Large-tonnage electric wheel mine truck driving control system and method

Abstract

The invention relates to an electric mine truck driving control system and method, in particular to a large-tonnage electric wheel mine truck driving control system and method, and solves the technical problems that the import purchase price of an existing high-power diesel engine is high, electric energy emitted by a mine truck is difficult to store, and a large amount of energy is wasted and the environment is polluted. The driving control system for the large-tonnage electric wheel mine truck comprises a driving unit and an electrical unit, the driving unit comprises two driving mechanisms connected with mine truck hubs on the left side and the right side correspondingly. Each driving mechanism comprises a driving module, a speed reduction module and two driving inverters. The electrical unit comprises a whole vehicle VCU, a power generation module, a battery module, a generator inverter and a PDU power distribution module. According to the driving control method for the large-tonnage electric wheel mine truck, the whole truck can independently use the power generation module to output a power supply, can also independently adopt the battery module to normally drive, and can also adopt the power generation module and the battery module at the same time, so that high efficiency, intelligence and environmental protection are brought into full play.

Description

Technical Field

[0001] The present invention relates to a driving control system and method for an electric mining truck, and in particular to a driving control system and method for a large-tonnage electric wheel mining truck. Background Art

[0002] Traditional electric wheel mining trucks (referred to as mining trucks) are mainly composed of three major parts: the body, the diesel engine, and the electric drive control system. The driving method is: the diesel engine drives the generator to generate electricity, and then the electric drive control system drives the traction motor through frequency conversion, and drives the tires to travel through the deceleration module. The electric drive control system is the "heart" of the electric wheel mining vehicle. It is composed of components such as generators, traction converters, electric wheels, and brake resistors. Its core technology and key components have long been monopolized by a few foreign companies, such as Siemens in Germany. Although the existing major mining electric wheel complete machine manufacturers have undergone nearly 20 years of domestic development, the current mainstream high-power diesel engines still choose foreign imports or joint venture products, such as Caterpillar, Komatsu, Cummins and Liebherr, etc., resulting in high import purchase prices, which greatly increases the cost of the vehicle.

[0003] The "range-extended mining truck electrical system" provided by Chinese patent CN213472806U includes an engine, an AC generator, a controller, a battery module, a lithium battery module, a rectifier, a frequency converter, a resistor grid, an excitation regulator and an electric wheel; the AC generator is connected to the engine and the rectifier respectively; the frequency converter is electrically connected to the rectifier and the electric wheel respectively; the controller is electrically connected to the battery module, the lithium battery module, the engine, the excitation regulator and the frequency converter respectively; the excitation regulator is electrically connected to the AC generator; the resistor grid is connected to the lithium battery module. During use, the range-extended mining truck electrical system uses the controller to coordinately control the excitation regulator, the lithium battery module and the engine speed, so that the engine always operates in the high-efficiency zone, which has the phenomenon of high fuel consumption cost, large engine loss, serious pollution emissions, and energy waste.

[0004] The existing mining trucks generate AC power from the drive module, especially when going downhill. However, due to the lack of large-capacity battery modules, the generated power cannot be stored in the battery modules for reuse, but is immediately consumed by the braking resistors, resulting in a large amount of energy waste and environmental pollution. Summary of the invention

[0005] The purpose of the present invention is to solve the technical problems that the import purchase price of existing high-power diesel engines remains high, the electric energy generated by mining trucks is difficult to store, resulting in a large amount of energy waste and environmental pollution, and to provide a large-tonnage electric wheel mining truck drive control system and method.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] A large-tonnage electric wheel mining truck drive control system is special in that it includes a drive unit and an electrical unit; the drive unit includes two drive mechanisms respectively connected to the left and right mining truck wheel hubs, the drive mechanism includes a drive module, a reduction module and two drive inverters; the electrical unit includes a vehicle VCU, a power generation module, a battery module, a generator inverter and a PDU distribution module; the power generation module includes an RCU controller, an engine and a generator connected in sequence.

