Energy consumption simulation analysis method, device, system and storage medium for construction machinery

Abstract

The present disclosure provides an energy consumption simulation analysis method, device, system, and storage medium for engineering machinery. The method includes: constructing a corresponding whole-vehicle physical system simulation model and a whole-vehicle control system simulation model based on the engineering machinery's requirements and analysis information; deploying the whole-vehicle physical system simulation model in a hardware-in-the-loop simulation platform for operation, generating control simulation code based on the whole-vehicle control system simulation model and deploying it in a controller to be tested for operation; transmitting sensor detection data of the engineering machinery received by the hardware-in-the-loop simulation platform to the controller to be tested; using the control simulation code to generate a control signal based on the sensor detection data; and using the whole-vehicle physical system simulation model to correct the energy consumption simulation analysis results based on the control signal. The present disclosure can improve the efficiency of engineering machinery energy consumption analysis testing, effectively reduce the difficulty of engineering machinery energy consumption testing, improve the accuracy of energy consumption testing, and enhance user experience.

Description

Technical Field

[0001] The present invention relates to the field of simulation technology, and in particular to an energy consumption simulation analysis method, device, system and storage medium for engineering machinery. Background Art

[0002] Currently, the technical level of construction machinery continues to improve. With the development of energy-saving and consumption-reduction technologies and the impact of global energy shortages, people's awareness of energy conservation has become increasingly strong, placing greater demands on the development of construction machinery. An increasing number of energy consumption analysis methods are being applied to the simulation analysis and testing of construction machinery products. Existing technologies lack energy consumption analysis solutions applicable to complete construction machinery products, only focusing on energy consumption analysis of subsystems. Energy consumption analysis of construction machinery subsystems, performed in real environments or using simulation models, results in a time-consuming and labor-intensive energy consumption analysis test process, inaccurate results, and low efficiency. Summary of the Invention

[0003] In view of this, a technical problem to be solved by the present invention is to provide an energy consumption simulation analysis method, device, system and storage medium for engineering machinery.

[0004] According to a first aspect of the present disclosure, a method for simulating and analyzing energy consumption of construction machinery is provided, comprising: constructing a corresponding whole-vehicle physical system simulation model and a whole-vehicle control system simulation model based on the requirements and analysis information of the construction machinery; deploying the whole-vehicle physical system simulation model in a hardware-in-the-loop simulation platform for operation, generating a control simulation code based on the whole-vehicle control system simulation model and deploying the code in a controller to be tested for operation; sending sensor detection data of the construction machinery received by the hardware-in-the-loop simulation platform to the controller to be tested; generating a control signal based on the sensor detection data using the control simulation code; sending the control signal to the hardware-in-the-loop simulation platform, and using the whole-vehicle physical system simulation model to correct an energy consumption simulation analysis result based on the control signal.

[0005] Optionally, the whole vehicle physical system simulation model is used to perform real-time simulation processing on the operation of the engineering machinery based on the sensor detection data to obtain the energy consumption simulation analysis result; using the whole vehicle physical system simulation model to correct the energy consumption simulation analysis result based on the control signal includes: using the whole vehicle physical system simulation model to determine the actual operating status information of the engineering machinery based on the control signal, and correcting the energy consumption simulation analysis result based on the actual operating status information.

[0006] Optionally, the sensor detection data includes: fuel consumption, pressure, and flow detection data; the controller to be tested is the same as the controller currently used by the engineering machinery.

[0007] Optionally, the whole vehicle physical system simulation model includes: a hydraulic system simulation model, an engine system simulation model and a working device system simulation model.

[0008] Optionally, the hydraulic system simulation model includes: a pilot operation simulation model, a variable pump simulation model, a multi-way valve simulation model, a hydraulic cylinder simulation model, a rotary motor simulation model, a travel motor simulation model and a hydraulic fan drive model; the engine system simulation model includes: an engine model, a crankshaft model and a starter model.

