置，其中，所述运动控制器还被配置为发送控制所述运输本体在所述预定方向上的运动的预定运动速度指令至所述电机控制器；
所述电机控制器被配置为基于所述预定运动速度指令控制所述伺服电机以及反馈所述伺服电机的当前的速度信息；
所述运动控制器还被配置为基于所述电机控制器反馈的速度信息调整所述预定运动速度指令。
根据本发明一实施例的换电运输装置，其中，所述运动控制器与所述电机控制器之间采用控制总线连接。
根据本发明一实施例的换电运输装置，其中，所述控制总线上设置有用于抗干扰的屏蔽层。
根据本发明一实施例的换电运输装置，其中，还包括设置在所述运输本体上的载荷测量部件，其用于测量所述运输本体的当前的载荷信息。
根据本发明一实施例的换电运输装置，其中，所述载荷测量部件还用于实时地将所述载荷信息反馈至所述运动控制器；
所述运动控制器还被配置为基于所述载荷信息的变化调整运行参数。
按照本发明的又一方面，提供一种换电运输装置的定位控制方法，所述换电运输装置能够沿预定方向运动的运输本体，所述方法包括步骤：
实时地测量所述运输本体在所述预定方向上的位置信息以及将该位置信息反馈；以及
基于反馈的所述位置信息闭环地控制所述运输本体在所述预定方 向上的运动。
根据本发明一实施例的定位控制方法，其中，所述位置信息通过编码尺测量并反馈。
根据本发明一实施例的定位控制方法，其中，在闭环地控制所述运输本体的步骤中，基于所述位置信息实时地输出调整定位指令以使所述运输本体的位置被调整至预定位置。
根据本发明一实施例的定位控制方法，其中，还包括步骤：
发送控制所述运输本体在所述预定方向上的运动的预定运动速度指令；
基于所述预定运动速度指令控制用于驱动所述运输本体沿预定方向运动的伺服电机；
反馈所述伺服电机的当前的速度信息；和
基于反馈的速度信息调整所述预定运动速度指令。
根据本发明一实施例的定位控制方法，其中，还包括步骤：
实时地测量所述运输本体的当前的载荷信息；
将所述载荷信息反馈；以及
基于所述载荷信息的变化调整运行参数。
按照本发明的还一方面，提供一种换电站，其包括以上任一所述的换电运输装置。
附图说明
从结合附图的以下详细说明中，将会使本发明的上述和其他目的及优点更加完整清楚，其中，相同或相似的要素采用相同的标号表示。
图1是按照本发明一实施例的换电站的结构示意图。
图2是图1所示实施例的换电站的局部结构示意图。
图3是按照本发明一实施例的换电运输装置的结构图。
图4是图3所示实施例的换电运输装置的控制原理示意图。
图5是按照本发明一实施例的换电运输装置的定位控制方法流程图。
图6是按照本发明又一实施例的换电运输装置的定位控制方法流程图。
图7是按照本发明还一实施例的换电运输装置的定位控制方法流 程图。
具体实施方式
现在将参照附图更加完全地描述本发明，附图中示出了本发明的示例性实施例。但是，本发明可按照很多不同的形式实现，并且不应该被理解为限制于这里阐述的实施例。相反，提供这些实施例使得本公开变得彻底和完整，并将本发明的构思完全传递给本领域技术人员。附图中，相同的标号指代相同的元件或部件，因此，将省略对它们的描述。
将理解，图4中所示的一些方框图是功能实体，不一定必须与物理或逻辑上独立的实体相对应。可以采用软件形式来实现这些功能实体，或者在一个或多个硬件模块或集成电路中实现这些功能实体，或者在不同网络和/或处理器装置和/或微控制器装置中实现这些功能实体。
如图1至图3所示，本发明实施例的换电运输装置应用于换电站中来构建如图1所示的换电站10。换电站10主要地包括电池仓11、车辆升举装置20、设置在电池仓11和车辆升举装置20之间的轨道13、以及在轨道13上行进的换电运输装置15。本文中，为方便说明，将y方向定义为轨道13所在的方向，z方向定义高度方向，x方向定义为在水平面内垂直于y方向的方向。
车辆900是使用动力电池至少部分提供驱动的纯电动汽车或混合动力汽车。其中，车辆的动力电池例如安装在车辆的大致底盘位置，从而，如果进行换电操作，在一实施例中，首先需要使用如图1和图2所示车辆升举装置20来在z方向上提升车辆。当然，车辆升举装置20也能够下降车辆。车辆升举装置20具体结构、类型和/或控制原理不受本发明实施例限制。
车辆升举装置20将车辆900提升至预定高度后，换电运输装置15以空载状态驶入车辆升举装置20的车辆900的下方，从其底盘上拆卸需要更换的相对亏电的电池包500，并将亏电的电池包500从车辆升举装置20转移至电池仓11，然后从电池仓11载运电量相对充足的满电的电池包500至车辆900下方，在将电池包500与车辆900的相应安装位置(例如特征孔)对准后，进行自动安装。上述工作流程是自动 的，并且适用于小型化的换电站，并且换电站可以进行模块化扩展。