[0008] The output end of the generator is connected to the input end of the PDU power distribution module through the generator inverter; the output end of the battery module is connected to the input end of the PDU power distribution module; the engine is used to drive the generator to generate electricity; the generator is used to emit three-phase AC power; the generator inverter is used to convert the three-phase AC power of the generator into DC power; the PDU power distribution module is used to integrate the DC power converted by the generator inverter and / or the DC power of the battery module and transmit it to the drive inverter of the drive module; the drive module is a double stator winding motor, and each stator winding is connected to the output end of the PDU power distribution module through a drive inverter; the input shaft of the reduction module is connected to the rotor shaft of the drive module, and the output gear of the reduction module is used to connect the corresponding mining truck wheel hub;

[0009] The vehicle VCU is used to judge the vehicle operating conditions and adjust the energy input of the power generation module and the battery module in real time; the vehicle VCU is connected to the RCU controller of the power generation module to send cylinder braking requests and drive power requests to the power generation module; the vehicle VCU is connected to the generator inverter to control the generator inverter to convert three-phase AC power into DC power; the vehicle VCU is connected to the PDU distribution module to send current control instructions to the PDU distribution module; the vehicle VCU is connected to the battery module to control the charging or discharging of the battery module; the vehicle VCU is connected to the drive inverter to control the drive inverter to convert the three-phase AC power of the drive module into DC power, or send the target torque to the drive module through the drive inverter, which is used to drive the deceleration module, and then drive the whole mining truck to move.

[0010] Furthermore, there are two engines, two generators, and two generator inverters;

[0011] The drive module is a 2Y type three-phase AC asynchronous motor with the same phase;

[0012] The output ends of the two drive inverters are respectively connected to two stator windings 1Y and 2Y of the drive module.

[0013] Furthermore, the generator and the drive module both adopt FOC vector control mode.

[0014] Further, the engine is a 570kW diesel engine;

[0015] The generator is an integrated permanent magnet synchronous generator;

[0016] The generator inverter and drive inverter are both DC800V voltage platform inverters;

[0017] The reduction module is a two-stage NGW wheel-side reducer.

[0018] At the same time, the present invention also provides a large-tonnage electric wheel mining truck drive control method, based on the above large-tonnage electric wheel mining truck drive control system, which is special in that it includes drive control and energy recovery control;

[0019] The power generation module and the battery module are jointly driven and controlled as follows:

[0020] A1) The vehicle VCU controls the power generation module to generate three-phase AC power through the RCU controller, and the generator inverter converts the three-phase AC power into DC power; and / or, the vehicle VCU controls the battery module to output DC power;

[0021] A2) The vehicle VCU sends a real-time current control instruction to the PDU power distribution module according to the driving power required for operation, and the PDU power distribution module transmits DC power to the drive module according to the current control instruction;

[0022] A3) The vehicle VCU sends the real-time target torque to the drive module through the drive inverter. The drive module controls the deceleration module to drive the mining truck according to the real-time target torque.

[0023] Energy recovery control is specifically as follows:

[0024] The vehicle VCU monitors the recharging threshold of the battery module and the electric energy generated by the drive module in real time; when the drive module generates three-phase AC power, if the electric energy of the battery module is less than or equal to the recharging threshold, the vehicle VCU controls the drive inverter to convert the three-phase AC power into DC power, and charges the battery module through the PDU power distribution module; otherwise, the power of the battery module is stabilized in the dynamic balance area, and the three-phase AC power generated by the drive module is consumed by the vehicle VCU to control the engine cylinder braking.

[0025] Beneficial effects of the present invention:

[0026] (1) The present invention provides a large-tonnage electric wheel mining truck drive control system. The electric energy generated by the drive module during energy recovery can be stored in the battery module in real time for repeated use by the entire vehicle (i.e., the mining truck). The electric energy exceeding the recharging threshold of the battery module is consumed by braking in the engine cylinder, thereby preventing the battery module from being overcharged, thereby reducing the energy consumption of the entire vehicle.

[0027] (2) The present invention discloses a large-tonnage electric wheel mining truck drive control system. The whole vehicle adopts two 570kW parallel domestic diesel engines, two integrated permanent magnet synchronous generators, a DC800V voltage platform inverter, a battery module that can be quickly charged and discharged, a PDU power distribution module, two 2Y-type three-phase AC asynchronous motors in the same phase, and a two-stage NGW-type deceleration module. The power generation module and the battery module can work together when the whole vehicle is heavily loaded and climbing a slope, with the engine as the main power source and the battery module as the auxiliary power source. Compared with the traditional electric wheel mining truck that simply adopts imported high-power diesel engines, the purchase cost of the whole vehicle electrical system can be greatly reduced, making the matching selection of the whole vehicle electrical system more flexible.

