Power control method and related device

Abstract

The invention provides a power control method and a related device, and relates to the field of range extenders. After a hydraulic system working instruction is received, if it is determined that a power advance control strategy needs to be adopted, before the current of a hydraulic displacement control valve is adjusted according to the hydraulic system working instruction, the power advance control strategy is adopted; the power of an engine and the power of a target generator are adjusted to the total power required by the engine, which is calculated based on the target hydraulic power and the power generation required power, so that the current engine power can meet the power generation power requirement and the power requirement of a hydraulic system after responding to a working instruction of the hydraulic system; and then the hydraulic displacement control valve current is adjusted according to the hydraulic system working instruction, after the hydraulic displacement control valve current is adjusted, the hydraulic power begins to change, and during the hydraulic power change period, the power of the target generator can be adjusted based on the hydraulic power change, so that the engine can provide the hydraulic power needed by the hydraulic system in real time.

Description

Technical Field

[0001] The present application relates to the field of range extenders, and more specifically, to a power control method and related devices. Background Art

[0002] A loader is a type of engineering machinery used to load and transport loose materials (such as sand, gravel, and coal), with a liftable bucket at the front end.

[0003] When the range extender is applied to the loader field, due to the working characteristics of the loader bucket, the hydraulic power changes dramatically and has strong transient characteristics. When the hydraulic power changes, the engine power response in the range extender lags, making it impossible for the engine power to follow the hydraulic power in real time, reducing the working reliability of the loader. Summary of the Invention

[0004] In view of this, the present application provides a power control method and related devices to solve the problem of delayed engine power response in the range extender, which makes it impossible for the engine power to follow the hydraulic power in real time.

[0005] To solve the above technical problems, this application adopts the following technical solutions:

[0006] A power control method is applied to a range extender, wherein the range extender includes an engine, a target generator, and a non-target generator. The power control method includes:

[0007] When a hydraulic system operation command is received, if it is determined that a power advance control strategy needs to be executed based on a comparison result of a predicted power change rate of the engine and a predicted power change rate of the hydraulic system, a target hydraulic power of the hydraulic system is obtained; the target hydraulic power is the hydraulic power after responding to the hydraulic system operation command;

[0008] The power of the engine and the power of the target generator are both adjusted to the total engine power requirement; the total engine power requirement is calculated based on the target hydraulic power and the power generation requirement; the speed of the non-target generator is the set speed of the range extender;

[0009] After the power of the engine and the power of the target generator are both the total power required by the engine, adjusting the current of the hydraulic displacement control valve according to the hydraulic system working instruction; wherein, after the current of the hydraulic displacement control valve is adjusted, the hydraulic power begins to change;

[0010] According to the hydraulic power change data of the hydraulic system, the power of the target generator is adjusted in real time so that the power of the engine is equal to the sum of the power of the target generator and the real-time hydraulic power; wherein, during the real-time adjustment of the power of the target generator, the power of the engine remains unchanged.

[0011] Optionally, determining that a power advance control strategy needs to be executed based on a comparison result of the predicted power change rate of the engine and the predicted power change rate of the hydraulic system includes:

[0012] determining a target hydraulic power corresponding to a target hydraulic displacement control valve current in the hydraulic system work instruction according to a mapping relationship between a hydraulic displacement control valve current of the hydraulic pump and hydraulic power;

[0013] Calculating a predicted power change rate of the hydraulic power based on the current hydraulic power and the target hydraulic power;

[0014] determining, based on the engine torque step response curve, a predicted power change rate between the engine power corresponding to the current hydraulic power and the engine power corresponding to the target hydraulic power;

[0015] In a case where the predicted rate of change of the hydraulic power is greater than the predicted rate of change of the engine power, it is determined that the power advance control strategy needs to be executed.

[0016] Optionally, adjusting the power of the engine and the power of the target generator to the total power required by the engine includes:

[0017] Calculate the required power generation according to the required power of the drive motor and the required charging and discharging power of the power battery;

[0018] Calculating the total required engine power according to the target hydraulic power and the required power generation;

[0019] calculating a first target torque of the engine according to the required total power of the engine and a set speed of the range extender, and controlling the engine to operate according to the first target torque so as to adjust the power of the engine to the required total power of the engine;

[0020] A second target torque of the target generator is calculated according to the real-time power of the engine and the set speed of the range extender, and the target generator is controlled to operate according to the second target torque to adjust the power of the target generator to the total power required by the engine.

[0021] Optionally, adjusting the power of the target generator in real time according to the hydraulic power change data of the hydraulic system includes:

[0022] taking the difference between the real-time power of the engine and the real-time power of the hydraulic system as the new power of the target generator;

[0023] According to the new power of the target generator, a power adjustment operation is performed on the target generator.

[0024] Optionally, performing a power adjustment operation on the target generator according to the new power of the target generator includes:

[0025] Calculating a new second target torque of the target generator according to the new power of the target generator;

[0026] In the process of adjusting the torque of the target generator according to the new second target torque, calculating a deviation between the set speed of the range extender and the real-time speed of the range extender;

[0027] When the deviation value is greater than a first threshold value, reducing the value of the new second target torque by a set step size; the first threshold value is a positive number;

[0028] When the deviation value is smaller than a second threshold value, the value of the new second target torque is increased according to a set step size; the second threshold value is a negative number.

[0029] Optionally, after determining that the power advance control strategy does not need to be executed, the method further includes:

[0030] adjusting the hydraulic displacement control valve current according to the hydraulic system working instruction;

[0031] calculating a first target torque of the engine according to the required total power of the engine and the set speed of the range extender, and controlling the engine to operate according to the first target torque;

[0032] calculating a second target torque of the target generator according to the required power generation and the set speed of the range extender, and controlling the target generator to operate according to the second target torque;

[0033] Based on the real-time speed of the range extender, a value of the second target torque of the target generator is adjusted.

[0034] Optionally, it also includes:

[0035] When a power-off instruction is received, power control of the engine and power control of the target generator are stopped.

[0036] A power control device is applied to a range extender, wherein the range extender includes an engine, a target generator, and a non-target generator. The power control device includes:

[0037] a power acquisition module configured to, upon receiving a hydraulic system operating instruction, acquire a target hydraulic power of the hydraulic system if it is determined based on a comparison result of a predicted power change rate of the engine and a predicted power change rate of the hydraulic system that a power advance control strategy needs to be executed; the target hydraulic power being the hydraulic power after responding to the hydraulic system operating instruction;

[0038] a first power adjustment module, configured to adjust the power of the engine and the power of the target generator to a total engine power requirement; the total engine power requirement is calculated based on the target hydraulic power and the power generation requirement; and the speed of the non-target generator is a set speed of the range extender;

[0039] a current control module, configured to adjust the hydraulic displacement control valve current according to the hydraulic system working instruction after the power of the engine and the power of the target generator both reach the total power required by the engine; wherein after the hydraulic displacement control valve current is adjusted, the hydraulic power begins to change;

[0040] The second power adjustment module is used to adjust the power of the target generator in real time according to the hydraulic power change data of the hydraulic system so that the power of the engine is equal to the sum of the power of the target generator and the real-time hydraulic power; wherein, during the real-time adjustment of the power of the target generator, the power of the engine remains unchanged.

