Electrically-driven winch energy recovery control method, system, equipment and medium

Abstract

The invention discloses an electric drive winch energy recovery control method, system and device and a medium, and belongs to the technical field of battery management control technologies. The electric drive winch energy recovery control method comprises the steps that the maximum pulse recharging power and the current charge state of a power battery at the current moment are determined; if the winch lowering instruction is received, a winch motor is controlled to conduct lowering according to the speed corresponding to the winch lowering instruction; the current gravitational potential energy feedback power generated in the descending process of the winch motor is detected, the average value of the current gravitational potential energy feedback power in the preset period is calculated, and the average feedback power is obtained; and determining a recharging strategy according to the maximum pulse recharging power, the current charge state and the average feedback power, and adjusting the recharging power of the target device to the power battery according to the recharging strategy. According to the invention, the safety of the recharging process of the power battery of the extended-range electric engineering machinery can be improved.

Description

Technical Field

[0001] The present application relates to the field of battery management control technology, and in particular to an electric-driven winch energy recovery control method, system, device and medium. Background Art

[0002] With the widespread use of extended-range electric construction machinery, they are usually equipped with winch motors to achieve the functions of lifting and lowering heavy objects. In the process of lowering heavy objects by the winch motor, the gravitational potential energy of the heavy objects can be converted into electrical energy and fed back to the power battery for charging. However, due to the large differences in the weight of the lowered heavy objects under different working conditions, the feedback power fluctuates significantly. At the same time, as a chemical energy device, the power battery's allowable recharge power will vary greatly with changes in temperature and state of charge. If the feedback energy generated by the winch motor is directly used to recharge the power battery, it may cause battery overload or even damage, affecting its service life and safety.

[0003] Therefore, how to improve the safety of the power battery recharging process of extended-range electric engineering machinery is a technical problem that technicians in this field currently need to solve. Summary of the Invention

[0004] The purpose of this application is to provide an electric-driven winch energy recovery control method, system, equipment and medium, which can improve the safety of the power battery recharging process of extended-range electric engineering machinery.

[0005] To solve the above technical problems, the present application provides an electric-driven winch energy recovery control method, which is applied to a control device of an extended-range electric engineering machine. The extended-range electric engineering machine also includes a winch motor, a range extender, a charging device, and a power battery. The electric-driven winch energy recovery control method includes:

[0006] Determining the maximum pulse recharge power and current state of charge of the power battery at the current moment;

[0007] If a hoisting lowering instruction is received, the hoisting motor is controlled to lower the hoist at a speed corresponding to the hoisting lowering instruction;

[0008] Detecting the current gravitational potential energy feedback power generated by the hoisting motor during the lowering process, and calculating the average value of the current gravitational potential energy feedback power within a preset period to obtain the average feedback power;

[0009] A recharging strategy is determined based on the maximum pulse recharging power, the current state of charge, and the average recharged power, and the recharging power of the power battery by the target device is adjusted according to the recharging strategy; wherein the target device includes any one or a combination of any several of the hoisting motor, the range extender, and the charging device.

[0010] Optionally, determining a recharge strategy according to the maximum pulse recharge power, the current state of charge, and the average recharge power includes:

[0011] If the current state of charge does not meet the range extender start-up conditions, determining whether the sum of the average recharge power and the current charging recharge power of the charging device is less than or equal to a first critical value; wherein the first critical value is positively correlated with the maximum pulse recharge power;

[0012] If so, the first recharge strategy is generated;

[0013] Correspondingly, if the recharging strategy is the first recharging strategy, adjusting the recharging power of the power battery by the target device according to the recharging strategy includes:

[0014] turning off the range extender;

[0015] Controlling the hoisting motor to recharge the power battery with the current gravitational potential energy feedback power;

[0016] Control the charging device to recharge the power battery with the current charging recharge power.

[0017] Optionally, determining a recharge strategy according to the maximum pulse recharge power, the current state of charge, and the average recharge power includes:

[0018] If the current state of charge does not meet the range extender start-up conditions, determining whether the sum of the average regenerative power and the current charging regenerative power of the charging device is greater than a first critical value and less than or equal to a second critical value; wherein the first critical value and the second critical value are both positively correlated with the maximum pulse regenerative power, and the first critical value is less than the second critical value;

[0019] If so, a second recharge strategy is generated;

[0020] Correspondingly, if the recharging strategy is the second recharging strategy, adjusting the recharging power of the power battery by the target device according to the recharging strategy includes:

[0021] turning off the range extender;

[0022] Controlling the hoisting motor to recharge the power battery with the current gravitational potential energy feedback power;

[0023] Controlling the charging device to recharge the power battery at the current charging recharge power, and reducing the current charging recharge power of the charging device until a first stop condition is met; wherein the first stop condition is that the current charging recharge power of the charging device is equal to 0, and / or the sum of the average feedback power and the current charging recharge power of the charging device is less than or equal to the first critical value;

[0024] If the current charging feedback power of the charging device is equal to 0, determining whether the average feedback power is greater than the first critical value;

[0025] If so, the energy consumption device is used to consume the current gravitational potential energy feedback power generated by the hoisting motor, so that the hoisting motor can recharge the power battery with the remaining feedback power; wherein, the remaining feedback power is equal to the current gravitational potential energy feedback power minus the power consumed by the energy consumption device, and the remaining feedback power is less than or equal to the first critical value.

[0026] Optionally, reducing the current charging recharge power of the charging device includes:

[0027] linearly reducing the current recharge power of the charging device at a first preset rate; wherein the first preset rate is positively correlated with a first difference, the first difference being the difference between a reference power and the first threshold, the reference power being the sum of the average recharge power and the current recharge power of the charging device;

[0028] Accordingly, the energy consumption device is used to consume the current gravitational potential energy feedback power generated by the hoisting motor, including:

[0029] Start the energy consumption device and linearly increase the consumption of the current gravitational potential energy feedback power generated by the energy consumption device to the winch motor at a second preset rate so that the remaining feedback power is less than or equal to the first critical value; wherein the second preset rate is positively correlated with the second difference, and the second difference is the difference between the average feedback power and the first critical value.

[0030] Optionally, determining a recharge strategy according to the maximum pulse recharge power, the current state of charge, and the average recharge power includes:

[0031] If the current state of charge meets the range extender start-up conditions, determining whether the sum of the average recharge power, the current charging recharge power of the charging device, and the current extended range recharge power of the range extender is less than or equal to a first critical value; wherein the first critical value is positively correlated with the maximum pulse recharge power;

[0032] If so, generate the third recharge strategy;

[0033] Correspondingly, if the recharging strategy is the third recharging strategy, adjusting the recharging power of the power battery by the target device according to the recharging strategy includes:

[0034] Controlling the hoisting motor to recharge the power battery with the current gravitational potential energy feedback power;

[0035] Controlling the charging device to recharge the power battery at the current charging recharge power;

[0036] The range extender is controlled to recharge the power battery with the current extended range recharging power.