[0028] (3) The present invention provides a large-tonnage electric wheel mining truck drive control system, in which the drive module adopts a 2Y-type same-phase three-phase AC asynchronous motor, and its two sets of windings work independently without affecting each other. The two sets of windings can work at the same time, that is, power and torque are coupled and output simultaneously, and can also work one by one. If one set of windings has a problem, the other set of windings can still work alone to drive the whole vehicle, thereby preventing the vehicle from breaking down due to a problem with the drive module.

[0029] (4) The present invention provides a large-tonnage electric wheel mining truck drive control system, in which the drive inverter and the generator inverter both adopt a DC800V direct current voltage platform, and the generator and the drive module both adopt the existing central drive mode FOC vector control method. Compared with the traditional electric wheel high-power high-voltage platform converter VVVF open control, the cost of the vehicle electrical system is greatly reduced and the vehicle is easier to control.

[0030] (5) The present invention provides a driving method for a large-tonnage electric wheel mining truck. The whole vehicle can use the engine and generator output power alone, or it can be driven normally by the battery module alone. It can also use the engine, generator and battery module at the same time, which is more conducive to the driver's flexibility in choosing the driving mode of the whole vehicle under different working conditions, and maximizes high efficiency, intelligence and environmental protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a structural block diagram of an embodiment of the present invention;

[0032] Figure 2 is a structural block diagram of a collaborative mode between a power generation module and a battery module in an embodiment of the present invention;

[0033] Figure 3 This is a structural principle diagram of two sets of windings of a driving module working independently in an embodiment of the present invention;

[0034] Figure 4 is a structural block diagram of the working mode of the battery module in an embodiment of the present invention;

[0035] Figure 5is a structural block diagram of the working mode of the power generation module in an embodiment of the present invention;

[0036] Figure 6 It is a structural block diagram of the energy recovery working mode in an embodiment of the present invention.

[0037] Description of reference numerals:

[0038] 1. Engine; 2. Generator; 31. Generator inverter; 32. Drive inverter; 4. PDU power distribution module; 5. Battery module; 6. Drive module; 7. Deceleration module. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] like Figure 1 As shown, a large-tonnage electric wheel mining truck drive control system and method include a drive unit and an electrical unit; the drive unit includes two drive mechanisms respectively connected to the left and right sides of the mining truck wheel hubs, and the drive mechanism includes a drive module 6, a reduction module 7 and two drive inverters 32; the electrical unit includes a vehicle VCU (Vehicle Control Unit, VCU), a power generation module, a battery module 5, a generator inverter 31 and a PDU distribution module 4 (Power Distribution Unit, PDU); the power generation module includes an RCU controller, an engine 1 and a generator 2 connected in sequence.

[0041] The output end of the generator 2 is connected to the input end of the PDU power distribution module 4 through the generator inverter 31; the output end of the battery module 5 is connected to the input end of the PDU power distribution module 4; the engine 1 is used to drive the generator 2 to generate electricity; the generator 2 is used to emit three-phase alternating current; the generator inverter 31 is used to convert the three-phase alternating current of the generator 2 into direct current; the PDU power distribution module 4 is used to integrate the direct current converted by the generator inverter 31 or the direct current of the battery module 5 and transmit it to the drive inverter 32 of the drive module 6; the drive module 6 is a double stator winding motor, and each stator winding is connected to the output end of the PDU power distribution module 4 through a drive inverter 32; the input shaft of the reduction module 7 is connected to the rotor shaft of the drive module 6, and the output gear of the reduction module 7 is used to connect the corresponding mining truck wheel hub.