[0041] An electronic device comprising at least one processor and a memory connected to the processor, wherein:

[0042] The memory is used to store computer programs;

[0043] The processor is configured to execute the computer program so as to enable the electronic device to implement the power control method described above.

[0044] A computer storage medium carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement the power control method described above.

[0045] The present application provides a power control method and related apparatus. After receiving a hydraulic system operating instruction, if, based on a comparison of the predicted power change rate of the engine and the predicted power change rate of the hydraulic system, it is determined that the engine power cannot keep up with the hydraulic power in real time, a power advance control strategy is determined to be required. In this case, before adjusting the hydraulic displacement control valve current according to the hydraulic system operating instruction, the engine power and the target generator power are first adjusted to a total engine power requirement calculated based on the target hydraulic power and the power generation requirement, so that the current engine power can meet the power generation requirement and the hydraulic system power requirement after responding to the hydraulic system operating instruction. The hydraulic displacement control valve current is then adjusted according to the hydraulic system operating instruction. After the hydraulic displacement control valve current is adjusted, the hydraulic power begins to change. During the hydraulic power change period, the target generator power can be adjusted accordingly based on the hydraulic power change, so that the engine power is equal to the sum of the target generator power and the real-time hydraulic power, and the engine can provide the hydraulic power required by the hydraulic system in real time. That is, the present application ensures that the engine power follows the hydraulic power in real time by adjusting the engine power in advance, thereby solving the problem that when the hydraulic power changes, the engine power in the range extender responds laggingly, making it impossible for the engine power to follow the hydraulic power in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0047] Figure 1 A schematic diagram of the range extender structure provided in an embodiment of the present application;

[0048] Figure 2 A flow chart of a power control method provided in an embodiment of the present application;

[0049] Figure 3 A schematic diagram of power tracking provided in an embodiment of the present application;

[0050] Figure 4 A strategy determination flow chart provided in an embodiment of the present application;

[0051] Figure 5 A power regulation flow chart provided in an embodiment of the present application;

[0052] Figure 6 A flow chart of speed regulation provided in an embodiment of the present application;

[0053] Figure 7 A flowchart of another power control method provided in an embodiment of the present application;

[0054] Figure 8 A schematic diagram of the structure of a power control device provided in an embodiment of the present application;

[0055] Figure 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0057] In order to enable those skilled in the art to have a clearer understanding of the present application, the relevant terms in the present application are now explained.

[0058] Range Extender: A range extender is an auxiliary power device used to extend the range of new energy vehicles (such as extended-range electric vehicles, loaders, etc.). It is usually composed of an internal combustion engine (such as a gasoline engine or a diesel engine) and a generator.

[0059] Hydraulic System: A system that transmits power and control through liquids (such as hydraulic oil) and uses Pascal's principle to achieve energy conversion and mechanical action.

[0060] Loader: A type of engineering machinery used to load and transport loose materials (such as sand, gravel, and coal), equipped with a liftable bucket at the front end.

[0061] Traction Motor: The electric motor that directly drives the wheels in electric or hybrid vehicles and is the core power source of the vehicle.

[0062] Range Extender Generator: A motor in the range extender specifically used for generating electricity, used in conjunction with the internal combustion engine to convert the chemical energy of the fuel into electrical energy.

[0063] When the range extender is applied to the loader field, due to the working characteristics of the loader bucket, the hydraulic power changes dramatically and has strong transient characteristics. When the hydraulic power suddenly changes, the engine power response in the range extender lags, making it impossible for the engine power to follow the hydraulic power in real time, and the range extender speed cannot be stabilized, reducing the working reliability of the loader.

[0064] To this end, in this application, when hydraulic power suddenly changes, engine power is compensated by a certain amount of time advance. Specifically, when hydraulic power does not increase, the engine power in the range extender is increased in advance. Specifically, after receiving a hydraulic system operating command, the time for adjusting the hydraulic displacement control valve current according to the hydraulic system operating command is delayed. During the delay time, if the comparison between the predicted engine power change rate and the predicted hydraulic system power change rate determines that the engine power cannot keep up with the hydraulic power in real time, a power advance control strategy is determined to be necessary. In this case, before adjusting the hydraulic displacement control valve current according to the hydraulic system operating command, the engine power and the target generator power are first adjusted to the total engine power required, calculated based on the target hydraulic power and the power generation demand, so that the current engine power can meet the power generation demand and the hydraulic system power demand after responding to the hydraulic system operating command. The hydraulic displacement control valve current is then adjusted according to the hydraulic system operating command. After the hydraulic displacement control valve current is adjusted, the hydraulic power begins to change. During the hydraulic power change period, the target generator power can be adjusted accordingly based on the hydraulic power change, so that the engine power is equal to the sum of the target generator power and the real-time hydraulic power, and the engine can provide the hydraulic power required by the hydraulic system in real time. That is, the present application ensures that the engine power follows the hydraulic power in real time by adjusting the engine power in advance, thereby solving the problem that when the hydraulic power changes, the engine power in the range extender responds laggingly, making it impossible for the engine power to follow the hydraulic power in real time.

[0065] Based on the above content, an embodiment of the present application discloses a power control method, which is applied to a controller in a range extender, such as an RCU (Range Extender Control Unit).

[0066] In actual scenarios, refer to Figure 1 The range extender is internally provided with components such as an engine, a generator 1, and a generator 2. The engine can be a diesel engine and adopts a torque control mode. Generator 1 adopts a speed control mode and acts as a non-target generator. Generator 2 adopts a torque control mode and acts as a target generator.

[0067] The range extender utilizes a diesel engine-dual motor coupling architecture. The engine output shaft is mechanically connected to the dual-motor generator set (generator 1 / generator 2) via a coupling. A PTO (power take-off) drives the hydraulic pump. Energy generated by the range extender is primarily supplied to the drive motor, with the remaining energy dynamically stored in the power battery. The hydraulic system, including the hydraulic pump, powers the bucket mechanism, while the drive motor powers the travel mechanism, forming a coordinated electromechanical, hydraulic, and hydraulic energy supply system.