[0009] Optionally, the working device system simulation model is used to display dynamic operating status data of the working device of the engineering machinery; wherein, the operation of the working device is driven by a hydraulic cylinder, and the dynamic operating status data includes the angle, angular velocity, and motion trajectory of the working device.

[0010] Optionally, the hardware-in-the-loop simulation platform includes: a wireless communication receiving module for receiving the sensor detection data; a PXI real-time controller for running the vehicle simulation code generated based on the vehicle physical system simulation model, and sending and receiving data through the board communication interface; a first analog simulation board for processing the transmission and interaction of analog signals between the PXI real-time controller and the controller to be tested; a second analog simulation board for processing the transmission and interaction of analog signals between the wireless communication receiving module and the PXI real-time controller; an Ethernet communication board for processing data transmission between the PXI real-time controller and a host computer; a first digital simulation board for processing the transmission and interaction of digital signals between the PXI real-time controller and the controller to be tested; and a second digital simulation board for processing the transmission and interaction of digital signals between the wireless communication receiving module and the PXI real-time controller.

[0011] Optionally, the engineering machinery includes: an excavator, a crane, and a pump truck; the whole vehicle physical system simulation model and the whole vehicle control system simulation model are simulation models constructed based on the Modelica language.

[0012] According to a second aspect of the present disclosure, an energy consumption simulation and analysis device for engineering machinery is provided, comprising: a model construction module for constructing a corresponding whole-vehicle physical system simulation model and a whole-vehicle control system simulation model based on the requirements and analysis information of the engineering machinery; a model deployment module for deploying the whole-vehicle physical system simulation model in a hardware-in-the-loop simulation platform for operation, generating a control simulation code based on the whole-vehicle control system simulation model and deploying the code in a controller to be tested for operation; a data sending module for sending the sensor detection data of the engineering machinery received by the hardware-in-the-loop simulation platform to the controller to be tested; a control simulation module for generating a control signal based on the sensor detection data using the control simulation code; a simulation analysis module for sending the control signal to the hardware-in-the-loop simulation platform, and the whole-vehicle physical system simulation model corrects the energy consumption simulation analysis result based on the control signal.

[0013] Optionally, the simulation analysis module is used to use the whole vehicle physical system simulation model and perform real-time simulation processing on the operation of the engineering machinery based on the sensor detection data to obtain the energy consumption simulation analysis result; use the whole vehicle physical system simulation model to determine the actual operating status information of the engineering machinery based on the control signal, and correct the energy consumption simulation analysis result based on the actual operating status information.

[0014] Optionally, the sensor detection data includes: fuel consumption, pressure, and flow detection data; the controller to be tested is the same as the controller currently used by the engineering machinery.

[0015] Optionally, the whole vehicle physical system simulation model includes: a hydraulic system simulation model, an engine system simulation model and a working device system simulation model.

[0016] Optionally, the hydraulic system simulation model includes: a pilot operation simulation model, a variable pump simulation model, a multi-way valve simulation model, a hydraulic cylinder simulation model, a rotary motor simulation model, a travel motor simulation model and a hydraulic fan drive model; the engine system simulation model includes: an engine model, a crankshaft model and a starter model.

[0017] Optionally, the working device system simulation model is used to display dynamic operating status data of the working device of the engineering machinery; wherein, the operation of the working device is driven by a hydraulic cylinder, and the dynamic operating status data includes the angle, angular velocity, and motion trajectory of the working device.

[0018] Optionally, the engineering machinery includes: an excavator, a crane, and a pump truck; the whole vehicle physical system simulation model and the whole vehicle control system simulation model are simulation models constructed based on the Modelica language.

[0019] According to a third aspect of the present disclosure, an energy consumption simulation and analysis device for engineering machinery is provided, comprising: a memory; and a processor coupled to the memory, wherein the processor is configured to execute the method described above based on instructions stored in the memory.