[0037] Optionally, determining a recharge strategy according to the maximum pulse recharge power, the current state of charge, and the average recharge power includes:

[0038] If the current state of charge meets the range extender start-up conditions, determining whether the sum of the average regenerative power, the current charging regenerative power of the charging device, and the current extended range regenerative power of the range extender is greater than a first critical value and less than or equal to a second critical value; wherein the first critical value and the second critical value are both positively correlated with the maximum pulse regenerative power, and the first critical value is less than the second critical value;

[0039] If so, the fourth recharge strategy is generated;

[0040] Correspondingly, if the recharging strategy is the fourth recharging strategy, adjusting the recharging power of the power battery by the target device according to the recharging strategy includes:

[0041] Controlling the hoisting motor to recharge the power battery with the current gravitational potential energy feedback power, and controlling the range extender to recharge the power battery with the current extended range recharging power;

[0042] controlling the charging device to recharge the power battery at the current charging recharge power, and reducing the current charging recharge power of the charging device until a second stop condition is met; wherein the second stop condition is that the current charging recharge power of the charging device is equal to 0, and / or the sum of the average feedback power, the current charging recharge power of the charging device, and the current extended-range recharge power of the range extender is less than or equal to the first critical value;

[0043] If the current charging recharge power of the charging device is equal to 0, determining whether the sum of the average recharge power and the current extended-range recharge power of the range extender is greater than the first critical value; if so, reducing the current extended-range recharge power of the range extender until a third stop condition is met; wherein the third stop condition is that the current extended-range recharge power of the range extender is equal to 0, and / or the sum of the average recharge power and the current extended-range recharge power of the range extender is less than or equal to the first critical value;

[0044] If the current extended-range recharge power of the range extender is equal to 0, determine whether the average feedback power is greater than the first critical value; if so, use the energy consumption device to consume the current gravitational potential energy feedback power generated by the hoisting motor, so that the hoisting motor recharges the power battery with the remaining feedback power; wherein, the remaining feedback power is equal to the current gravitational potential energy feedback power minus the power consumed by the energy consumption device, and the remaining feedback power is less than or equal to the first critical value.

[0045] Optionally, also include:

[0046] Determining the maximum continuous recharge power of the power battery;

[0047] If the winch lowering command is not received, determining whether the current state of charge meets the range extender start-up conditions;

[0048] If not, controlling the charging device to recharge the power battery under a first constraint condition; wherein the first constraint condition is: the current charging recharge power of the charging device is less than or equal to the maximum continuous recharge power;

[0049] If so, the charging device and the range extender are controlled to recharge the power battery under a second constraint condition; the second constraint condition is: the sum of the current charging recharge power of the charging device and the current extended-range recharge power of the range extender is less than or equal to the maximum continuous recharge power.

[0050] The present application also provides an electric-driven winch energy recovery control system, which is applied to a control device of an extended-range electric engineering machine. The extended-range electric engineering machine further includes a winch motor, a range extender, a charging device, and a power battery. The electric-driven winch energy recovery control system includes:

[0051] A battery status determination module, configured to determine the maximum pulse recharge power and current state of charge of the power battery at the current moment;

[0052] A hoisting control module is configured to control the hoisting motor to lower the hoist at a speed corresponding to the hoisting lowering instruction upon receiving the hoisting lowering instruction;

[0053] A feedback power detection module is used to detect the current gravitational potential energy feedback power generated by the hoisting motor during the lowering process, and calculate the average value of the current gravitational potential energy feedback power within a preset period to obtain the average feedback power;

[0054] a recharging power control module, configured to determine a recharging strategy based on the maximum pulse recharging power, the current state of charge, and the average recharge power, and to adjust the recharging power of the target device to the power battery according to the recharging strategy; wherein the target device includes any one or a combination of any several of the hoisting motor, the range extender, and the charging device.

[0055] The present application also provides a storage medium on which a computer program is stored. When the computer program is executed, the steps of the above-mentioned electric drive winch energy recovery control method are implemented.

[0056] The present application also provides an electronic device including a memory and a processor, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, the steps of the above-mentioned electric drive winch energy recovery control method are implemented.

[0057] The present application provides an electric-driven winch energy recovery control method. After receiving a winch lowering instruction, the present solution controls the winch motor to lower at a speed corresponding to the winch lowering instruction, so that the winch motor generates gravitational potential energy feedback power that can be fed back to the power battery during the load lowering process. The present application calculates the average value of the current gravitational potential energy feedback power within a preset period to obtain the average feedback power, and determines the recharge strategy according to the maximum pulse recharge power, the current state of charge and the average feedback power, so as to recharge the battery using any one or a combination of any several of the winch motor, range extender and charging device according to the recharge strategy. The present application avoids safety hazards caused by overload, overcharge or transient shock through the coordinated control of the winch motor, range extender and charging device, thereby significantly improving the safety of the winch motor's recharging process for the power battery. The present solution can improve the safety of the power battery recharging process of extended-range electric engineering machinery. The present application also provides an electric-driven winch energy recovery control system, a storage medium and an electronic device, which have the above-mentioned beneficial effects and are not repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0059] Figure 1 A flow chart of an electric winch energy recovery control method provided in an embodiment of the present application;

[0060] Figure 2 A block diagram of an electric winch energy recovery control system provided in an embodiment of the present application;

[0061] Figure 3 This is a structural schematic diagram of an electric drive winch energy recovery control system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0062] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are 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.

[0063] See below Figure 1 , Figure 1 This is a flow chart of an electric winch energy recovery control method provided in an embodiment of the present application.

[0064] Specific steps may include:

[0065] S101: Determine the maximum pulse recharge power and current state of charge of the power battery at the current moment.

[0066] This embodiment can be applied to a control device for extended-range electric construction machinery, such as rotary drilling rigs, excavators, cranes, and other construction machinery. In addition to the control device, the extended-range electric construction machinery also includes a hoist motor, a range extender, a charging device, and a power battery. The hoist motor is an electric-driven hoist motor, and the electric-driven hoist is an electrically powered hoisting device. The electric-driven hoist energy recovery control method is an energy recovery control method based on the electric-driven hoist.