[0042] The vehicle VCU is used to judge the vehicle operating conditions and adjust the energy distribution of the power generation module and the battery module 5 in real time; the vehicle VCU is connected to the RCU controller (Ranger Controller Unit, RCU) of the power generation module in communication, and is used to send cylinder braking requests and drive power requests to the power generation module; the vehicle VCU is connected to the generator inverter 31 in communication, and is used to control the generator inverter 31 to convert three-phase AC power into DC power; the vehicle VCU is connected to the PDU power distribution module 4 in communication, and is used to send current control instructions (i.e., power distribution ratio) to the PDU power distribution module 4; the vehicle VCU is connected to the battery module 5 in communication, and is used to control the charging or discharging of the battery module 5; the vehicle VCU is connected to the drive inverter 32 in communication, and is used to control the drive inverter 32 to convert the three-phase AC power of the drive module 6 into DC power, or to send the target torque to the drive module 6 through the drive inverter 32, so as to drive the deceleration module 7, and then drive the whole mining truck to move.

[0043] In this embodiment, the engine 1 adopts two 570kW parallel domestic diesel engines, the generator 2 adopts two integrated permanent magnet synchronous generators, the generator inverter 31 and the drive inverter 32 both adopt DC800V voltage platform inverters, the battery module 5 has fast charging and discharging capabilities, the drive module 6 is two 2Y type same-phase three-phase AC asynchronous drive electrics, and the reduction module 7 is a two-stage NGW type wheel-side reducer.

[0044] Preferably, each power generation module (i.e., the engine 1 and the generator 2) + the battery module 5 can independently supply power to the left and right wheel hubs of the vehicle through the generator inverter 31, the PDU power distribution module 4 and any one of the stator windings of the two drive modules 6 to realize the driving of the whole vehicle; the whole vehicle can be independent of the output of the power generation module, and only requires the battery module 5 to transmit the DC power to the controllers at the front ends of the left and right drive modules 6 through the PDU power distribution module 4, so as to control the operation of the two drive modules 6 and realize the driving of the whole vehicle; the whole vehicle can be independent of the battery module 5, and only relies on the power generation module, and transmits the DC power to the drive inverter 32 at the front ends of the left and right drive modules 6 through the PDU power distribution module 4, so as to control the operation of the two drive modules 6 and realize the driving of the whole vehicle; the generator 2 and the drive module 6 of the whole vehicle both adopt FOC vector control, which can greatly reduce the cost of the whole vehicle compared with the VVVF open control of the traditional electric wheel high-power high-voltage platform converter, and is more conducive to the driver's flexible choice of the vehicle driving mode under different working conditions, and maximizes high efficiency, intelligence and environmental protection.

[0045] The present invention discloses a driving control method for a large-tonnage electric wheel mining truck, which includes driving control and energy recovery control. The method can select an operation mode suitable for the vehicle by the whole vehicle VCU according to the whole vehicle operation condition of the mining truck.

[0046] like Figure 2As shown, the power generation module and the battery module 5 are jointly driven and controlled as follows:

[0047] A1) The vehicle VCU sends a real-time current control instruction to the PDU power distribution module 4 according to the driving power required for operation, and at the same time, the vehicle VCU sends a real-time target torque to the drive module 6 through the drive inverter 32;

[0048] A2) The vehicle VCU controls the power generation module to generate three-phase AC power through the RCU controller; at the same time, it controls the battery module 5 to generate DC power;

[0049] A3) The generator inverter 31 converts the three-phase AC power into DC power;

[0050] A4) The PDU power distribution module 4 transmits direct current to the drive module 6 according to the current control instruction;

[0051] A5) The driving module 6 controls the deceleration module 7 to drive the entire mining truck to move according to the real-time target torque.

[0052] When the vehicle is climbing a hill with a heavy load, the vehicle VCU controls the engine 1, generator 2 and battery module 5 to work together through the RCU controller, with engine 1 as the main engine and battery module 5 as the auxiliary engine. Compared with the traditional electric wheel mining truck that simply uses imported high-power diesel engines, the procurement cost of the vehicle's electrical system can be greatly reduced, and the matching options of the vehicle's electrical system are more flexible.

[0053] like Figure 3 As shown, the driving module 6 on each wheel hub adopts two sets of windings of a 2Y-type same-phase three-phase AC asynchronous motor, which work independently without affecting each other. The two sets of windings can work at the same time, that is, power and torque are output simultaneously after coupling, and can also work independently. If one of the windings has a problem, the other set of windings can still work independently to drive the entire vehicle, thereby preventing the vehicle from breaking down due to problems with the driving module 6.