[0068] The engine is equipped with an engine controller, such as an ECU (Electronic Control Unit). The RCU sends engine control commands (such as operating mode and set torque) to the ECU, which controls the engine to execute these commands, changing the operating mode or adjusting the range extender's operating torque to the set torque. The generator is equipped with a motor controller, such as MCU1 (Motor Control Unit). The RCU sends control commands for generator 1 (such as set speed and operating mode) to MCU1, which controls generator 1 to execute these commands, changing the operating mode or adjusting the range extender's speed to the set speed. The RCU sends control commands for generator 2 (such as set torque and operating mode) to MCU1, which controls generator 2 to execute these commands, changing the operating mode or adjusting the torque. The drive motor is controlled by MCU2.

[0069] Among them, the power of generator 1 is represented by pGen1, the power of generator 2 is represented by pGen2, the power of the drive motor is represented by pTM, the power of the hydraulic system is represented by pHPS, the power of the engine is represented by pEng, and the energy storage parameters of the power battery, such as the required charge and discharge power of the power battery, are represented by pBatt.

[0070] The above parameters can be obtained from the CAN (Controller Area Network) bus message.

[0071] Reference Figure 2 , the present application discloses a power control method, which may include the following steps:

[0072] S11. When a hydraulic system operation instruction is received, if it is determined that a power advance control strategy needs to be executed based on a comparison result between the predicted power change rate of the engine and the predicted power change rate of the hydraulic system, a target hydraulic power of the hydraulic system is obtained.

[0073] The target hydraulic power is the hydraulic power after responding to the hydraulic system working instruction.

[0074] In actual scenarios, when a user presses a hydraulic device button, it is determined that a hydraulic system operating instruction has been received. The hydraulic system operating instruction includes a target hydraulic displacement control valve current, which can be 800A or other current supported by the hydraulic system.

[0075] like Figure 3 In the related art, the conventional control logic of the hydraulic system is:

[0076] At time T1, a user, such as a driver, presses a hydraulic device button to start controlling the hydraulic pump solenoid valve to perform an action, and the hydraulic displacement control valve current increases and stabilizes at a certain value.

[0077] When the hydraulic displacement control valve current begins to rise, the hydraulic power slowly increases, reaching its maximum value after time dt, at time T2. This maximum value is the target hydraulic power pHPS1. Simultaneously, as the hydraulic displacement control valve current begins to rise, the power of generator 2 remains constant, while the engine power also begins to rise. After time DT, at time T3, it reaches the target hydraulic power. During this time, the engine power fails to keep pace with the hydraulic power, resulting in a delayed engine power response.

[0078] To this end, in this application, after the driver presses the hydraulic device button, the hydraulic pump solenoid valve is not immediately controlled to perform the action. Instead, the engine power and the power of generator 2 are adjusted first so that the engine power can meet the power generation power requirements and the hydraulic system power requirements after responding to the hydraulic system working instructions, and then the hydraulic pump solenoid valve is controlled to perform the action. At this time, by adjusting the power of generator 2, the engine power is equal to the sum of the target generator power and the real-time hydraulic power.

[0079] Before executing the above-mentioned adjustment of the engine power and the power of generator 2, it is necessary to determine whether the engine power can keep up with the hydraulic power in time. The specific judgment can be made based on the comparison result of the predicted power change rate of the engine and the predicted power change rate of the hydraulic system. If it is determined based on the comparison result that the engine power cannot keep up with the hydraulic power in time, it is necessary to execute the power advance control strategy at this time, and increase the engine power and the power of generator 2 before controlling the hydraulic pump solenoid valve to perform the action.

[0080] In one implementation, referring to Figure 4 , determining the need to execute a power advance control strategy based on a comparison result of the predicted power change rate of the engine and the predicted power change rate of the hydraulic system, may include:

[0081] S21. Determine a target hydraulic power corresponding to a target hydraulic displacement control valve current in a hydraulic system operation instruction according to a mapping relationship between a hydraulic displacement control valve current of a hydraulic pump and hydraulic power.

[0082] Among them, reference Figure 3Taking the case of pressing the hydraulic device button at time TI as an example, the hydraulic power before the hydraulic system responds to the hydraulic system work instruction is the hydraulic power at time T1, and the hydraulic power after the hydraulic system responds to the hydraulic system work instruction is the hydraulic power at time T2. The time required for the hydraulic power to change from the hydraulic power at time T1 to the hydraulic power at time T2 is dt. Then, the calculation process of the predicted power change rate of the hydraulic power before and after the hydraulic system responds to the hydraulic system work instruction is:

[0083] The hydraulic power at time T2 minus the hydraulic power at time T1 is ΔpHPS, and ΔpHPS / dt is the predicted power change rate of the hydraulic power.

[0084] In one implementation, the hydraulic power at time T2 can be determined based on a mapping relationship between the hydraulic pump's displacement control valve current and hydraulic power, as configured in the hydraulic power feedforward model. This mapping relationship, obtained through calibration experiments, includes hydraulic power corresponding to different displacement control valve currents. Based on this mapping relationship, the target hydraulic power corresponding to the target displacement control valve current in the hydraulic system operating instructions can be determined.

[0085] Specifically, since the hydraulic system working instruction includes the target hydraulic displacement control valve current, the mapping relationship can be queried to obtain the target hydraulic power corresponding to the target hydraulic displacement control valve current.

[0086] S22. Calculate the predicted power change rate of the hydraulic power based on the current hydraulic power and the target hydraulic power.

[0087] Specifically, if Figure 3 As shown, the hydraulic power at the current moment is the hydraulic power at time T1. The hydraulic power change after dt time is predicted based on the hydraulic valve current signal to obtain the target hydraulic power. The target hydraulic power is the hydraulic power at time T2. The time required for the hydraulic power to change from the hydraulic power at time T1 to the hydraulic power at time T2 is dt.

[0088] Then, the predicted power change rate of hydraulic power = ΔpHPS / dt, ΔpHPS = hydraulic power at time T2 - hydraulic power at time T1.

[0089] S23. Determine, based on the engine torque step response curve, a predicted power change rate between the engine power corresponding to the current hydraulic power and the engine power corresponding to the target hydraulic power.

[0090] Before, after, or simultaneously with determining the predicted rate of change of hydraulic power, it is also necessary to determine the predicted rate of change of engine power before and after the hydraulic power changes. This predicted rate of change of engine power may be the maximum predicted rate of change of power, which is also the maximum responsive rate of change of the engine power.

[0091] like Figure 3 As shown, the engine power before the engine follows the change in hydraulic power is the engine power at time T1, and the engine power after the engine follows the change in hydraulic power is the engine power at time T3. The maximum predicted power change rate of the engine power before and after the engine follows the change in hydraulic power is determined, which is the power change rate of the engine power at time T3 compared to the engine power at time T1.