[0067] In this embodiment, the battery management system (BMS) can determine the maximum pulse recharge power and current state of charge (SOC) of the power battery at the current moment. The maximum pulse recharge power refers to the maximum charging power that the power battery can accept in a short period of time. The SOC indicates the ratio of the battery's current stored power to its rated capacity, typically expressed as a percentage.

[0068] As a feasible implementation method, this embodiment can obtain the cell temperature and cell capacity of the power battery, and then use the performance data model in the BMS to generate the maximum pulse recharge power and the current state of charge.

[0069] S102: If a hoisting lowering instruction is received, the hoisting motor is controlled to lower the hoist at a speed corresponding to the hoisting lowering instruction.

[0070] If a winch lowering instruction is received, this step can parse the winch lowering instruction to obtain a lowering speed, so as to control the winch motor to lower the load at a speed corresponding to the winch lowering instruction.

[0071] The reduced load drives the winch motor to rotate, which then acts as a generator, converting mechanical energy into electrical energy. The resulting current, after rectification and regulation, can be fed back to the battery as gravitational potential energy feedback power. This gravitational potential energy feedback power is also known as regenerative braking feedback power or feedback electrical energy.

[0072] S103: detecting the current gravitational potential energy feedback power generated by the hoisting motor during the lowering process, and calculating the average value of the current gravitational potential energy feedback power within a preset period to obtain an average feedback power;

[0073] This embodiment utilizes sensors (such as current and voltage sensors) mounted on the winch motor to monitor the motor's output electrical parameters in real time. Based on these output electrical parameters, the instantaneous feedback power, i.e., the current gravitational potential energy feedback power, can be calculated. To achieve a more stable feedback power value, this embodiment samples the current gravitational potential energy feedback power over a preset period and calculates its average value, i.e., the average feedback power.

[0074] S104: determining a recharging strategy according to the maximum pulse recharging power, the current state of charge, and the average recharged power, and adjusting the recharging power of the target device to the power battery according to the recharging strategy;

[0075] Among them, this step can determine the recharging strategy based on the currently determined maximum pulse recharging power, the current state of charge and the average feedback power to ensure battery safety and maximize energy recovery efficiency. The recovery strategy is used to describe the target device that can recharge the power battery and the recharging power of the device. The above-mentioned target device includes any one or a combination of any several of the hoisting motor, the range extender and the charging device. The above process enables the power battery to recover the gravitational potential energy feedback power, that is, to realize the electric drive hoist energy recovery; the above process also enables the power battery to receive the energy output by the range extender and the charging device.

[0076] After receiving the hoisting and lowering instruction, this embodiment controls the hoisting motor to lower at a speed corresponding to the hoisting and lowering instruction, so that the hoisting motor generates gravitational potential energy feedback power that can be fed back to the power battery during the load lowering process. This embodiment calculates the average value of the current gravitational potential energy feedback power within a preset period to obtain the average feedback power, and determines the recharging strategy according to the maximum pulse recharging power, the current state of charge and the average feedback power, so as to use any one or a combination of several of the hoisting motor, range extender and charging device to recharge the battery according to the recharging strategy. This embodiment avoids safety hazards caused by overload, overcharging or transient impact through the coordinated control of the hoisting motor, range extender and charging device, thereby significantly improving the safety of the hoisting motor's recharging process for the power battery. This embodiment can improve the safety of the power battery recharging process of extended-range electric engineering machinery.

[0077] As for Figure 1 Further introduction to the corresponding embodiment, after obtaining the current state of charge, it can be determined whether the current state of charge is greater than the state of charge setting value for starting the range extender. If so, it is determined that the current state of charge does not meet the range extender starting conditions; otherwise, it is determined that the current state of charge meets the range extender starting conditions.

[0078] If the current state of charge does not meet the range extender start-up conditions, the range extender does not need to be started. In this case, the process of determining the recharging strategy based on the maximum pulse recharging power, the current state of charge, and the average recharge power includes the following steps:

[0079] Determine whether the sum of the average recharge power and the current recharge power of the charging device is less than or equal to a first critical value; wherein the first critical value is positively correlated with the maximum pulse recharge power. If the sum of the average recharge power and the current recharge power of the charging device is less than or equal to the first critical value, generate a first recharge strategy.

[0080] Determine whether the sum of the average feedback power and the current charging recharge power of the charging device is greater than a first critical value and less than or equal to a second critical value; wherein, the first critical value and the second critical value are both positively correlated with the maximum pulse recharge power, and the first critical value is less than the second critical value; if the sum of the average feedback power and the current charging recharge power of the charging device is greater than the first critical value and less than or equal to the second critical value, then generate a second recharge strategy.

[0081] In addition, if the sum of the average feedback power and the current charging recharge power of the charging device is greater than a second critical value, it means that the power is too large, the recharge operation is stopped and an alarm message is generated.

[0082] If the recharging strategy is the first recharging strategy, the process of adjusting the recharging power of the power battery by the target device according to the recharging strategy includes: turning off the range extender; controlling the winch motor to recharge the power battery with the current gravitational potential energy feedback power; and controlling the charging device to recharge the power battery with the current charging recharging power.

[0083] If the recharging strategy is the second recharging strategy, then the process of adjusting the recharging power of the target device to the power battery according to the recharging strategy includes: shutting down the range extender; controlling the hoisting motor to recharge the power battery with the current gravitational potential energy feedback power; controlling the charging device to recharge the power battery with the current charging recharge power, and reducing the current charging recharge power of the charging device until a first stop condition is met; wherein, the first stop condition is that the current charging recharge power of the charging device is equal to 0, and / or the sum of the average recharge power and the current charging recharge power of the charging device is less than or equal to the first critical value; if the current charging recharge power of the charging device is equal to 0, determining whether the average recharge power is greater than the first critical value; if so, using an energy consumption device to consume the current gravitational potential energy feedback power generated by the hoisting motor so that the hoisting motor recharges the power battery with the remaining recharge power; wherein, the remaining recharge power is equal to the current gravitational potential energy feedback power minus the power consumed by the energy consumption device, and the remaining recharge power is less than or equal to the first critical value.

[0084] In the second recharge strategy, the charging device first recharges the power battery at its current recharge power and gradually reduces the current recharge power of the charging device to prevent overcharging of the power battery. After the current recharge power is reduced to 0, if the average recharge power is still greater than the first critical value, an energy consumption device is used to consume a portion of the current gravitational potential energy recharge power generated by the hoisting motor to reduce the power used by the hoisting motor to charge the power battery. The energy consumption device is directly connected to the hoisting motor and is directly powered by the hoisting motor. The energy consumption device can be a heating resistor, a hydraulic oil pump overflow device, a hydraulic circuit overflow device, an electronic fan, etc.