如图3和图4所示，换电运输装置15主要地包括运输本体150和伺服电机152(例如设置在运输本体150内部)。换电运输装置15具体可以为自动换电轨道小车，也即RGV小车(rolling guide vehicle)，它是一种轨道式换电运输装置，运输本体150能够被伺服电机152驱动沿轨道13运动。例如，电池包150可以被定位地装载于运输本体150上，受伺服电机152驱动，运输本体150可以沿轨道13所在的y方向往返运动。鉴于需要与车辆900的特征孔对准，因此，运输本体150在y方向的运动是需要精确定位控制的，例如需要克服机械机构间隙导致的固有误差、机构装配导致的装配误差。
在一实施例中，相对轨道13平行地布置有齿条131，换电运输装置15的传动机构中具有与该齿条131啮合的齿轮，在伺服电机152的驱动下，齿轮沿齿条131在y方向上运动。
在一实施例中，运输本体150可以为浮动式升降的装置，从而实现其在z方向上运动。例如，运输本体150中可以设置：可升降的支撑装置，用于交换电池包的传送装置(传送装置具有接触电池包的第一表面)，和浮动装置；浮动装置具有设置有电池加解锁装置的第二表面，浮动装置悬挂地安装在所述支撑装置上、并且可相对于支撑装置至少水平浮动，浮动装置还具有相对于传送装置升降的空间，以使得：当传送装置接触电池包时,第一表面高出第二表面，当浮动装置对电池进行加解锁时,第二表面高出第一表面。将理解，运输本体150的具体内部结构不是限制性的。
继续如图3和图4所示，换电运输装置15还包括用作位置信息反馈部件的编码尺151，编码尺151包括编码器1512和沿轨道13平行安装的尺件151(例如线性尺件)，其中，编码器1512随运输本体150在y方向上同步地相对尺件1511运动；这样，在运输本体150沿y方向运动的过程中，编码器1512可以实时地检测出运输本体150相对固定的尺件1511的移位量，也即实时地读出运输本体150在y方向上的位置信息1519。并且，将该位置信息1519以反馈信号的形式发送至如图4所示的换电运输装置15的运动控制器155。将理解，该位置信息1519能够真实地反映运输本体150在y方向上的真实位置。
继续如图4所示，换电运输装置15的控制部件中，运动控制器155 与伺服电机152的电机控制器153耦接，其中，电机控制器153能够从运动控制器接收各种控制指令，并基于该控制指令生成信号(例如脉冲)来控制伺服电机152伺服执行动作。伺服电机152的具体个数与类型不是限制性的，其可以根据具体功率需求等来选择设置。电机控制器153具体可以但不限于为伺服控制器。
在一实施例中，如图4所示，运动控制器155与电机控制器153之间采用控制总线154连接，这样，减少外界对传输的控制指令或信号的干扰。控制总线154上具体可以设置有用于抗干扰的屏蔽层，这样，有利于传输的控制指令或信号的保真性，提高定位控制精度。
如图4所示，运动控制器155、电机控制器153、伺服电机152、编码尺151之间形成了闭环控制。运动控制器155被配置为基于例如编码尺151反馈的位置信息1519闭环地控制运输本体150在y方向上的运动，从而实现对运输本体150的精确定位控制。在一实施例中，运动控制器155还被配置为基于接收到的位置信息1519实时地输出调整定位指令，以使运输本体150的位置被调整至预定位置，从而实现运输本体150在轨道13上的精确走位或定位。
在一实施例中，如图4所示，电机控制器153在控制伺服电机152动作的同时能够获取伺服电机152的当前的速度信息。其中，运动控制器155发送控制运输本体150在y方向上的运动的预定运动速度指令至电机控制器153，电机控制器153能够基于该预定运动速度指令控制例如其中一个或多个伺服电机152动作，并且反馈该动作的伺服电机152的当前的速度信息；运动控制器155还能够基于电机控制器153反馈的速度信息调整预定运动速度指令。这样，可以实现速度环的闭环控制，也有利于实时地反馈调整运输本体150的速度，从而提高运输本体150的走位精度。
在一实施例中，换电运输装置15还包括设置在运输本体150上的载荷测量部件(图中未示出)，其用于测量运输本体150的当前的载荷信息。将理解，在电池包装载和卸载时，该载荷信息将发生变化并被该载荷测量部件实时地感测。对于在载运的不同的电池包，运输本体150的载荷信息也不相同。
