Hybrid power system differential protection method and device

Abstract

The present invention discloses a hybrid system differential protection method and device, and relates to the technical field of differentials. During the operation of the hybrid system, the present invention determines the actual speed difference between the left wheel and the right wheel according to the left wheel speed and the right wheel speed, and judges whether the differential has a sintering risk according to the actual torque of the differential and the actual speed difference. If the differential has a sintering risk, the differential is sintered to reduce the sintering risk of the differential and avoid damage to the differential.

Description

Technical Field

[0001] The present invention relates to the technical field of differentials, and in particular to a method and device for protecting a differential of a hybrid power system. Background Art

[0002] In hybrid vehicles, the differential is a key component for achieving steering and the speed difference between the left and right wheels. Its functional safety is an important part of vehicle safety. However, in actual use, sintering will occur inside the differential, causing damage to the differential and loss of differential function, endangering the safety of passengers' lives and property. It is of great significance to carry out sintering safety protection on the differential. Summary of the invention

[0003] The present invention solves the technical problem of how to reduce the risk of differential sintering by providing a differential protection method and device for a combined power system.

[0004] On the one hand, the embodiments of the present invention provide the following technical solutions:

[0005] A hybrid power system differential protection method, comprising:

[0006] During the operation of the hybrid system, the actual torque of the differential, the left wheel speed and the right wheel speed are obtained;

[0007] Determine the actual rotation speed difference between the left wheel and the right wheel according to the left wheel rotation speed and the right wheel rotation speed;

[0008] Determining whether the differential has a sintering risk according to the actual torque of the differential and the actual speed difference;

[0009] If the differential has a risk of sintering, the differential is subjected to sintering protection.

[0010] Preferably, the obtaining of the actual torque of the differential includes:

[0011] Obtaining engine torque, engine speed ratio, drive motor torque and drive motor speed ratio;

[0012] Obtaining a first product of the engine torque and the engine speed ratio, and a second product of the drive motor torque and the drive motor speed ratio;

[0013] The actual differential torque is determined as the sum of the first product and the second product.

[0014] Preferably, the determining the actual speed difference between the left wheel and the right wheel according to the left wheel speed and the right wheel speed includes:

[0015] The actual rotation speed difference is determined as a difference between the left wheel rotation speed and the right wheel rotation speed.

[0016] Preferably, the determining the actual speed difference between the left wheel and the right wheel according to the left wheel speed and the right wheel speed includes:

[0017] Obtaining a sum of the left wheel speed and the right wheel speed, a difference between the left wheel speed and the right wheel speed, and a rotary speed of the hybrid power system;

[0018] If the difference between the sum and twice the resolver rotation speed is higher than a preset threshold, obtaining a ratio of twice the resolver rotation speed to the sum;

[0019] The actual rotation speed difference is determined as the product of the difference and the ratio.

[0020] Preferably, judging whether the differential has a sintering risk according to the actual torque of the differential and the actual speed difference includes:

[0021] According to a preset relationship between the speed difference and the differential torque, obtaining a target speed difference corresponding to the actual torque of the differential;

[0022] If the actual speed difference is higher than the target speed difference, it is determined that the differential has a risk of sintering.

[0023] Preferably, judging whether the differential has a sintering risk according to the actual torque of the differential and the actual speed difference includes:

[0024] According to a preset relationship between the speed difference and the differential torque, obtaining a target differential torque corresponding to the actual speed difference;

[0025] If the actual differential torque is higher than the target differential torque, it is determined that the differential has a risk of seizure.

[0026] Preferably, the sintering protection of the differential includes:

[0027] According to a preset relationship between the speed difference and the differential torque, obtaining a target speed difference corresponding to the actual torque of the differential;

[0028] The actual rotational speed difference is reduced to the target rotational speed difference or below the target rotational speed difference.

[0029] Preferably, the sintering protection of the differential includes:

[0030] According to a preset relationship between the speed difference and the differential torque, obtaining a target differential torque corresponding to the actual speed difference;

[0031] The actual differential torque is reduced to the target differential torque or below the target differential torque.