[0054] The rear end of the diesel engine is connected to the generator 2, which converts the AC power generated by the generator 2 into DC power through the generator inverter 31, and transmits the DC power to the two drive inverters 32 at the front end of the drive module 6 through the battery module 5 and the PDU distribution module 4, which are used to control two 2Y-type three-phase AC asynchronous motors with the same phase, and each of which is connected to a reduction module 7 at the rear end, and finally outputs the power to the wheel hub for driving the whole vehicle. The single set winding combination mode of the drive module 6 is shown in Table 1:

[0055] Table 1

[0056]

[0057] Each power generation module + battery module 5 can collaboratively supply power to any set of stator windings of the two drive modules 6 in the left and right wheel hubs of the vehicle to achieve vehicle driving.

[0058] like Figure 4 As shown, the driving control of the battery module 5 is specifically as follows:

[0059] C1) The vehicle VCU controls the battery module 5 to emit direct current according to the driving power required for operation, sends a current control instruction to the PDU power distribution module 4 in real time, and sends a real-time target torque to the drive module 6 through the drive inverter 32;

[0060] C2) The PDU power distribution module 4 transmits direct current to the drive module 6 according to the current control instruction;

[0061] C3) The driving module 6 controls the deceleration module 7 to drive the mining truck to move according to the real-time target torque issued by the vehicle VCU.

[0062] The whole vehicle does not rely on the output of the power generation module, and can be driven normally only with the battery module 5, that is, the battery module 5 only needs to transmit the DC power to the left and right drive inverters 32 of the whole vehicle through the PDU distribution module 4, which is used to control the operation of the two drive modules 6 to realize the driving of the whole vehicle.

[0063] like Figure 5 As shown, the power generation module drive control is specifically as follows:

[0064] B1) The vehicle VCU controls the power generation module to generate three-phase AC power through the RCU controller according to the required driving power, sends real-time current control instructions to the PDU power distribution module 4, and sends real-time target torque to the drive module 6 through the drive inverter 32;

[0065] B2) The generator inverter 31 converts the three-phase AC power into DC power;

[0066] B3) The PDU power distribution module 4 transmits direct current to the drive module 6 according to the current control instruction;

[0067] B4) The driving module 6 controls the deceleration module 7 to drive the entire mining truck to move according to the real-time target torque.

[0068] The vehicle system does not rely on the output of the battery module 5, but only relies on the engine 1 and the generator 2 for normal driving, that is, it only relies on the power generation module, and transmits the DC power to the front-end drive inverter 32 of the left and right drive modules 6 of the vehicle through the PDU distribution module 4, which is used to control the operation of the two drive modules 6 to realize the driving of the whole vehicle.

[0069] like Figure 6 As shown, the energy recovery control is specifically as follows:

[0070] The vehicle VCU monitors the recharge threshold of the battery module 5 and the electric energy generated by the drive module 6 in real time; when the mining truck is in a gliding, braking or downhill state, the drive module 6 generates three-phase AC power; if the electric energy of the battery module 5 is less than or equal to the recharge threshold, the vehicle VCU controls the drive inverter 32 to convert the three-phase AC power into DC power, and uses the DC power to charge the battery module 5 through the PDU distribution module 4; otherwise, the power of the battery module 5 is kept stable in a dynamic balance area, and the excess energy generated by the drive module is consumed by the vehicle VCU controlling the braking in the engine 1 cylinder.

[0071] When the drive module 6 recycles energy, the electric energy generated by it can be stored in the battery module 5 in real time for repeated use by the vehicle, making the vehicle electrical system more energy-efficient, efficient and environmentally friendly. The energy exceeding the recharge threshold of the battery module 5 is consumed by the braking in the cylinder of the engine 1 to prevent the battery module 5 from being overcharged.