[0085] Furthermore, this embodiment can reduce the current charging recharge power of the charging device by linearly reducing the current charging recharge power of the charging device at a first preset rate; wherein the first preset rate is positively correlated with a first difference, the first difference being the difference between a reference power and the first critical value, and the reference power being the sum of the average feedback power and the current charging recharge power of the charging device;

[0086] Correspondingly, the process of using the energy consumption device to consume the current gravitational potential energy feedback power generated by the winch motor in the above scheme includes: starting the energy consumption device, and linearly increasing the consumption of the current gravitational potential energy feedback power generated by the winch motor by the energy consumption device at a second preset rate, so that the remaining feedback power is less than or equal to the first critical value; wherein, the second preset rate is positively correlated with the second difference, and the second difference is the difference between the average feedback power and the first critical value.

[0087] As for Figure 1 Further introduction to the corresponding embodiment: if the current state of charge meets the range extender start-up conditions, the range extender needs to be started. At this time, the process of determining the recharging strategy based on the maximum pulse recharging power, the current state of charge, and the average recharge power includes:

[0088] Determine whether the sum of the average recharge power, the current charging recharge power of the charging device, and the current extended-range recharge power of the range extender is less than or equal to a first critical value; wherein the first critical value is positively correlated with the maximum pulse recharge power; if the sum of the average recharge power, the current charging recharge power of the charging device, and the current extended-range recharge power of the range extender is less than or equal to the first critical value, generate a third recharge strategy. The current charging recharge power of the charging device is the current charging power recharged by the charging device to the power battery, and the current extended-range recharge power of the range extender is the current charging power recharged by the range extender to the power battery.

[0089] Determine whether the sum of the average feedback power, the current charging feedback power of the charging device and the current extended-range feedback power of the range extender is greater than a first critical value and less than or equal to a second critical value; wherein, the first critical value and the second critical value are both positively correlated with the maximum pulse feedback power, and the first critical value is less than the second critical value; if the sum of the average feedback power, the current charging feedback power of the charging device and the current extended-range feedback power of the range extender is greater than the first critical value and less than or equal to the second critical value, generate a fourth recharging strategy.

[0090] In addition, if the sum of the average feedback power and the current charging recharge power of the charging device is greater than a second critical value, it means that the power is too large, the recharge operation is stopped and an alarm message is generated.

[0091] If the recharging strategy is the third recharging strategy, the process of adjusting the recharging power of the power battery by the target device according to the recharging strategy includes: controlling the winch motor to recharge the power battery with the current gravitational potential energy feedback power; controlling the charging device to recharge the power battery with the current charging recharging power; and controlling the range extender to recharge the power battery with the current extended-range recharging power.

[0092] If the recharging strategy is the fourth recharging strategy, the process of adjusting the recharging power of the power battery by the target device according to the recharging strategy includes: controlling the hoisting motor to recharge the power battery with the current gravitational potential energy feedback power, and controlling the range extender to recharge the power battery with the current extended-range recharging power; controlling the charging device to recharge the power battery with the current charging recharging power, and reducing the current charging recharging power of the charging device until the second stop condition is met; wherein, the second stop condition is that the current charging recharging power of the charging device is equal to 0, and / or, the sum of the average feedback power, the current charging recharging power of the charging device and the current extended-range recharging power of the range extender is less than or equal to the first critical value; if the current charging recharging power of the charging device is equal to 0, then it is judged that the average feedback power is equal to the current charging recharging power of the range extender. whether the sum of the current extended-range recharging power of the range extender and the current extended-range recharging power of the range extender is greater than the first critical value; if so, reducing the current extended-range recharging power of the range extender until a third stop condition is met; wherein, the third stop condition is that the current extended-range recharging power of the range extender is equal to 0, and / or the sum of the average feedback power and the current extended-range recharging power of the range extender is less than or equal to the first critical value; if the current extended-range recharging power of the range extender is equal to 0, determining whether the average feedback power is greater than the first critical value; if so, utilizing the energy consumption device to consume the current gravitational potential energy feedback power generated by the hoisting motor, so that the hoisting motor recharges the power battery with the remaining feedback power; wherein, the remaining feedback power is equal to the current gravitational potential energy feedback power minus the power consumed by the energy consumption device, and the remaining feedback power is less than or equal to the first critical value.

[0093] In the fourth recharging strategy, the charging device first recharges the power battery at its current charging recharge power and then gradually reduces the current charging recharge power of the charging device to prevent overcharging of the power battery. After the current charging recharge power is reduced to 0, if the sum of the average recharge power and the current extended-range recharge power of the range extender is still greater than the first threshold, the current extended-range recharge power of the range extender is gradually reduced (the current extended-range recharge power may remain unchanged before this) to prevent overcharging of the power battery. After both the current charging recharge power and the current extended-range recharge power are reduced to 0, if the average recharge power is still greater than the first threshold, an energy consumption device is used to consume a portion of the current gravitational potential energy recharge power generated by the hoisting motor, thereby reducing the power used by the hoisting motor to charge the power battery.

[0094] As for Figure 1As a further introduction to the corresponding embodiment, this embodiment can also determine the maximum continuous recharging power of the power battery; this embodiment can obtain the cell temperature and cell capacity of the power battery, and then use the performance data model in the BMS to generate the maximum continuous recharging power.

[0095] If the winch lowering instruction is not received, this embodiment can determine whether the current state of charge meets the range extender start-up conditions; if not, the charging device is controlled to recharge the power battery under a first constraint condition; wherein, the first constraint condition is: the current charging recharge power of the charging device is less than or equal to the maximum continuous recharge power; if so, the charging device and the range extender are controlled to recharge the power battery under a second constraint condition; the second constraint condition is: the sum of the current charging recharge power of the charging device and the current extended-range recharge power of the range extender is less than or equal to the maximum continuous recharge power.

[0096] The process described in the above embodiment is explained below through examples in actual application.

[0097] Traditional hydraulic motors drive the wire rope on the drum to lower heavy objects, which requires energy consumption in order to achieve controllable lowering speed. The heavier the weight, the more energy the hydraulic motor consumes. When new energy pure electric or extended-range electric engineering machinery products use a system in which a motor directly drives the hoisting drum, no energy needs to be consumed in the process of driving the wire rope on the drum to lower heavy objects. At the same time, the gravitational potential energy of the lowered weight can be converted into electrical energy to feed back to the high-voltage bus system. The greater the gravitational potential energy, the greater the feedback energy. The system in which the motor directly drives the hoisting drum realizes energy regeneration.