[0032] On the other hand, the embodiment of the present invention also provides the following technical solution:

[0033] A hybrid power system differential protection device, comprising:

[0034] A data acquisition module is used to obtain the actual torque of the differential, the left wheel speed and the right wheel speed during the operation of the hybrid system;

[0035] A speed difference determination module, used to determine an actual speed difference between the left wheel and the right wheel according to the left wheel speed and the right wheel speed;

[0036] A sintering risk judgment module, used for judging whether the differential has a sintering risk according to the actual torque of the differential and the actual speed difference;

[0037] The differential protection module is used to protect the differential from sintering if the differential has a risk of sintering.

[0038] On the other hand, the embodiment of the present invention also provides the following technical solution:

[0039] An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, any of the above-mentioned hybrid power system differential protection methods is implemented.

[0040] On the other hand, the embodiment of the present invention also provides the following technical solution:

[0041] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the computer program implements any of the above-mentioned hybrid power system differential protection methods.

[0042] One or more technical solutions provided by the present invention have at least the following technical effects or advantages:

[0043] During the operation of the hybrid power system, the present invention determines the actual speed difference between the left wheel and the right wheel according to the left wheel speed and the right wheel speed, and judges whether the differential has a sintering risk according to the actual torque of the differential and the actual speed difference. If the differential has a sintering risk, the differential is sintered to reduce the sintering risk of the differential and avoid damage to the differential. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0045] Figure 1 is a flow chart of a hybrid power system differential protection method according to an embodiment of the present invention;

[0046] Figure 2 Schematic diagram of the relationship between the differential torque and the speed difference in an embodiment of the present invention;

[0047] Figure 3 Schematic diagram of the structure of a hybrid power system differential protection device in an embodiment of the present invention. DETAILED DESCRIPTION

[0048] The embodiments of the present invention solve the technical problem of how to reduce the risk of differential sintering by providing a hybrid power system differential protection method and device.

[0049] In order to better understand the technical solution of the present invention, the technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0050] First of all, the term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0051] like Figure 1 As shown, the hybrid power system differential protection method of this embodiment includes:

[0052] Step S1, during the operation of the hybrid power system, obtaining the actual torque of the differential, the left wheel speed and the right wheel speed;

[0053] Step S2, determining the actual speed difference between the left wheel and the right wheel according to the left wheel speed and the right wheel speed;

[0054] Step S3, judging whether the differential has a sintering risk according to the actual torque and actual speed difference of the differential;

[0055] Step S4: If the differential has a risk of sintering, sintering protection is performed on the differential.

[0056] The hybrid system includes an engine, a drive motor and a differential. The engine and the drive motor can work simultaneously or individually to drive the wheels.

[0057] In step S1, the actual torque of the differential is obtained, specifically including: obtaining the engine torque, the engine speed ratio, the drive motor torque and the drive motor speed ratio; obtaining the first product of the engine torque and the engine speed ratio, and the second product of the drive motor torque and the drive motor speed ratio; determining the actual torque of the differential as the sum of the first product and the second product. It can be expressed as: T3 = T1*I1+T2*I2, T3 is the actual torque of the differential, T1 is the engine torque, I1 is the engine speed ratio, T2 is the drive motor torque, and I2 is the drive motor speed ratio.

[0058] In step S1, the left wheel speed and the right wheel speed may be detected and acquired through the wheel end ABS sensor or the ESC wheel speed sensor.

[0059] In step S2, if it is considered that the left wheel speed and the right wheel speed detected by the wheel-end ABS sensor or the ESC wheel speed sensor are accurate, then step S2 includes: determining the actual speed difference as the difference between the left wheel speed and the right wheel speed. However, since there may be errors in the detection results of the sensor, determining the actual speed difference as the difference between the left wheel speed and the right wheel speed at this time will cause the actual speed difference to be inaccurate, and the left wheel speed and the right wheel speed detected by the sensor need to be corrected. Generally, the sum of the actual speed of the left wheel and the actual speed of the right wheel should be equal to twice the rotary speed of the hybrid system, that is, Wa+Wb=2Wc, Wa, Wb, and Wc are the actual speed of the left wheel, the actual speed of the right wheel, and the rotary speed, respectively. The rotary speed is collected by the rotary controller of the vehicle, and the result is accurate. In this way, if the sum of the left wheel speed and the right wheel speed detected by the sensor is not equal to twice the rotary speed, it is considered that the left wheel speed and the right wheel speed detected by the sensor are inaccurate. Therefore, the preferred step S2 of this embodiment includes:

[0060] The sum of the left wheel speed and the right wheel speed, the difference between the left wheel speed and the right wheel speed, and the rotary speed of the hybrid system are obtained; if the difference between the sum of the left wheel speed and the right wheel speed and twice the rotary speed is higher than a preset threshold, the ratio of twice the rotary speed to the sum is obtained; the actual speed difference is determined as the product of the difference and the ratio. The preset threshold can be zero or 2Wc*5%=0.1Wc.