[0092] In one implementation, the predicted power change rate between the engine power corresponding to the current hydraulic power and the engine power corresponding to the target hydraulic power is determined based on the engine torque step response curve.

[0093] Specifically, an engine torque step response curve is constructed based on bench test data, and the curve is configured into the engine response capability model. The engine response capability model and the above-mentioned hydraulic power feedforward model are the feedforward control model in this application.

[0094] The engine torque step response curve in the engine response capability model can then be used to predict the engine power at time T3, which is the time after DT. The engine power corresponding to the current hydraulic power, namely the engine power at time T1, is then calculated. The difference between the engine power at time T3 and the engine power at time T1 is calculated to obtain ΔpEng. Since it takes DT for the engine power at time T1 to change to the engine power at time T3, the formula for calculating the maximum predicted power change rate is: ΔpEng / DT.

[0095] S24: When the predicted rate of change of the hydraulic power is greater than the predicted rate of change of the engine power, it is determined that a power advance control strategy needs to be executed.

[0096] Specifically, the response capability constraint is: the predicted rate of change of hydraulic power is greater than the predicted rate of change of engine power, that is, ΔpHPS / dt>ΔpEng / DT. This indicates that the change of hydraulic power is greater than the change of engine power during the hydraulic device operation. The change of hydraulic power exceeds the engine response capability, and there is a lag in the response of engine power. At this time, it is determined that the power advance control strategy needs to be executed. The specific content of the power advance control strategy can be referred to. Figure 3 Dynamic predictive control in .

[0097] After determining that the power advance control strategy needs to be executed, the target hydraulic power after the hydraulic system responds to the hydraulic system working instruction can be obtained through the above-mentioned mapping relationship between the hydraulic displacement control valve current and the hydraulic power. The target hydraulic power is the hydraulic power at the above-mentioned time T2.

[0098] If ΔpHPS / dt≤ΔpEng / DT, it means that the change of hydraulic power is less than or equal to the change of engine power during the hydraulic device operation. The change of hydraulic power does not exceed the response capability of the engine. There is no engine power response lag. At this time, it is determined that there is no need to execute the power advance control strategy. Figure 3 Just run the normal control in .

[0099] S12: Adjust the power of the engine and the power of the target generator to the total power required by the engine.

[0100] The total engine power requirement is calculated based on the target hydraulic power and the power generation requirement. When control begins, the power generation requirement is zero and the total engine power requirement is the target hydraulic power.

[0101] In one implementation, the speed of the non-target generator is the set speed of the range extender. Specifically, because generator 1 uses speed control mode, it serves as the non-target generator. During the power adjustment process between the engine and the target generator, the speed of generator 1 is set to the set speed of the range extender, nSet. For a certain period of time, the set speed of the range extender, nSet, remains constant.

[0102] Generator 2 is used as the target generator. Since both the engine and generator 2 are in torque control mode, the torque of the engine and generator 2 can be adjusted so that the power of the engine and generator 2 is adjusted to the total power required by the engine.

[0103] In one implementation, the total engine power requirement is calculated based on the target hydraulic power and the generator power requirement, such that the adjusted engine power meets both the generator power requirement and the hydraulic system power requirement after responding to the hydraulic system operating command. It should be noted that in actual scenarios, the generator power requirement is zero when control is initiated.

[0104] like Figure 3 As shown in FIG, in dynamic predictive control, assuming that at time T1′, the driver presses the hydraulic device button and receives the hydraulic system work command, the hydraulic pump solenoid valve is not immediately controlled based on the target hydraulic displacement control valve current in the hydraulic system work command. Instead, the hydraulic pump solenoid valve is controlled based on the target hydraulic displacement control valve current in the hydraulic system work command after a delay of DT time (because the engine power changes from the engine power at time T1 to the engine power at time T3, which requires DT time).

[0105] During the DT time, that is, after receiving the hydraulic system working instruction, the target hydraulic power pHPS1 corresponding to the target hydraulic displacement control valve current will be obtained according to the mapping relationship between the hydraulic displacement control valve current of the hydraulic pump and the hydraulic power.

[0106] Then start to adjust the torque of the engine and generator 2, so that the engine power and the power of generator 2 continue to increase. When the DT time is reached, that is, at T1'', the engine power and the power of generator 2 are the total power required by the engine. Since the total power required by the engine is calculated based on the target hydraulic power and the power generation demand power, the power generation demand power is zero at T1'', and the total power required by the engine is the target hydraulic power.

[0107] At this time, since the hydraulic pump solenoid valve is not controlled based on the target hydraulic displacement control valve current in the hydraulic system work instruction, the hydraulic power within the DT time does not change.

[0108] S13. After the engine power and the target generator power are both equal to the total engine power requirement, adjust the hydraulic displacement control valve current according to the hydraulic system working instruction.

[0109] Among them, after the hydraulic displacement control valve current is adjusted, the hydraulic power begins to change.

[0110] Specifically, after the power of the engine and the target generator are both the total power required by the engine, the hydraulic displacement control valve current can be adjusted according to the hydraulic system working instruction, such as Figure 3 As shown in FIG, at time T1″, the current of the hydraulic displacement control valve suddenly changes and the hydraulic power begins to increase.

[0111] S14. Adjust the power of the target generator in real time according to the hydraulic power change data of the hydraulic system so that the power of the engine is equal to the sum of the power of the target generator and the real-time hydraulic power.

[0112] During the real-time adjustment of the power of the target generator, the power of the engine remains unchanged.

[0113] Specifically, at time T1'', the hydraulic power begins to increase. At this time, since the power that the engine can provide to the hydraulic system is the target hydraulic power pHPS1, during the period of hydraulic power increase, that is, from T1' to T1'', the real-time power of the hydraulic system is less than pHPS1, that is, the power that the engine can provide to the hydraulic system is greater than the real-time power required by the hydraulic system. In order to ensure that the power provided by the engine to the hydraulic system is the real-time power required by the hydraulic system, in this application, the power of the target generator will be adjusted in real time according to the hydraulic power change data of the hydraulic system. In specific implementation, the power of the target generator will be reduced so that the power of the engine is equal to the sum of the power of the target generator and the real-time hydraulic power, and the power provided by the engine to the hydraulic system in real time is equal to the real-time power required by the hydraulic system.

[0114] In one implementation, the dynamic predictive control in this application is specifically implemented as follows:

[0115] At time T1' when the driver presses the hydraulic device button, the target hydraulic displacement control valve current will be delayed by DT time and sent to the hydraulic pump solenoid valve, and the target hydraulic power pHPS1 will be obtained according to the target hydraulic displacement control valve current.