[0098] The power batteries in new energy electric systems are chemical energy sources. Under different temperature and capacity conditions, the continuous or pulse charging power allowed by the battery cells varies greatly. When the weight of the objects lowered by the wire rope on the motor-driven winch drum is different, the electrical energy converted and fed back by the gravitational potential energy varies greatly. In electric or extended-range electric systems, the sources of electric energy include extended-range power generation, power batteries, grid plug-in and gravitational potential energy feedback. When the winch is lowering different weights and the power battery is at different temperatures and capacities, and multiple electric energies are replenishing the power battery at the same time, in order to meet the normal control of the winch lowering speed and the maximum feedback of gravitational potential energy, dynamic adjustment is required based on the recharge power allowed by the power battery. Traditional control methods do not linearly correlate the energy feedback power, grid plug-in power and extended-range power generation power with the change in the recharge power allowed by the power battery, and often use a fixed power energy consumption braking consumption method, resulting in excessive or insufficient consumption, and are prone to recharge power exceeding the limit, inconsistent control of the winch lowering speed with the command speed, and even stalling. These can cause overcharging and damage to the power battery, and the control command speed cannot keep up with the response, affecting construction efficiency. In addition, the stall phenomenon poses a major safety hazard.

[0099] In view of the fact that traditional control methods do not linearly correlate the energy feedback power, grid plug-in power and extended-range power generation power with the change in the allowable recharging power of the power battery, it is easy for the recharging power to exceed the limit, the energy feedback cannot be effectively utilized, the control winch lowering speed does not correspond to the command speed, and even stalling occurs. This embodiment proposes a winch energy recovery control method to monitor and judge the correlation changes between the feedback power, grid plug-in power and extended-range power generation power and the allowable recharging power of the power battery in real time. Under the premise of maximizing the feedback of the gravitational potential energy of the heavy object lowered by the winch, the extended-range power generation and grid plug-in power are automatically adjusted to achieve on-demand response to the winch control speed command within the continuous and pulse recharging power limits of the power battery.

[0100] This embodiment provides an electric winch energy recovery control method, wherein the extended-range electric engineering machinery includes an electric winch system, a power battery system, an energy consumption circuit, a range extender, a charging device, a signal instruction, and a control device.

[0101] The electric winch system includes a winch motor and a motor controller. The motor controller receives instructions from the host controller VCU to enable the motor to drive the wire rope onto the drum and place heavy objects.

[0102] The power battery system includes power batteries and battery management system BMS.

[0103] The energy consumption circuit includes an energy consumption device and a control module. The control module receives VCU instructions and realizes linear consumption of electric energy on the energy consumption device.

[0104] When the range extender receives the VCU command, it realizes the extended range power output.

[0105] The charging device is connected to an external power supply and outputs charging power according to the VCU instructions.

[0106] The signal command and control device consists of an operating handle and a host controller VCU. The controller receives control commands from the operating handle, collects charging power of the range extender and charging device, and BMS operation and command data, and calculates and sends corresponding control commands according to the control logic requirements.

[0107] See Figure 2 , Figure 2 This is a block diagram of an electric winch energy recovery control system provided in an embodiment of the present application. The figure shows a host controller (i.e., a control device), an energy consumption device, an operating handle, a control module, a power distribution unit, a motor controller, a winch motor, a range extender, a charging device, an external power supply, a BMS, a power battery and a display. The dotted line represents the CAN (Controller Area Network) bus, and the solid line represents the power connection.

[0108] This embodiment proposes a winch energy recovery control method, with the recharge power allowed by the power battery as the control target. The parameters in this embodiment are described as follows:

[0109] P1 represents the continuous recharge power value (i.e., the maximum continuous recharge power), P2 represents the pulse recharge power value (i.e., the maximum pulse recharge power), SOC represents the current state of charge, SOC1 represents the state of charge setting value for starting the range extender, P3 represents the current charging recharge power, P4 represents the current range extender recharge power, P5 represents the current gravitational potential energy feedback power, and P6 represents the average recharge power. represents the first critical value, represents the second critical value, represents the first preset rate, represents the second preset rate, L1 and L2 represent safety factors.

[0110] The winch energy recovery control method includes the following processes:

[0111] The BMS collects the temperature and capacity of each power battery cell in real time, and uses the performance data model within the BMS to derive the allowable continuous recharge power value P1, pulse recharge power value P2 and power battery capacity SOC value of the power battery system, and sends them to the host controller VCU via the CAN bus.

[0112] After the system is running, if there is no abnormal alarm, it is determined whether there is a downward instruction on the operating handle.

[0113] When the operating handle has no lowering command, if the SOC value When the capacity setting value SOC1 of the range extender is started, the VCU sends a grid charging instruction through the CAN bus, with the grid plug-in power P3 The continuous recharge power P1 is used to recharge the power battery and supply power to the load; if the SOC value When the range extender is started with the capacity setting value SOC1, the host controller VCU sends the range extender start command and the grid charging command to set the grid plug-in power P3 as the main power supply, and the range extender power generation power P4 as a supplement, according to the range extender power generation power P4 + grid plug-in power P3 The continuous recharge power P1 is used to recharge the power battery and supply power to the load.

[0114] When the operating handle has a lowering instruction, the VCU receives the operating handle instruction and determines the preset winch motor lowering target speed according to the operating handle opening. After the motor controller receives the motor speed instruction sent by the VCU, it drives the winch motor to lower at the target speed.

[0115] If the SOC value When the capacity setting value SOC1 of the range extender is started, the VCU detects the change of the gravity potential energy feedback power P5 in real time during the hoisting and lowering process, and calculates the average power value P6 of the recent fixed period P5 change in real time. When P3+P5 is used to recharge the power battery, ,and , VCU The charging power of P3 is reduced linearly by multiples of x1~x2, and P3+P6 exceeds The more, the smaller the P3 charging power; after P3 drops to zero power output and meets When the control module ED receives the power consumption of CAN sent by VCU The x1~x2 times value energy consumption data instruction controls the energy consumption device to consume electric energy with the instruction power, so as to always maintain The above x1 is smaller than x2, for example, x1 can be 1.2, and x2 can be 3.