[0061] If the preset threshold is zero, assume that the left wheel speed and the right wheel speed detected by the sensor are Wd and We respectively. If the sum of the left wheel speed and the right wheel speed is Wd+We=Wc, then the difference between the left wheel speed and the right wheel speed is |Wd-We|, the ratio of twice the rotational speed to the above sum is 2Wc / Wc=2, and the actual speed difference is 2|Wd-We|; if the sum of the left wheel speed and the right wheel speed is Wd+We=3Wc, then the difference between the left wheel speed and the right wheel speed is |Wd-We|, the ratio of twice the rotational speed to the above sum is 2Wc / Wc=2 / 3, and the actual speed difference is 2|Wd-We| / 3.

[0062] In step S3, whether the differential has a risk of sintering is determined by the actual torque of the differential and the actual speed difference. In this embodiment, the relationship between the differential torque and the speed difference is obtained in advance through bench experiments. The curve is as follows: Figure 2 As shown, the coordinates formed by the actual torque and actual speed difference of the differential are in Figure 2 When it is above the curve, it means that the differential has the risk of sintering.

[0063] In step S3, whether the differential has a risk of sintering can be determined in two ways.

[0064] The first type, step S3, includes: obtaining a target speed difference corresponding to the actual torque of the differential according to a preset relationship between the speed difference and the differential torque; if the actual speed difference is higher than the target speed difference, it is determined that the differential has a risk of sintering. The preset relationship between the speed difference and the differential torque is Figure 2 The relationship between the curves. Assuming the actual torque of the differential is 700 and the actual speed difference is 2000, then Figure 2 The target speed difference corresponding to the actual torque of the center differential is 966. If the actual speed difference is higher than the target speed difference, it is judged that the differential has a risk of sintering.

[0065] The second type, step S3 includes: according to the preset relationship between the speed difference and the differential torque, obtaining the target differential torque corresponding to the actual speed difference; if the actual differential torque is higher than the target differential torque, it is determined that the differential has a risk of sintering. Assuming that the actual differential torque is 700 and the actual speed difference is 2000, then Figure 2 The target differential torque corresponding to the actual speed difference is about 350. If the actual differential torque is higher than the target differential torque, it is judged that the differential has a risk of sintering.

[0066] From the above, we can see that the coordinates formed by the actual torque and actual speed difference of the differential are in Figure 2 When the differential is above the curve, it means that the differential has a risk of sintering. In this way, when the differential has a risk of sintering, the actual torque and / or actual speed difference of the differential can be adjusted so that the coordinates formed by the actual torque and actual speed difference of the differential are at Figure 2 Below the curve, the risk of sintering of the differential is eliminated. This embodiment provides three methods for sintering protection of the differential.

[0067] The first method is to perform sintering protection on the differential in step S4, including: obtaining the target speed difference corresponding to the actual torque of the differential according to the preset relationship between the speed difference and the differential torque; reducing the actual speed difference to the target speed difference or below the target speed difference. Assuming that the actual torque of the differential is 700, the actual speed difference is 2000, and the target speed difference corresponding to the actual torque of the differential is 966, reducing the actual speed difference from 2000 to 966 or below 966 can eliminate the risk of sintering of the differential.

[0068] The second method is to perform sintering protection on the differential in step S4, including: obtaining the target differential torque corresponding to the actual speed difference according to the preset relationship between the speed difference and the differential torque; reducing the actual differential torque to the target differential torque or below the target differential torque. Assuming that the actual differential torque is 700, the actual speed difference is 2000, and the target differential torque corresponding to the actual speed difference is about 350, reducing the actual differential torque from 700 to 350 or below 350 can eliminate the risk of sintering of the differential.