其中，载荷测量部件还用于实时地将所述载荷信息反馈至如图4所示的运动控制器155，运动控制器155还能够基于载荷信息155的变 化实时调整运行参数，例如定位控制速度，伺服位置数据和位置增益。在一实施例中，运动控制器155还能够根据运输本体150或电池包500是否接触车辆900的底盘来实时调整运行参数。载荷测量部件的引入，有利于运输本体150更平稳地运动(特别是在z方向上)，并且抗干扰。
以上所示实施例的换电运输装置15可以实现在位置环和速度环的双闭环控制，实时对伺服位置进行动态调整，因此，对运输本体150及其上面的电池包500(如果装载有)的定位更准确，例如可以达到0.01mm级别，有利于快速顺利地更换电池包。而且，运动控制系统能够根据当前的载荷信息进行动态参数调整，实现自动整定参数，运动更平稳并且干扰小。
还需要说明的是，本发明实施例的换电运输装置15的定位精度的提高并不是依赖于机械机构的间隙和装配精度等来实现的，因此，相对成本低，并且容易实现。
以下结合图3、4和图5-图7说明本发明实施例的换电运输装置的定位控制方法。
图5所示为按照本发明一实施例的换电运输装置的定位控制方法流程图。该定位控制方法基于位置环的闭环控制过程进行示例说明。
首先，步骤S510，位置检测反馈开启。在进入对运输本体150的运动控制后，实时地检测运输本体的位置信息1519，即步骤S520。该位置信息通过编码尺151检测，位置信息1519本身准确度高。
进一步，步骤S530，反馈位置信息1519。具体地，编码尺151将实时地反馈其检测到的位置信息1519至运动控制器155，运动控制器155从而可以获知运输本体150在y方向上的实际位置信息。
由于实际位置可能和运动控制器155已知的预定位置可能存在误差(例如，该误差是由机构运动精度不够导致)，那么进入步骤S540，判断位置信息1519是否与预定位置相符。如果相符(判断为“是”)，则表示当前运输本体150的走位精度符合要求，该时刻或该阶段的定位控制结束；如果不相符(判断为“否”)，则表示当前运输本体150的走位精度不符合要求，需要再定位调整，进入步骤S550，基于位置信息1519输出调整定位指令，该调整定位指令可以继续驱动伺服电机152执行相应的伺服动作，直到步骤S540判断为“是”。
将理解，以上步骤S520和步骤S530可以在编码尺151上完成，以上步骤S540至步骤S550可以在运动控制器155中实现。
图6所示为按照本发明又一实施例的换电运输装置的定位控制方法流程图。该定位控制方法基于速度环的闭环控制过程进行示例说明。
首先，步骤S610，速度反馈开启。
步骤S620，发送预定运动速度指令。例如，运动控制器155生成相应的预定运动速度指令并发送至电机控制器153，将理解，该预定运动速度指令对应的速度即想要实现的速度。
步骤S630，基于该预定运动速度指令控制伺服电机152，例如控制伺服电机152执行相应的伺服动作。同时伺服电机152执行相应的伺服动作时的速度信息可以被电机控制器153获取，该速度信息基本反映运输本体150在例如y方向上的速度信息。
步骤S640，反馈该速度信息。也就是说，电机控制器153可以实时地反馈其获取的速度信息至运动控制器155。
步骤S650，判断速度信息与预定运动速度指令对应的速度相符，如果相符(判断为“是”)，则表示当前运输本体150的运动速度精度符合要求，该时刻或该阶段的速度闭环控制结束；如果不相符(判断为“否”)，则表示当前运输本体150的运动速度不符合要求，需要再调整，进入步骤S660，基于反馈的速度信息调整预定运动速度指令，直到步骤S650判断为“是”。
将理解，以上步骤S630和步骤S640可以在电机控制器153中完成，以上步骤S610、步骤S650和步骤S660可以在运动控制器155中实现。
图7所示为按照本发明还一实施例的换电运输装置的定位控制方法流程图。
步骤S710，载荷检测反馈开启。在进入对运输本体150的运动控制后，实时地检测运输本体的载荷信息，即步骤S720。该载荷信息通过载荷测量部件检测或测量。
步骤S730，反馈载荷信息。具体地，编码尺151将实时地反馈其检测到的载荷信息至运动控制器155，运动控制器155从而可以获知运输本体150的当前载荷。
步骤S740，基于载荷信息的变化调整运行参数。在该步骤中，运 动控制器155还能够根据运输本体150或电池包500是否接触车辆900的底盘(即接触信息)来实时调整运行参数。也就是说，可以结合载荷信息和接触信息来调整运行参数，实现对伺服参数整定。
需要说明的是，以上图5、图6和图7所示实施例的定位控制方法可以单独地执行，也可以任意地组合同时执行。
需要说明的是，以上实施例的运动控制器155可以通过可编程控制器(PLC)等实现，也可以通过可以执行相应程序指令的处理器等实现。