[0116] SOC value When the range extender is started and the capacity setting value SOC1 is set, the host controller VCU sends the range extender start command and the grid charging command, setting P3 available power as the main body, and P4+P3 P1 recharges and supplies power to the load, i.e., the range-extending power and grid plug-in power are used to recharge the power battery and supply power to the load according to the control requirements and power of the operating handle without the winch lowering command. The VCU detects the change in the gravity potential energy feedback power P5 during the winch lowering process, and calculates the average power value P6 of the recent fixed period P5 change in real time. When P3+P4+P5 is used to recharge the power battery, ,and In the interval, VCU The x1~x2 value of P3 charging power is linearly reduced, and P3+P4+P6 exceeds The more, the smaller the P3 charging power; P3 drops to zero power output and meets When the range extender receives the power reduction data instruction sent by VCU, the range extender generates power at The x1~x2 value of P4 is linearly reduced; P3+P4 is reduced to zero power output, and meets the When the control module ED receives the CAN power consumption data instruction sent by VCU, it controls the energy consumption device to x1~x2 times the value of power consumption, to achieve always maintain In the above process, you can also reduce P4 first, and then reduce P3 after P4 equals 0.

[0117] To prevent damage to the power battery when the actual pulse recharge power exceeds the maximum allowable pulse recharge power, a P2 safety factor L1 and a warning factor L2 are set, with L1 greater than L2. The power consumption of the energy consumption device is designed to be 1.2 times the maximum power that can be regenerated by the winch's gravitational potential energy.

[0118] This embodiment can achieve an on-demand response state for winch control speed commands within the power battery's continuous and pulse recharge power limits, avoiding safety hazards such as stalling. This embodiment can maximize the feedback and regeneration of the gravitational potential energy of the electric winch lowering heavy objects, reducing energy waste. This embodiment can achieve linear recharge within the power battery's continuous and pulse recharge power limits, avoiding instantaneous overheating caused by overcharging or large fluctuations in recharge power, which can damage the power battery and shorten its service life.

[0119] See Figure 3 , Figure 3 This is a schematic diagram of the structure of an electric winch energy recovery control system provided in an embodiment of the present application. The system can be applied to the control device of an extended-range electric engineering machine. The extended-range electric engineering machine also includes a winch motor, a range extender, a charging device, and a power battery. The electric winch energy recovery control system includes:

[0120] A battery state determination module 301 is configured to determine the maximum pulse recharge power and current state of charge of the power battery at the current moment;

[0121] The hoisting control module 302 is configured to control the hoisting motor to lower the hoist at a speed corresponding to the hoisting lowering instruction upon receiving the hoisting lowering instruction;

[0122] The feedback power detection module 303 is used to detect the current gravitational potential energy feedback power generated by the hoisting motor during the lowering process, and calculate the average value of the current gravitational potential energy feedback power within a preset period to obtain the average feedback power;

[0123] The recharging power control module 304 is used to determine a recharging strategy based on the maximum pulse recharging power, the current state of charge and the average recharge power, and adjust the recharging power of the target device to the power battery according to the recharging strategy; wherein the target device includes any one or a combination of any several of the winch motor, the range extender and the charging device.

[0124] After receiving the hoisting and lowering instruction, this embodiment controls the hoisting motor to lower at a speed corresponding to the hoisting and lowering instruction, so that the hoisting motor generates gravitational potential energy feedback power that can be fed back to the power battery during the load lowering process. This embodiment calculates the average value of the current gravitational potential energy feedback power within a preset period to obtain the average feedback power, and determines the recharging strategy according to the maximum pulse recharging power, the current state of charge and the average feedback power, so as to use any one or a combination of several of the hoisting motor, range extender and charging device to recharge the battery according to the recharging strategy. This embodiment avoids safety hazards caused by overload, overcharging or transient impact through the coordinated control of the hoisting motor, range extender and charging device, thereby significantly improving the safety of the hoisting motor's recharging process for the power battery. This embodiment can improve the safety of the power battery recharging process of extended-range electric engineering machinery.

[0125] Furthermore, the recharge power control module 304 determines a recharge strategy based on the maximum pulse recharge power, the current state of charge, and the average recharge power, including: if the current state of charge does not meet the range extender start-up conditions, determining whether the sum of the average recharge power and the current charging recharge power of the charging device is less than or equal to a first critical value; wherein the first critical value is positively correlated with the maximum pulse recharge power; if so, generating a first recharge strategy;

[0126] Correspondingly, if the recharging strategy is the first recharging strategy, the process of the recharging power control module 304 adjusting the recharging power of the target device to the power battery according to the recharging strategy includes: turning off the range extender; controlling the winch motor to recharge the power battery with the current gravitational potential energy feedback power; and controlling the charging device to recharge the power battery with the current charging recharging power.

[0127] Furthermore, the recharge power control module 304 determines the recharge strategy based on the maximum pulse recharge power, the current state of charge, and the average recharge power, including: if the current state of charge does not meet the range extender start-up conditions, determining whether the sum of the average recharge power and the current charging recharge power of the charging device is greater than a first critical value and less than or equal to a second critical value; wherein the first critical value and the second critical value are both positively correlated with the maximum pulse recharge power, and the first critical value is less than the second critical value; if so, generating a second recharge strategy;

[0128] Correspondingly, if the recharging strategy is the second recharging strategy, the process of the recharging power control module 304 adjusting the recharging power of the target device to the power battery according to the recharging strategy includes: shutting down the range extender; controlling the hoisting motor to recharge the power battery with the current gravitational potential energy feedback power; controlling the charging device to recharge the power battery with the current charging recharge power, and reducing the current charging recharge power of the charging device until a first stop condition is met; wherein, the first stop condition is that the current charging recharge power of the charging device is equal to 0, and / or the sum of the average recharge power and the current charging recharge power of the charging device is less than or equal to the first critical value; if the current charging recharge power of the charging device is equal to 0, determining whether the average recharge power is greater than the first critical value; if so, using the energy consumption device to consume the current gravitational potential energy feedback power generated by the hoisting motor so that the hoisting motor recharges the power battery with the remaining recharge power; wherein, the remaining recharge power is equal to the current gravitational potential energy feedback power minus the power consumed by the energy consumption device, and the remaining recharge power is less than or equal to the first critical value.

[0129] Furthermore, the process of reducing the current charging recharge power of the charging device by the recharge power control module 304 includes: linearly reducing the current charging recharge power of the charging device at a first preset rate; wherein the first preset rate is positively correlated with a first difference, the first difference being the difference between a reference power and the first critical value, and the reference power being the sum of the average recharge power and the current charging recharge power of the charging device;

[0130] Correspondingly, the process of the recharge power control module 304 using the energy consumption device to consume the current gravitational potential energy feedback power generated by the winch motor includes: starting the energy consumption device, and linearly increasing the consumption of the current gravitational potential energy feedback power generated by the winch motor by the energy consumption device at a second preset rate, so that the remaining feedback power is less than or equal to the first critical value; wherein, the second preset rate is positively correlated with the second difference, and the second difference is the difference between the average feedback power and the first critical value.