[0116] Starting from time T1', the engine begins to adjust its own power based on the target hydraulic power pHPS1 and the required power generation. The power of generator 2 is the same as the engine power. At time T1'', the starting power and the power of generator 2 are both the total power required by the engine. At this time, the power that the engine can provide to the hydraulic system is pHPS1.

[0117] Starting at time T1″, the hydraulic solenoid valve begins responding to the driver's operational demands, increasing hydraulic power by ΔpHPS. Generator 2's power then decreases by ΔpHPS. The power output from the engine to the hydraulic system is the real-time power demanded by the hydraulic system. The real-time hydraulic power can be calculated or predicted using the aforementioned mapping between the hydraulic pump's hydraulic displacement control valve current and hydraulic power.

[0118] When the driver presses the hydraulic device button again, the above steps are repeated.

[0119] In this embodiment, after receiving a hydraulic system operating command, if the engine power cannot keep up with the hydraulic power in real time, as determined by comparing the predicted rate of change of the engine power with the predicted rate of change of the hydraulic system power, a power advance control strategy is determined to be necessary. In this case, before adjusting the hydraulic displacement control valve current in accordance with the hydraulic system operating command, the engine power and the target generator power are both adjusted to the total engine power requirement calculated based on the target hydraulic power and the power generation requirement, so that the current engine power can meet the power generation requirement and the hydraulic system power requirement after responding to the hydraulic system operating command. The hydraulic displacement control valve current is then adjusted in accordance with the hydraulic system operating command. After the hydraulic displacement control valve current is adjusted, the hydraulic power begins to change. During the hydraulic power change, the target generator power is adjusted accordingly based on the hydraulic power change, so that the engine power equals the sum of the target generator power and the real-time hydraulic power, enabling the engine to provide the hydraulic power required by the hydraulic system in real time. This ensures that the engine power keeps up with the hydraulic power in real time by adjusting the engine power in advance, thus resolving the problem of delayed engine power response in the range extender when the hydraulic power changes, which prevents the engine power from keeping up with the hydraulic power in real time.

[0120] By optimizing the coordinated control strategy of the engine and generator, the system can achieve stable and reliable operation while meeting the power requirements of the drive motor and the hydraulic system.

[0121] Based on any of the above embodiments, Figure 5 , adjusting the engine power and the target generator power to the total engine power requirement, which may include:

[0122] S31. Calculate the required power generation according to the required power of the drive motor and the required charging and discharging power of the power battery.

[0123] In the present application, the required power of the drive motor, that is, the power of the above-mentioned drive motor, is represented by pTM, and the required charging and discharging power of the power battery is represented by pBatt.

[0124] The power generation demand is expressed by pCharg1. According to the law of conservation of energy, pCharg1=pTM+pBatt=pGen1+pGen2.

[0125] Among them, pCharg1 is the required power for power generation, pTM is the required power for the drive motor, pBatt is the required charging and discharging power for the power battery, pGen1 is the power of generator 1, and pGen2 is the power of generator 2.

[0126] S32. Calculate the total required engine power according to the target hydraulic power and the required power generation.

[0127] Specifically, the total engine power requirement is expressed by pEng1, pEng1=pHPS1+pCharg1.

[0128] Among them, pHPS1 is the target hydraulic power and pCharg1 is the required power generation.

[0129] S33: Calculate a first target torque of the engine according to the total power required by the engine and the set speed of the range extender, and control the engine to operate according to the first target torque to adjust the power of the engine to the total power required by the engine.

[0130] Specifically, the first target torque of the engine is denoted by Te.

[0131] In one implementation, the product of the total power required by the engine and a preset conversion constant is calculated, and the ratio of the product to the set speed of the range extender is determined as the first target torque of the engine.

[0132] Specifically, the calculation formula of Te is:

[0133] Te=(pEng1×9550) / nSet.

[0134] Where pEng1 is the total engine power required, nSet is the set speed of the range extender, and 9550 is the preset conversion constant, which is the conversion constant between kW and N·m·r / min.

[0135] After obtaining the first target torque of the engine, the RCU sends an engine control instruction including the first target torque to the ECU. The ECU controls the engine to execute the instruction, adjusts the operating torque to the first target torque, and adjusts the engine power to the total power required by the engine.

[0136] S34. Calculate a second target torque of the target generator according to the real-time power of the engine and the set speed of the range extender, and control the target generator to operate according to the second target torque to adjust the power of the target generator to the total power required by the engine.

[0137] The second target torque of the target generator, that is, the second target torque of the generator 2 , is denoted by Tm2 .

[0138] In one implementation, the efficiency of the target generator can be calculated based on the generating power and mechanical power of the target engine, and the second target torque of the target generator can be calculated based on the real-time power of the engine, the efficiency of the target generator, and the set speed of the range extender.

[0139] Specifically, the efficiency of the target generator is expressed by etaGen2, where etaGen2 = target engine power generation / target engine mechanical power.

[0140] Tm2=(pCharg / 2 / etaGen2×9550) / (nSet).

[0141] Where Tm2 is the second target torque of the target generator, and pCharg is the required power generation, which is pCharg2. pCharg2 represents the required power generation, and pCharg2 = pEng - pHPS, where pEng represents the real-time power of the engine and pHPS represents the real-time power of the hydraulic system. Between T1' and T1'', pHPS is zero, at which point pCharg2 = pEng.

[0142] pCharg / 2 represents the power demand shared equally between the two generators, etaGen2 is the efficiency of the target generator, nSet is the set speed of the range extender, and 9550 is the conversion constant between kW and N·m·r / min.

[0143] After calculating the second target torque of the target generator, the RCU sends a control instruction of the generator 2 including the second target torque to the MCU1. The MCU1 controls the generator 2 to execute the instruction and adjust the torque to the second target torque to adjust the power of the target generator to the total power required by the engine.

[0144] In this embodiment, before adjusting the hydraulic power, based on the torque regulation of the engine and the target generator, the engine power and the target generator power are adjusted to the total power required by the engine, so as to increase the engine power in advance and avoid the engine from responding in time when the hydraulic system power suddenly changes.

[0145] Based on any of the above embodiments, adjusting the power of the target generator in real time according to the hydraulic power change data of the hydraulic system includes:

[0146] The difference between the real-time power of the engine and the real-time power of the hydraulic system is used as the new power of the target generator, and the power adjustment operation of the target generator is performed according to the new power of the target generator.