[0069] The third method is to assume that the actual torque of the differential is 700 and the actual speed difference is 2000. The actual torque of the differential can be adjusted to 600 and the actual speed difference can be adjusted to 1000. The actual torque of the differential can also be adjusted to 200 and the actual speed difference can be adjusted to 3000, etc., so that the coordinates formed by the actual torque of the differential and the actual speed difference are at Figure 2 Just below the curve.

[0070] As can be seen from the above, this embodiment can perform sintering protection on the differential when the differential has a sintering risk, thereby reducing the sintering risk of the differential and avoiding damage to the differential.

[0071] like Figure 3 As shown, this embodiment also provides a hybrid power system differential protection device, including:

[0072] A data acquisition module is used to obtain the actual torque of the differential, the left wheel speed and the right wheel speed during the operation of the hybrid system;

[0073] A speed difference determination module, used to determine the actual speed difference between the left wheel and the right wheel according to the left wheel speed and the right wheel speed;

[0074] A sintering risk judgment module, used to judge whether the differential has a sintering risk according to the actual torque and actual speed difference of the differential;

[0075] The differential protection module is used to protect the differential from sintering if there is a risk of sintering of the differential.

[0076] The data acquisition module acquires the actual torque of the differential, specifically including: acquiring the engine torque, engine speed ratio, drive motor torque and drive motor speed ratio; acquiring the first product of the engine torque and the engine speed ratio, the second product of the drive motor torque and the drive motor speed ratio; determining the actual torque of the differential as the sum of the first product and the second product. It is expressed as: T3 = T1*I1+T2*I2, T3 is the actual torque of the differential, T1 is the engine torque, I1 is the engine speed ratio, T2 is the drive motor torque, and I2 is the drive motor speed ratio.

[0077] The data acquisition module can detect and obtain the left wheel speed and the right wheel speed through the wheel end ABS sensor or the ESC wheel speed sensor.

[0078] If it is believed that the left wheel speed and the right wheel speed detected by the wheel-end ABS sensor or the ESC wheel speed sensor are accurate, the speed difference determination module will determine the actual speed difference as the difference between the left wheel speed and the right wheel speed. However, since there may be errors in the detection results of the sensor, determining the actual speed difference as the difference between the left wheel speed and the right wheel speed at this time will result in inaccurate actual speed difference, and the left wheel speed and the right wheel speed detected by the sensor need to be corrected. Generally, the sum of the actual speed of the left wheel and the actual speed of the right wheel should be equal to twice the rotary speed of the hybrid system, that is, Wa+Wb=2Wc, Wa, Wb, Wc are the actual speed of the left wheel, the actual speed of the right wheel, and the rotary speed, respectively. The rotary speed is collected by the vehicle's rotary controller, and the result is accurate. In this way, if the sum of the left wheel speed and the right wheel speed detected by the sensor is not equal to twice the rotary speed, it is considered that the left wheel speed and the right wheel speed detected by the sensor are inaccurate. Therefore, the preferred speed difference determination module in this embodiment is used to:

[0079] The sum of the left wheel speed and the right wheel speed, the difference between the left wheel speed and the right wheel speed, and the rotary speed of the hybrid system are obtained; if the difference between the sum of the left wheel speed and the right wheel speed and twice the rotary speed is higher than a preset threshold, the ratio of twice the rotary speed to the sum is obtained; the actual speed difference is determined as the product of the difference and the ratio. The preset threshold can be zero or 2Wc*5%=0.1Wc.

[0080] If the preset threshold is zero, assume that the left wheel speed and the right wheel speed detected by the sensor are Wd and We respectively. If the sum of the left wheel speed and the right wheel speed is Wd+We=Wc, then the difference between the left wheel speed and the right wheel speed is |Wd-We|, the ratio of twice the rotational speed to the above sum is 2Wc / Wc=2, and the actual speed difference is 2|Wd-We|; if the sum of the left wheel speed and the right wheel speed is Wd+We=3Wc, then the difference between the left wheel speed and the right wheel speed is |Wd-We|, the ratio of twice the rotational speed to the above sum is 2Wc / Wc=2 / 3, and the actual speed difference is 2 / 3|Wd-We|.