[0131] Furthermore, the recharge power control module 304 determines the recharge strategy based on the maximum pulse recharge power, the current state of charge, and the average recharge power, including: if the current state of charge meets the range extender start-up condition, determining whether the sum of the average recharge power, the current charging recharge power of the charging device, and the current extended-range recharge power of the range extender is less than or equal to a first critical value; wherein the first critical value is positively correlated with the maximum pulse recharge power; if so, generating a third recharge strategy;

[0132] Correspondingly, if the recharging strategy is the third recharging strategy, the process of the recharging power control module 304 adjusting the recharging power of the target device to the power battery according to the recharging strategy includes: controlling the winch motor to recharge the power battery with the current gravitational potential energy feedback power; controlling the charging device to recharge the power battery with the current charging recharging power; and controlling the range extender to recharge the power battery with the current extended-range recharging power.

[0133] Furthermore, the process of the recharge power control module 304 determining the recharge strategy based on the maximum pulse recharge power, the current state of charge, and the average recharge power includes: if the current state of charge meets the range extender start-up condition, determining whether the sum of the average recharge power, the current charging recharge power of the charging device, and the current extended-range recharge power of the range extender is greater than a first critical value and less than or equal to a second critical value; wherein the first critical value and the second critical value are both positively correlated with the maximum pulse recharge power, and the first critical value is less than the second critical value; if so, generating a fourth recharge strategy;

[0134] Correspondingly, if the recharging strategy is the fourth recharging strategy, the process of the recharging power control module 304 adjusting the recharging power of the target device to the power battery according to the recharging strategy includes: controlling the hoisting motor to recharge the power battery with the current gravitational potential energy feedback power, and controlling the range extender to recharge the power battery with the current extended-range recharging power; controlling the charging device to recharge the power battery with the current charging recharging power, and reducing the current charging recharging power of the charging device until the second stop condition is met; wherein, the second stop condition is that the current charging recharging power of the charging device is equal to 0, and / or, the sum of the average feedback power, the current charging recharging power of the charging device and the current extended-range recharging power of the range extender is less than or equal to the first critical value; if the current charging recharging power of the charging device is equal to 0, then it is judged that the average recharging power whether the sum of the average feedback power and the current extended-range recharging power of the range extender is greater than the first critical value; if so, reducing the current extended-range recharging power of the range extender until a third stop condition is met; wherein, the third stop condition is that the current extended-range recharging power of the range extender is equal to 0, and / or the sum of the average feedback power and the current extended-range recharging power of the range extender is less than or equal to the first critical value; if the current extended-range recharging power of the range extender is equal to 0, determining whether the average feedback power is greater than the first critical value; if so, utilizing an energy consumption device to consume the current gravitational potential energy feedback power generated by the hoisting motor, so that the hoisting motor recharges the power battery with the remaining feedback power; wherein, the remaining feedback power is equal to the current gravitational potential energy feedback power minus the power consumed by the energy consumption device, and the remaining feedback power is less than or equal to the first critical value.

[0135] Furthermore, the battery status determination module 301 is further configured to determine the maximum continuous recharging power of the power battery;

[0136] The operations performed by the recharging power control module 304 also include: if the winch lowering instruction is not received, determining whether the current charge state meets the range extender start-up conditions; if not, controlling the charging device to recharge the power battery under a first constraint condition; wherein, the first constraint condition is: the current charging recharging power of the charging device is less than or equal to the maximum continuous recharging power; if so, controlling the charging device and the range extender to recharge the power battery under a second constraint condition; the second constraint condition is: the sum of the current charging recharging power of the charging device and the current extended-range recharging power of the range extender is less than or equal to the maximum continuous recharging power.

[0137] Since the embodiments of the system part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the system part, and will not be repeated here.

[0138] This application also provides a storage medium having a computer program stored thereon. When executed, the computer program can implement the steps provided in the above embodiments. The storage medium may include: a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, an optical disk, or other medium capable of storing program code.

[0139] The present application also provides an electronic device that may include a memory and a processor, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, the steps provided in the above embodiment can be implemented. Of course, the electronic device may also include various network interfaces, a power supply, and other components.

[0140] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to this application, and these improvements and modifications also fall within the scope of protection of this application.

[0141] It should also be noted that, in this specification, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

Claims

1. A method for controlling energy recovery of an electric winch, characterized in that: A control device for an extended-range electric engineering machine, wherein the extended-range electric engineering machine further comprises a hoisting motor, a range extender, a charging device, and a power battery. The electric-driven hoisting energy recovery control method comprises: Determining the maximum pulse recharge power and current state of charge of the power battery at the current moment; If a hoisting lowering instruction is received, the hoisting motor is controlled to lower the hoist at a speed corresponding to the hoisting lowering instruction; Detecting the current gravitational potential energy feedback power generated by the hoisting motor during the lowering process, and calculating the average value of the current gravitational potential energy feedback power within a preset period to obtain the average feedback power; A recharging strategy is determined based on the maximum pulse recharging power, the current state of charge, and the average recharged power, and the recharging power of the power battery by the target device is adjusted according to the recharging strategy; wherein the target device includes any one or a combination of any several of the hoisting motor, the range extender, and the charging device.

2. The electric drive winch energy recovery control method according to claim 1, characterized in that: Determining a recharge strategy according to the maximum pulse recharge power, the current state of charge, and the average recharge power includes: If the current state of charge does not meet the range extender start-up conditions, determining whether the sum of the average recharge power and the current charging recharge power of the charging device is less than or equal to a first critical value; wherein the first critical value is positively correlated with the maximum pulse recharge power; If so, the first recharge strategy is generated; Correspondingly, if the recharging strategy is the first recharging strategy, adjusting the recharging power of the power battery by the target device according to the recharging strategy includes: turning off the range extender; Controlling the hoisting motor to recharge the power battery with the current gravitational potential energy feedback power; Control the charging device to recharge the power battery with the current charging recharge power.