[0147] In actual scenarios, from moment T1'', the hydraulic power is zero. After moment T1'', the hydraulic solenoid valve begins to respond to the driver's operating requirements, and the hydraulic power increases. For example, if it is pHPS, the hydraulic power increases by ΔpHPS, and the power of generator 2 decreases by ΔpHPS. At this time, the real-time power of generator 2 is pEng-pHPS. At moment T1'', pHPS is zero. After moment T1'', pHPS increases, and the increase ΔpHPS is the actual pHPS. pEng takes the value of pHPS1, and the real-time power of generator 2 is pHPS1-pHPS. The sum of the real-time power of generator 2 and the increase in hydraulic power is still pHPS1, that is, the engine can provide pHPS power to the hydraulic system.

[0148] The above-mentioned pEng-pHPS is the new power of the target generator. The power adjustment operation of the target generator needs to be performed according to the new power of the target generator.

[0149] In one implementation, referring to Figure 6 , performing a power adjustment operation on the target generator according to the new power of the target generator may include:

[0150] S41 . Calculate a new second target torque of the target generator according to the new power of the target generator.

[0151] Specifically, in the calculation formula, Tm2=(pCharg / 2 / etaGen2×9550) / (nSet), the value of pCharg is pCharg2=pEng-pHPS, and pHPS>zero.

[0152] The calculation formula of Tm2 is used to obtain the new second target torque.

[0153] S42. In the process of adjusting the torque of the target generator according to the new second target torque, a deviation value between the set speed of the range extender and the real-time speed of the range extender is calculated.

[0154] like Figure 3 In the conventional control shown, when both the engine power and the hydraulic power change, the real-time speed of the range extender (refer to Figure 3 The actual speed curve in the figure) is less than the set speed of the range extender (refer to Figure 3 In the dynamic predictive control, the operating torque of the target generator can be adjusted based on the speed closed-loop control so that the real-time speed of the range extender is equal to the set speed of the range extender.

[0155] In specific implementation, the deviation between the set speed of the range extender and the real-time speed of the range extender is calculated.

[0156] The deviation value is expressed as Δn, Δn=nSet-nAct.

[0157] Among them, nSet is the set speed of the range extender, and nAct is the real-time speed of the range extender.

[0158] S43: When the deviation value is greater than the first threshold, reduce the value of the new second target torque according to a set step size.

[0159] The first threshold is a positive number, such as +N, where N is the dead zone threshold, specifically a positive integer.

[0160] In this application, when |Δn|>N, PID (Proportional - Integral - Derivative) is used to perform dynamic torque compensation and adjust the execution speed stabilization control technology to perform speed closed-loop control.

[0161] More specifically, if Δn>+N, it means that the speed of generator 2 is greater than the engine speed. At this time, the value of the new second target torque of generator 2 is reduced according to the set step size, and the torque of generator 2 is controlled according to the new second target torque value. Subsequently, PID control is continued to be used to adjust the value of the second target torque.

[0162] The step size can be set to Tstep, and the value of Tstep can be configured according to actual conditions.

[0163] S44: When the deviation value is less than the second threshold value, increase the value of the new second target torque according to the set step size.

[0164] The second threshold is a negative number.

[0165] The second threshold is a negative number, such as -N. Specifically, if Δn < -N: the value of the new second target torque of generator 2 is increased by a step size of Tstep, the torque of generator 2 is controlled according to the new second target torque value, and the value of the second target torque is subsequently adjusted using PID control.

[0166] In this embodiment, dynamic power balance is achieved through speed closed-loop PID regulation. The speed closed-loop PID regulation is the feedback control in this application. The feedback control is combined with the above-mentioned feedforward control to achieve dual-loop control that integrates feedforward prediction and feedback regulation.

[0167] In addition, in this embodiment, the dead zone threshold N and the step adjustment amount (ie, the aforementioned Tstep) are set to achieve rapid convergence of the speed deviation through reverse linkage adjustment of the generator torque and the engine torque.

[0168] The above-mentioned delay control hydraulic pump solenoid valve action in this application, through the torque control to adjust the target generator, that is, the power of the generator 2 and the engine and set the non-target generator, that is, the speed of the engine 2, can be specifically realized by reference to Figure 7 When the hydraulic power mutation exceeds the engine's response capability, hydraulic power buffering is achieved through engine advance power response + generator power redistribution to suppress speed fluctuations.

[0169] Based on the above embodiment, after determining that the power advance control strategy does not need to be executed, the method further includes:

[0170] 1) Adjust the hydraulic displacement control valve current according to the hydraulic system working instructions.

[0171] Specifically, if ΔpHPS / dt≤ΔpEng / DT, it means that the change of hydraulic power is less than or equal to the change of engine power during the hydraulic device operation. The change of hydraulic power does not exceed the response capability of the engine. There is no engine power response lag. At this time, it is determined that the power advance control strategy does not need to be executed. Figure 3 The conventional control operation in the hydraulic system immediately adjusts the hydraulic displacement control valve current according to the hydraulic system working instructions.

[0172] 2) Calculate the first target torque of the engine based on the total power demand of the engine and the set speed of the range extender, and control the engine to operate according to the first target torque.

[0173] In the present application, the calculation process of the first target torque and the implementation process of controlling the engine to operate according to the first target torque can refer to the corresponding description above.

[0174] 3) Calculate the second target torque of the target generator based on the required power generation and the set speed of the range extender, and control the target generator to operate according to the second target torque.

[0175] In this application, Tm2=(pCharg / 2 / etaGen2×9550) / (nSet) is still used to calculate the second target torque. At this time, the value of pCharg is the above-mentioned pCharg1, that is, there is no need to make adjustments based on the real-time power of the engine and the real-time hydraulic power of the hydraulic system.

[0176] The implementation process of controlling the target generator to operate according to the second target torque is described above.

[0177] 4) Based on the real-time speed of the range extender, adjust the value of the second target torque of the target generator.

[0178] The specific implementation of this step refers to the above steps S42-S44, and specifically includes:

[0179] The deviation between the set speed of the range extender and the real-time speed of the range extender is calculated. When the deviation is greater than a first threshold, the value of the new second target torque is reduced by a set step size; the first threshold is a positive number; when the deviation is less than a second threshold, the value of the new second target torque is increased by a set step size; the second threshold is a negative number.

[0180] In this embodiment, after determining that the power advance control strategy does not need to be executed, the Figure 3 The conventional control in the engine and the target generator is used to control the power so that the engine can follow the hydraulic power in real time.

[0181] It should be noted that the specific implementation of each step in this embodiment can refer to the attached Figure 7 .

[0182] Based on any of the above embodiments, when a power-off command is received, the power control of the engine and the power control of the target generator can be stopped, the process is ended, and the driver's needs are met. When the driver presses the hydraulic device button again, the above steps are repeated. Figure 7 .

[0183] In summary, this application utilizes the "hydraulic power feedforward + engine response prediction + dynamic torque compensation" control architecture to solve the problem of engine power lag caused by the sudden change of hydraulic power of the traditional range extender under hydraulic sudden loading conditions.