[0072] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A large-tonnage electric wheel mining truck drive control system, characterized by: It includes a drive unit and an electrical unit; The drive unit comprises two drive mechanisms respectively connected to the left and right mining truck wheel hubs, and the drive mechanisms comprise a drive module (6), a speed reduction module (7) and two drive inverters (32); The electrical unit comprises a vehicle VCU, a power generation module, a battery module (5), a generator inverter (31) and a PDU power distribution module (4); the power generation module comprises an RCU controller, an engine (1) and a generator (2) connected in sequence; The output end of the generator (2) is connected to the input end of the PDU power distribution module (4) through the generator inverter (31); the output end of the battery module (5) is connected to the input end of the PDU power distribution module (4); the engine (1) is used to drive the generator (2) to generate electricity; the generator (2) is used to generate three-phase alternating current; the generator inverter (31) is used to convert the three-phase alternating current of the generator (2) into direct current; the PDU power distribution module (4) is used to integrate the direct current converted by the generator inverter (31) and / or the direct current of the battery module (5) and transmit them to the drive inverter (32) of the drive module (6); the drive module (6) is a double stator winding motor, and each stator winding is connected to the output end of the PDU power distribution module (4) through a drive inverter (32); the input shaft of the reduction module (7) is connected to the rotor shaft of the drive module (6), and the output gear of the reduction module (7) is used to connect to the corresponding mining truck wheel hub; The whole vehicle VCU is used to judge the vehicle operating conditions and adjust the energy input of the power generation module and the battery module (5) in real time; the whole vehicle VCU is connected to the RCU controller of the power generation module in communication, and is used to send a cylinder braking request and a driving power request to the power generation module; the whole vehicle VCU is connected to the generator inverter (31) in communication, and is used to control the generator inverter (31) to convert three-phase alternating current into direct current; the whole vehicle VCU is connected to the PDU power distribution module (4) in communication, and is used to send a current control instruction to the PDU power distribution module (4); the whole vehicle VCU is connected to the battery module (5) in communication, and is used to control the charging or discharging of the battery module (5); the whole vehicle VCU is connected to the drive inverter (32) in communication, and is used to control the drive inverter (32) to convert the three-phase alternating current of the drive module (6) into direct current, or to send a target torque to the drive module (6) through the drive inverter (32), so as to drive the deceleration module (7), thereby driving the whole mining truck to move.

2. According to claim 1, a large-tonnage electric wheel mining truck drive control system is characterized in that: The number of the engine (1), the generator (2) and the generator inverter (31) are all two; The driving module (6) is a 2Y type in-phase three-phase AC asynchronous motor; The output ends of the two drive inverters (32) are respectively connected to two stator windings 1Y and 2Y of the drive module (6).

3. A large-tonnage electric wheel mining truck drive control system according to claim 1 or 2, characterized in that: The generator (2) and the drive module (6) both adopt FOC vector control mode.

4. According to claim 3, a large-tonnage electric wheel mining truck drive control system is characterized in that: The engine (1) is a 570kW diesel engine; The generator (2) is an integrated permanent magnet synchronous generator; The generator inverter (31) and the drive inverter (32) are both DC800V voltage platform inverters; The reduction module (7) is a two-stage NGW-type wheel-side reducer.

5. A large-tonnage electric wheel mining truck drive control method, based on a large-tonnage electric wheel mining truck drive control system according to any one of claims 1 to 4, characterized in that: Including drive control and energy recovery control; The power generation module and the battery module (5) are jointly driven and controlled as follows: A1) The vehicle VCU controls the power generation module to generate three-phase AC power through the RCU controller, and the generator inverter (31) converts the three-phase AC power into DC power; and / or the vehicle VCU controls the battery module (5) to output DC power; A2) the vehicle VCU sends a real-time current control instruction to the PDU power distribution module (4) according to the driving power required for operation, and the PDU power distribution module (4) transmits direct current to the driving module (6) according to the current control instruction; A3) the vehicle VCU sends the real-time target torque to the drive module (6) through the drive inverter (32), and the drive module (6) controls the deceleration module (7) to drive the mining truck to move according to the real-time target torque; The energy recovery control is specifically as follows: The vehicle VCU monitors the recharge threshold of the battery module (5) and the electric energy generated by the drive module (6) in real time; when the drive module (6) generates three-phase alternating current, if the electric energy of the battery module (5) is less than or equal to the recharge threshold, the vehicle VCU controls the drive inverter (32) to convert the three-phase alternating current into direct current, and charges the battery module (5) through the PDU power distribution module (4); otherwise, the electric energy of the battery module (5) is stabilized in a dynamic balance area, and the three-phase alternating current generated by the drive module (6) is consumed by the vehicle VCU to control the in-cylinder braking of the engine (1).

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