[0081] Whether the differential has a risk of sintering is determined by the actual torque of the differential and the actual speed difference. In this embodiment, the relationship between the differential torque and the speed difference is obtained in advance through bench experiments. The curve is as follows: Figure 2 As shown, the coordinates formed by the actual torque and actual speed difference of the differential are in Figure 2 When it is above the curve, it means that the differential has the risk of sintering.

[0082] The sintering risk judgment module can judge whether the differential has sintering risk in two ways.

[0083] The first is the sintering risk judgment module, which is used to: obtain the target speed difference corresponding to the actual torque of the differential according to the preset relationship between the speed difference and the differential torque; if the actual speed difference is higher than the target speed difference, it is judged that the differential has a sintering risk. The preset relationship between the speed difference and the differential torque is Figure 2 The relationship between the curves. Assuming the actual torque of the differential is 700 and the actual speed difference is 2000, then Figure 2 The target speed difference corresponding to the actual torque of the center differential is 966. If the actual speed difference is higher than the target speed difference, it is judged that the differential has a risk of sintering.

[0084] The second type is the sintering risk judgment module, which is used to: obtain the target differential torque corresponding to the actual speed difference according to the preset relationship between the speed difference and the differential torque; if the actual differential torque is higher than the target differential torque, it is judged that the differential has a sintering risk. Assuming that the actual differential torque is 700 and the actual speed difference is 2000, then Figure 2 The target differential torque corresponding to the actual speed difference is about 350. If the actual differential torque is higher than the target differential torque, it is judged that the differential has a risk of sintering.

[0085] From the above, we can see that the coordinates formed by the actual torque and actual speed difference of the differential are in Figure 2 When the differential is above the curve, it means that the differential has a risk of sintering. In this way, when the differential has a risk of sintering, the actual torque and / or actual speed difference of the differential can be adjusted so that the coordinates formed by the actual torque and actual speed difference of the differential are at Figure 2 Below the curve, the risk of sintering of the differential is eliminated. This embodiment provides three methods for sintering protection of the differential.

[0086] The first is that the differential protection module performs sintering protection on the differential, including: obtaining the target speed difference corresponding to the actual torque of the differential according to the preset relationship between the speed difference and the differential torque; reducing the actual speed difference to the target speed difference or below the target speed difference. Assuming that the actual torque of the differential is 700, the actual speed difference is 2000, and the target speed difference corresponding to the actual torque of the differential is 966, reducing the actual speed difference from 2000 to 966 or below 966 can eliminate the risk of sintering of the differential.

[0087] The second type is that the differential protection module performs sintering protection on the differential, including: obtaining the target differential torque corresponding to the actual speed difference according to the preset relationship between the speed difference and the differential torque; reducing the actual differential torque to the target differential torque or below the target differential torque. Assuming that the actual differential torque is 700 and the actual speed difference is 2000, the target differential torque corresponding to the actual speed difference is about 350. Reducing the actual differential torque from 700 to 350 or below 350 can eliminate the risk of differential sintering.

[0088] The third method is to assume that the actual torque of the differential is 700 and the actual speed difference is 2000. The actual torque of the differential can be adjusted to 600 and the actual speed difference can be adjusted to 1000. The actual torque of the differential can also be adjusted to 200 and the actual speed difference can be adjusted to 3000, etc., so that the coordinates formed by the actual torque of the differential and the actual speed difference are at Figure 2 Just below the curve.

[0089] As can be seen from the above, this embodiment can perform sintering protection on the differential when the differential has a sintering risk, thereby reducing the sintering risk of the differential and avoiding damage to the differential.

[0090] Based on the same inventive concept as the hybrid power system differential protection method described above, this embodiment also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any one of the hybrid power system differential protection methods described above are implemented.

[0091] Among them, the bus architecture (represented by the bus), the bus can include any number of interconnected buses and bridges, and the bus links various circuits including one or more processors represented by the processor and memory represented by the memory. The bus can also link various other circuits such as peripherals, voltage regulators, and power management circuits together, which are all well known in the art and are therefore not further described herein. The bus interface provides an interface between the bus and the receiver and transmitter. The receiver and transmitter can be the same element, namely a transceiver, which provides a unit for communicating with various other devices on a transmission medium. The processor is responsible for managing the bus and general processing, while the memory can be used to store data used by the processor when performing operations.