[0184] It should be noted that, if the driver presses the power-off button during the above control process, the process ends, and when the driver presses the hydraulic device button again, the above steps are repeated.

[0185] Based on the embodiment of the power control method described above, another embodiment of the present application provides a power control device for use in a range extender, the range extender including an engine, a target generator and a non-target generator, Figure 8 , the power control device comprises:

[0186] The power acquisition module 11 is configured to, upon receiving a hydraulic system operating instruction, acquire a target hydraulic power of the hydraulic system if it is determined based on a comparison between the predicted power change rate of the engine and the predicted power change rate of the hydraulic system that a power advance control strategy needs to be executed; the target hydraulic power being the hydraulic power after responding to the hydraulic system operating instruction;

[0187] A first power adjustment module 12 is configured to adjust the engine power and the target generator power to the total engine power requirement; the total engine power requirement is calculated based on the target hydraulic power and the power generation requirement; the speed of the non-target generator is the set speed of the range extender;

[0188] a current control module 13 for adjusting the hydraulic displacement control valve current according to the hydraulic system working instruction after the engine power and the target generator power both reach the total engine power requirement; wherein, after the hydraulic displacement control valve current is adjusted, the hydraulic power begins to change;

[0189] The second power adjustment module 14 is used to adjust the power of the target generator in real time according to the hydraulic power change data of the hydraulic system so that the power of the engine is equal to the sum of the power of the target generator and the real-time hydraulic power; wherein, during the real-time adjustment of the power of the target generator, the power of the engine remains unchanged.

[0190] In one implementation, the power acquisition module 11 includes:

[0191] a power determination submodule, configured to determine a target hydraulic power corresponding to a target hydraulic displacement control valve current in a hydraulic system work instruction based on a mapping relationship between a hydraulic displacement control valve current of a hydraulic pump and hydraulic power;

[0192] A first change rate determination submodule is configured to calculate a predicted power change rate of the hydraulic power based on the current hydraulic power and the target hydraulic power;

[0193] a second change rate determination submodule, configured to determine a predicted power change rate between the engine power corresponding to the current hydraulic power and the engine power corresponding to the target hydraulic power based on the engine torque step response curve;

[0194] The strategy determination submodule is used to determine that a power advance control strategy needs to be executed when the predicted change rate of the hydraulic power is greater than the predicted power change rate of the engine power.

[0195] In one implementation, the first power adjustment module 12 includes:

[0196] The first calculation submodule is used to calculate the required power generation according to the required power of the drive motor and the required charging and discharging power of the power battery;

[0197] The second calculation submodule is used to calculate the total power required by the engine according to the target hydraulic power and the power generation requirement;

[0198] a first control submodule, configured to calculate a first target torque of the engine based on the total power required by the engine and the set speed of the range extender, and control the engine to operate according to the first target torque to adjust the power of the engine to the total power required by the engine;

[0199] The second control submodule is used to calculate the second target torque of the target generator according to the real-time power of the engine and the set speed of the range extender, and control the target generator to operate according to the second target torque to adjust the power of the target generator to the total power required by the engine.

[0200] In one implementation, the second power adjustment module 14 is specifically configured to:

[0201] A power processing submodule, configured to use the difference between the real-time power of the engine and the real-time power of the hydraulic system as the new power of the target generator;

[0202] The power adjustment submodule is used to perform power adjustment operations on the target generator according to the new power of the target generator.

[0203] In one implementation, the power adjustment submodule includes:

[0204] a torque calculation unit, configured to calculate a new second target torque of the target generator according to the new power of the target generator;

[0205] a deviation calculation unit, configured to calculate a deviation between a set speed of the range extender and a real-time speed of the range extender during a process of adjusting the torque of the target generator according to the new second target torque;

[0206] The first torque adjustment unit is configured to reduce the value of the new second target torque by a set step size when the deviation value is greater than a first threshold value; the first threshold value is a positive number;

[0207] The second torque adjustment unit is used to increase the value of the new second target torque according to a set step size when the deviation value is less than a second threshold value; the second threshold value is a negative number.

[0208] In one implementation, the method further includes:

[0209] A current regulating module is used to adjust the hydraulic displacement control valve current according to the hydraulic system working instructions;

[0210] an engine control module, configured to calculate a first target torque of the engine based on the total power demanded by the engine and the set speed of the range extender, and control the engine to operate according to the first target torque;

[0211] a generator control module, configured to calculate a second target torque of the target generator based on the required power generation and the set speed of the range extender, and control the target generator to operate according to the second target torque;

[0212] The torque adjustment module is used to adjust the value of the second target torque of the target generator based on the real-time speed of the range extender.

[0213] In one implementation, the method further includes:

[0214] The power-off control module is used to stop the power control of the engine and the power control of the target generator when receiving the power-off instruction.

[0215] In this embodiment, after receiving a hydraulic system operating command, if the engine power cannot keep up with the hydraulic power in real time, as determined by comparing the predicted rate of change of the engine power with the predicted rate of change of the hydraulic system power, a power advance control strategy is determined to be necessary. In this case, before adjusting the hydraulic displacement control valve current in accordance with the hydraulic system operating command, the engine power and the target generator power are both adjusted to the total engine power requirement calculated based on the target hydraulic power and the power generation requirement, so that the current engine power can meet the power generation requirement and the hydraulic system power requirement after responding to the hydraulic system operating command. The hydraulic displacement control valve current is then adjusted in accordance with the hydraulic system operating command. After the hydraulic displacement control valve current is adjusted, the hydraulic power begins to change. During the hydraulic power change, the target generator power is adjusted accordingly based on the hydraulic power change, so that the engine power equals the sum of the target generator power and the real-time hydraulic power, enabling the engine to provide the hydraulic power required by the hydraulic system in real time. This ensures that the engine power keeps up with the hydraulic power in real time by adjusting the engine power in advance, thus resolving the problem of delayed engine power response in the range extender when the hydraulic power changes, which prevents the engine power from keeping up with the hydraulic power in real time.

[0216] It should be noted that, for the working process of each module and sub-module in this embodiment, please refer to the corresponding description in the above embodiment, which will not be repeated here.

[0217] An embodiment of the present application further provides an electronic device, including at least one processor and a memory connected to the processor, wherein:

[0218] Memory is used to store computer programs;

[0219] The processor is used to execute the computer program so that the electronic device can implement the power control method.