本发明实施的换电运输装置至少能够实现位置的闭环控制，定位精度高，非常适于换电操作过程，有利于提高换电体验；并且实现成本低。
以上例子主要说明了本发明的换电运输装置及其定位控制方法、使用该换电运输装置的换电站。尽管只对其中一些本发明的实施方式进行了描述，但是本领域普通技术人员应当了解，本发明可以在不偏离其主旨与范围内以许多其他的形式实施。因此，所展示的例子与实施方式被视为示意性的而非限制性的，在不脱离如所附各权利要求所定义的本发明精神及范围的情况下，本发明可能涵盖各种的修改与替换。

Claims (16)

  1. 一种换电运输装置，包括一个或多个伺服电机、电机控制器、能够被所述伺服电机驱动沿预定方向运动的运输本体、和运动控制器，其特征在于，还包括：
    位置信息反馈部件，用于实时地测量所述运输本体在所述预定方向上的位置信息以及将该位置信息反馈至所述运动控制器；
    其中，所述运动控制器被配置为基于所述位置信息闭环地控制所述运输本体在所述预定方向上的运动。
  2. 如权利要求1所述的换电运输装置，其特征在于，所述换电运输装置为轨道式换电运输装置，其中所述预定方向为轨道所在的方向，所述运输本体能够被所述伺服电机驱动沿所述轨道运动。
  3. 如权利要求1或2所述的换电运输装置，其特征在于，所述位置信息反馈部件为包括尺件的编码尺，所述尺件沿所述预定方向安装。
  4. 如权利要求3所述的换电运输装置，其特征在于，所述编码尺还包括编码器，所述编码器随所述运输本体在所述预定方向上同步地相对所述尺件运动，并且用于读取所述位置信息。
  5. 如权利要求1所述的换电运输装置，其特征在于，所述运动控制器还被配置为基于接收到的所述位置信息实时地输出调整定位指令以使所述运输本体的位置被调整至预定位置。
  6. 如权利要求1所述的换电运输装置，其特征在于，所述运动控制器还被配置为发送控制所述运输本体在所述预定方向上的运动的预定运动速度指令至所述电机控制器；
    所述电机控制器被配置为基于所述预定运动速度指令控制所述伺服电机以及反馈所述伺服电机的当前的速度信息；
    所述运动控制器还被配置为基于所述电机控制器反馈的速度信息调整所述预定运动速度指令。
  7. 如权利要求1所述的换电运输装置，其特征在于，所述运动控制器与所述电机控制器之间采用控制总线连接。
  8. 如权利要求7所述的换电运输装置，其特征在于，所述控制总线上设置有用于抗干扰的屏蔽层。
  9. 如权利要求1所述的换电运输装置，其特征在于，还包括设置在所述运输本体上的载荷测量部件，其用于测量所述运输本体的当前的载荷信息。
  10. 如权利要求9所述的换电运输装置，其特征在于，所述载荷测量部件还用于实时地将所述载荷信息反馈至所述运动控制器；
    所述运动控制器还被配置为基于所述载荷信息的变化调整运行参数。
  11. 一种换电运输装置的定位控制方法，所述换电运输装置能够沿预定方向运动的运输本体，其特征在于，所述方法包括步骤：
    实时地测量所述运输本体在所述预定方向上的位置信息以及将该位置信息反馈；以及
    基于反馈的所述位置信息闭环地控制所述运输本体在所述预定方向上的运动。
  12. 如权利要求11所述的定位控制方法，其特征在于，所述位置信息通过编码尺测量并反馈。
  13. 如权利要求11所述的定位控制方法，其特征在于，在闭环地控制所述运输本体的步骤中，基于所述位置信息实时地输出调整定位指令以使所述运输本体的位置被调整至预定位置。
  14. 如权利要求11所述的定位控制方法，其特征在于，还包括步骤：
    发送控制所述运输本体在所述预定方向上的运动的预定运动速度指令；
    基于所述预定运动速度指令控制用于驱动所述运输本体沿预定方向运动的伺服电机；
    反馈所述伺服电机的当前的速度信息；和
    基于反馈的速度信息调整所述预定运动速度指令。
  15. 如权利要求11所述的定位控制方法，其特征在于，还包括步骤：
    实时地测量所述运输本体的当前的载荷信息；
    将所述载荷信息反馈；以及
    基于所述载荷信息的变化调整运行参数。
  16. 一种换电站，其特征在于，包括如权利要求1-10中任一所述 的换电运输装置。
PCT/CN2018/075555 2017-11-08 2018-02-07 一种换电运输装置及其定位控制方法 Ceased WO2019091005A1 (zh)

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