[0092] Since the electronic device introduced in this embodiment is an electronic device used to implement the hybrid power system differential protection method in the embodiment of the present invention, based on the hybrid power system differential protection method introduced in the embodiment of the present invention, the technical personnel of the field can understand the specific implementation of the electronic device of the present embodiment and its various variations, so how the electronic device implements the method in the embodiment of the present invention is not described in detail here. As long as the technical personnel of the field implement the electronic device used in the hybrid power system differential protection method in the embodiment of the present invention, it belongs to the scope of protection of the present invention.

[0093] Based on the same inventive concept as the above hybrid power system differential protection method, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements any of the above hybrid power system differential protection methods.

[0094] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0095] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0096] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0097] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0098] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0099] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A hybrid power system differential protection method, characterized in that: include: During the operation of the hybrid system, the actual torque of the differential, the left wheel speed and the right wheel speed are obtained; Determine the actual rotation speed difference between the left wheel and the right wheel according to the left wheel rotation speed and the right wheel rotation speed; Determining whether the differential has a sintering risk according to the actual torque of the differential and the actual speed difference; If the differential has a risk of sintering, performing sintering protection on the differential; The determining the actual speed difference between the left wheel and the right wheel according to the left wheel speed and the right wheel speed comprises: Obtaining a sum of the left wheel speed and the right wheel speed, a difference between the left wheel speed and the right wheel speed, and a rotational speed of the hybrid power system; If the difference between the sum and twice the resolver rotation speed is higher than a preset threshold, obtaining a ratio of twice the resolver rotation speed to the sum; The actual rotation speed difference is determined as the product of the difference and the ratio.

2. The hybrid power system differential protection method according to claim 1, characterized in that: The determining the actual speed difference between the left wheel and the right wheel according to the left wheel speed and the right wheel speed comprises: The actual rotation speed difference is determined as a difference between the left wheel rotation speed and the right wheel rotation speed.

3. The hybrid power system differential protection method according to claim 1, characterized in that: The determining whether the differential has a sintering risk according to the actual torque of the differential and the actual speed difference comprises: According to a preset relationship between the speed difference and the differential torque, obtaining a target speed difference corresponding to the actual torque of the differential; If the actual speed difference is higher than the target speed difference, it is determined that the differential has a risk of sintering.

4. The hybrid power system differential protection method according to claim 1, characterized in that: The determining whether the differential has a sintering risk according to the actual torque of the differential and the actual speed difference comprises: According to a preset relationship between the speed difference and the differential torque, obtaining a target differential torque corresponding to the actual speed difference; If the actual differential torque is higher than the target differential torque, it is determined that the differential has a risk of seizure.

5. The hybrid power system differential protection method according to claim 1, characterized in that: The sintering protection of the differential includes: According to a preset relationship between the speed difference and the differential torque, obtaining a target speed difference corresponding to the actual torque of the differential; The actual rotational speed difference is reduced to the target rotational speed difference or below the target rotational speed difference.

6. The hybrid power system differential protection method according to claim 1, characterized in that: The sintering protection of the differential includes: According to a preset relationship between the speed difference and the differential torque, obtaining a target differential torque corresponding to the actual speed difference; The actual differential torque is reduced to the target differential torque or below the target differential torque.

7. A hybrid power system differential protection device, characterized in that: include: A data acquisition module is used to obtain the actual torque of the differential, the left wheel speed and the right wheel speed during the operation of the hybrid system; A speed difference determination module, used to determine an actual speed difference between the left wheel and the right wheel according to the left wheel speed and the right wheel speed; The speed difference determination module is specifically used to obtain the sum of the left wheel speed and the right wheel speed, the difference between the left wheel speed and the right wheel speed, and the rotary speed of the hybrid power system; If the difference between the sum and twice the resolver rotation speed is higher than a preset threshold, obtaining a ratio of twice the resolver rotation speed to the sum; Determining the actual speed difference as the product of the difference and the ratio; A sintering risk judgment module, used for judging whether the differential has a sintering risk according to the actual torque of the differential and the actual speed difference; The differential protection module is used to protect the differential from sintering if the differential has a risk of sintering.

8. An electronic device, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the hybrid power system differential protection method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the hybrid power system differential protection method according to any one of claims 1 to 6 is implemented.

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