[0220] refer to Figure 9 , which shows a schematic diagram of the structure of an electronic device suitable for implementing the embodiments of the present application. The electronic device in the embodiments of the present application may include, but is not limited to, fixed terminals such as mobile phones, laptops, PDAs (personal digital assistants), PADs (tablet computers), desktop computers, etc. Figure 9 The electronic device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0221] like Figure 9As shown, the electronic device may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 601, which can perform various appropriate actions and processes based on programs stored in a read-only memory (ROM) 602 or programs loaded from a storage device 608 into a random access memory (RAM) 603. When the electronic device is powered on, the RAM 603 also stores various programs and data required for the operation of the electronic device. The processing device 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0222] Typically, the following devices may be connected to the I / O interface 605: an input device 606 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 607 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 608 including, for example, a memory card, a hard disk, etc.; and a communication device 609. The communication device 609 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Figure 9 The electronic device is shown with various devices, but it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed instead.

[0223] An embodiment of the present application also provides a computer program product including computer-readable instructions. When the computer-readable instructions are executed on an electronic device, the electronic device implements any power control method provided in the embodiment of the present application.

[0224] A computer-readable storage medium is also provided in an embodiment of the present application. The storage medium carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement any power control method provided in the embodiment of the present application.

[0225] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A power control method, characterized in that: Applied to a range extender, the range extender comprising an engine, a target generator and a non-target generator, the power control method comprising: When a hydraulic system operation command is received, if it is determined that a power advance control strategy needs to be executed based on a comparison result of a predicted power change rate of the engine and a predicted power change rate of the hydraulic system, a target hydraulic power of the hydraulic system is obtained; the target hydraulic power is the hydraulic power after responding to the hydraulic system operation command; The power of the engine and the power of the target generator are both adjusted to the total engine power requirement; the total engine power requirement is calculated based on the target hydraulic power and the power generation requirement; the speed of the non-target generator is the set speed of the range extender; After the power of the engine and the power of the target generator are both the total power required by the engine, adjusting the current of the hydraulic displacement control valve according to the hydraulic system working instruction; wherein, after the current of the hydraulic displacement control valve is adjusted, the hydraulic power begins to change; According to the hydraulic power change data of the hydraulic system, the power of the target generator is adjusted in real time so that the power of the engine is equal to the sum of the power of the target generator and the real-time hydraulic power; wherein, during the real-time adjustment of the power of the target generator, the power of the engine remains unchanged.

2. The power control method according to claim 1, wherein: The need to execute a power advance control strategy is determined based on a comparison result of the predicted power change rate of the engine and the predicted power change rate of the hydraulic system, including: determining a target hydraulic power corresponding to a target hydraulic displacement control valve current in the hydraulic system work instruction according to a mapping relationship between a hydraulic displacement control valve current of the hydraulic pump and hydraulic power; Calculating a predicted power change rate of the hydraulic power based on the current hydraulic power and the target hydraulic power; determining, based on the engine torque step response curve, a predicted power change rate between the engine power corresponding to the current hydraulic power and the engine power corresponding to the target hydraulic power; In a case where the predicted rate of change of the hydraulic power is greater than the predicted rate of change of the engine power, it is determined that the power advance control strategy needs to be executed.

3. The power control method according to claim 1, wherein: Adjusting the power of the engine and the power of the target generator to the total power required by the engine includes: Calculate the required power generation according to the required power of the drive motor and the required charging and discharging power of the power battery; Calculating the total required engine power according to the target hydraulic power and the required power generation; calculating a first target torque of the engine according to the required total power of the engine and a set speed of the range extender, and controlling the engine to operate according to the first target torque so as to adjust the power of the engine to the required total power of the engine; A second target torque of the target generator is calculated according to the real-time power of the engine and the set speed of the range extender, and the target generator is controlled to operate according to the second target torque to adjust the power of the target generator to the total power required by the engine.

4. The power control method according to claim 1, wherein: Adjusting the power of the target generator in real time according to the hydraulic power change data of the hydraulic system includes: taking the difference between the real-time power of the engine and the real-time power of the hydraulic system as the new power of the target generator; According to the new power of the target generator, a power adjustment operation is performed on the target generator.

5. The power control method according to claim 4, wherein: Performing a power adjustment operation on the target generator according to the new power of the target generator includes: Calculating a new second target torque of the target generator according to the new power of the target generator; In the process of adjusting the torque of the target generator according to the new second target torque, calculating a deviation between the set speed of the range extender and the real-time speed of the range extender; When the deviation value is greater than a first threshold value, reducing the value of the new second target torque by a set step size; the first threshold value is a positive number; When the deviation value is smaller than a second threshold value, the value of the new second target torque is increased according to a set step size; the second threshold value is a negative number. The power control method according to claim 1, wherein: After determining that the power advance control strategy does not need to be executed, the method further includes: adjusting the hydraulic displacement control valve current according to the hydraulic system working instruction; calculating a first target torque of the engine according to the required total power of the engine and the set speed of the range extender, and controlling the engine to operate according to the first target torque; calculating a second target torque of the target generator according to the required power generation and the set speed of the range extender, and controlling the target generator to operate according to the second target torque; Based on the real-time speed of the range extender, a value of the second target torque of the target generator is adjusted.

7. The power control method according to claim 1, wherein: Also includes: When a power-off instruction is received, power control of the engine and power control of the target generator are stopped.

8. A power control device, characterized in that: Applicable to a range extender, the range extender comprising an engine, a target generator and a non-target generator, the power control device comprising: a power acquisition module configured to, upon receiving a hydraulic system operating instruction, acquire a target hydraulic power of the hydraulic system if it is determined based on a comparison result of a predicted power change rate of the engine and a predicted power change rate of the hydraulic system that a power advance control strategy needs to be executed; the target hydraulic power being the hydraulic power after responding to the hydraulic system operating instruction; a first power adjustment module, configured to adjust the power of the engine and the power of the target generator to a total engine power requirement; the total engine power requirement is calculated based on the target hydraulic power and the power generation requirement; and the speed of the non-target generator is a set speed of the range extender; a current control module, configured to adjust the hydraulic displacement control valve current according to the hydraulic system working instruction after the power of the engine and the power of the target generator both reach the total power required by the engine; wherein after the hydraulic displacement control valve current is adjusted, the hydraulic power begins to change; The second power adjustment module is used to adjust the power of the target generator in real time according to the hydraulic power change data of the hydraulic system so that the power of the engine is equal to the sum of the power of the target generator and the real-time hydraulic power; wherein, during the real-time adjustment of the power of the target generator, the power of the engine remains unchanged.

9. An electronic device, characterized in that: comprising at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs; The processor is configured to execute the computer program so as to enable the electronic device to implement the power control method according to any one of claims 1 to 7.

10. A computer storage medium, characterized in that The storage medium carries one or more computer programs, and when the one or more computer programs are executed by an electronic device, the electronic device can implement the power control method according to any one of claims 1 to 7.

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