3. The electric drive winch energy recovery control method according to claim 1, characterized in that: Determining a recharge strategy according to the maximum pulse recharge power, the current state of charge, and the average recharge power includes: If the current state of charge does not meet the range extender start-up conditions, determining whether the sum of the average regenerative power and the current charging regenerative power of the charging device is greater than a first critical value and less than or equal to a second critical value; wherein the first critical value and the second critical value are both positively correlated with the maximum pulse regenerative power, and the first critical value is less than the second critical value; If so, a second recharge strategy is generated; Correspondingly, if the recharging strategy is the second recharging strategy, adjusting the recharging power of the power battery by the target device according to the recharging strategy includes: turning off the range extender; Controlling the hoisting motor to recharge the power battery with the current gravitational potential energy feedback power; Controlling the charging device to recharge the power battery at the current charging recharge power, and reducing the current charging recharge power of the charging device until a first stop condition is met; wherein the first stop condition is that the current charging recharge power of the charging device is equal to 0, and / or the sum of the average feedback power and the current charging recharge power of the charging device is less than or equal to the first critical value; If the current charging feedback power of the charging device is equal to 0, determining whether the average feedback power is greater than the first critical value; If so, the energy consumption device is used to consume the current gravitational potential energy feedback power generated by the hoisting motor, so that the hoisting motor can recharge the power battery with the remaining feedback power; wherein, the remaining feedback power is equal to the current gravitational potential energy feedback power minus the power consumed by the energy consumption device, and the remaining feedback power is less than or equal to the first critical value.

4. The electric drive winch energy recovery control method according to claim 3, characterized in that: Reducing the current charging recharge power of the charging device includes: linearly reducing the current recharge power of the charging device at a first preset rate; wherein the first preset rate is positively correlated with a first difference, the first difference being the difference between a reference power and the first threshold, the reference power being the sum of the average recharge power and the current recharge power of the charging device; Accordingly, the energy consumption device is used to consume the current gravitational potential energy feedback power generated by the hoisting motor, including: Start the energy consumption device and linearly increase the consumption of the current gravitational potential energy feedback power generated by the energy consumption device to the winch motor at a second preset rate so that the remaining feedback power is less than or equal to the first critical value; wherein the second preset rate is positively correlated with the second difference, and the second difference is the difference between the average feedback power and the first critical value.

5. The electric drive winch energy recovery control method according to claim 1, characterized in that: Determining a recharge strategy according to the maximum pulse recharge power, the current state of charge, and the average recharge power includes: If the current state of charge meets the range extender start-up conditions, determining whether the sum of the average recharge power, the current charging recharge power of the charging device, and the current extended range recharge power of the range extender is less than or equal to a first critical value; wherein the first critical value is positively correlated with the maximum pulse recharge power; If so, generate the third recharge strategy; Correspondingly, if the recharging strategy is the third recharging strategy, adjusting the recharging power of the power battery by the target device according to the recharging strategy includes: Controlling the hoisting motor to recharge the power battery with the current gravitational potential energy feedback power; Controlling the charging device to recharge the power battery at the current charging recharge power; The range extender is controlled to recharge the power battery with the current extended range recharging power.

6. The electric drive winch energy recovery control method according to claim 1, characterized in that: Determining a recharge strategy according to the maximum pulse recharge power, the current state of charge, and the average recharge power includes: If the current state of charge meets the range extender start-up conditions, determining whether the sum of the average regenerative power, the current charging regenerative power of the charging device, and the current extended range regenerative power of the range extender is greater than a first critical value and less than or equal to a second critical value; wherein the first critical value and the second critical value are both positively correlated with the maximum pulse regenerative power, and the first critical value is less than the second critical value; If so, the fourth recharge strategy is generated; Correspondingly, if the recharging strategy is the fourth recharging strategy, adjusting the recharging power of the power battery by the target device according to the recharging strategy includes: Controlling the hoisting motor to recharge the power battery with the current gravitational potential energy feedback power, and controlling the range extender to recharge the power battery with the current extended range recharging power; controlling the charging device to recharge the power battery at the current charging recharge power, and reducing the current charging recharge power of the charging device until a second stop condition is met; wherein the second stop condition is that the current charging recharge power of the charging device is equal to 0, and / or the sum of the average feedback power, the current charging recharge power of the charging device, and the current extended-range recharge power of the range extender is less than or equal to the first critical value; If the current charging recharge power of the charging device is equal to 0, determining whether the sum of the average recharge power and the current extended-range recharge power of the range extender is greater than the first critical value; if so, reducing the current extended-range recharge power of the range extender until a third stop condition is met; wherein the third stop condition is that the current extended-range recharge power of the range extender is equal to 0, and / or the sum of the average recharge power and the current extended-range recharge power of the range extender is less than or equal to the first critical value; If the current extended-range recharge power of the range extender is equal to 0, determine whether the average feedback power is greater than the first critical value; if so, use the energy consumption device to consume the current gravitational potential energy feedback power generated by the hoisting motor, so that the hoisting motor recharges the power battery with the remaining feedback power; wherein, the remaining feedback power is equal to the current gravitational potential energy feedback power minus the power consumed by the energy consumption device, and the remaining feedback power is less than or equal to the first critical value.

7. The electric drive winch energy recovery control method according to claim 1, characterized in that: Also includes: Determining the maximum continuous recharge power of the power battery; If the winch lowering command is not received, determining whether the current state of charge meets the range extender start-up conditions; If not, controlling the charging device to recharge the power battery under a first constraint condition; wherein the first constraint condition is: the current charging recharge power of the charging device is less than or equal to the maximum continuous recharge power; If so, the charging device and the range extender are controlled to recharge the power battery under a second constraint condition; the second constraint condition is: the sum of the current charging recharge power of the charging device and the current extended-range recharge power of the range extender is less than or equal to the maximum continuous recharge power.

8. An electric drive winch energy recovery control system, characterized in that: A control device for an extended-range electric engineering machine, wherein the extended-range electric engineering machine further comprises a hoisting motor, a range extender, a charging device, and a power battery. The electric drive hoisting energy recovery control system comprises: A battery status determination module, configured to determine the maximum pulse recharge power and current state of charge of the power battery at the current moment; A hoisting control module is configured to control the hoisting motor to lower the hoist at a speed corresponding to the hoisting lowering instruction upon receiving the hoisting lowering instruction; A feedback power detection module is used to detect the current gravitational potential energy feedback power generated by the hoisting motor during the lowering process, and calculate the average value of the current gravitational potential energy feedback power within a preset period to obtain the average feedback power; a recharging power control module, configured to determine a recharging strategy based on the maximum pulse recharging power, the current state of charge, and the average recharge power, and to adjust the recharging power of the target device to the power battery according to the recharging strategy; wherein the target device includes any one or a combination of any several of the hoisting motor, the range extender, and the charging device.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, the steps of the electric drive winch energy recovery control method according to any one of claims 1 to 7 are implemented.

10. A storage medium, characterized in that: The storage medium stores computer-executable instructions, which, when loaded and executed by the processor, implement the steps of the electric-driven winch energy recovery control method according to any one of claims 1 to 7.

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