[0020] According to a fourth aspect of the present disclosure, there is provided an energy consumption simulation and analysis system for engineering machinery, comprising: a hardware-in-the-loop simulation platform, a controller to be tested, and the above-mentioned energy consumption simulation and analysis device for engineering machinery.

[0021] Optionally, the hardware-in-the-loop simulation platform includes: a wireless communication receiving module for receiving sensor detection data of engineering machinery; a PXI real-time controller for running the whole vehicle simulation code generated based on the whole vehicle physical system simulation model, and sending and receiving data through the board communication interface; a first analog simulation board for processing the transmission and interaction of analog signals between the PXI real-time controller and the controller to be tested; a second analog simulation board for processing the transmission and interaction of analog signals between the wireless communication receiving module and the PXI real-time controller; an Ethernet communication board for processing data transmission between the PXI real-time controller and a host computer; a first digital simulation board for processing the transmission and interaction of digital signals between the PXI real-time controller and the controller to be tested; and a second digital simulation board for processing the transmission and interaction of digital signals between the wireless communication receiving module and the PXI real-time controller.

[0022] According to a fifth aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the instructions are executed by a processor to perform the method described above.

[0023] The energy consumption simulation analysis method, device, system and storage medium of engineering machinery disclosed in the present invention propose a data-driven energy consumption analysis simulation test technical solution. There is no need to conduct energy consumption tests on engineering machinery products in an actual road environment. The acquired data can be used to correct and calibrate the simulation results in real time, thereby improving the efficiency of the energy consumption analysis test of engineering machinery. It can effectively reduce the difficulty of the energy consumption test of engineering machinery, improve the accuracy of the energy consumption test, obtain more accurate energy consumption analysis simulation results, and improve the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0025] Figure 1 1 is a flow chart of an embodiment of an energy consumption simulation analysis method for engineering machinery according to the present disclosure;

[0026] Figure 2 1 is a flow chart of correcting energy consumption simulation analysis results in one embodiment of the energy consumption simulation analysis method for engineering machinery according to the present disclosure;

[0027] Figure 3 Schematic diagram of the architecture of the vehicle physical system simulation model disclosed herein;

[0028] Figure 4 Schematic diagram of an operating system of an energy consumption simulation analysis method for engineering machinery according to the present disclosure;

[0029] Figure 5 Schematic diagram of a module of an embodiment of an energy consumption simulation and analysis device for engineering machinery according to the present disclosure;

[0030] Figure 6 1 is a schematic diagram of modules of another embodiment of the energy consumption simulation and analysis device for engineering machinery according to the present disclosure;

[0031] Figure 7 Schematic diagram of a module of an embodiment of an energy consumption simulation analysis system for engineering machinery according to the present disclosure. DETAILED DESCRIPTION

[0032] The present disclosure is described more fully below with reference to the accompanying drawings, which illustrate exemplary embodiments of the present disclosure. The technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present disclosure.

[0033] The terms "first", "second", etc. in the following text are only used to distinguish between the two terms and have no other special meanings.

[0034] Figure 1 FIG. 1 is a flow chart of an embodiment of the energy consumption simulation analysis method for engineering machinery according to the present disclosure, as shown in FIG. Figure 1 As shown:

[0035] Step 101 : constructing a corresponding vehicle physical system simulation model and a vehicle control system simulation model based on the requirements and analysis information of the engineering machinery.

[0036] In one embodiment, construction machinery includes excavators, cranes, pump trucks, and the like. The requirements and analysis information for the construction machinery include information such as the vehicle's energy-saving target requirements, energy-saving testing requirements, energy-saving analysis indicators, and analysis algorithms. Various methods can be used to construct a vehicle physical system simulation model and a vehicle control system simulation model. For example, the vehicle physical system simulation model and the vehicle control system simulation model can be constructed using the Modelica language. Modelica is an open, equation-based, object-oriented, multi-domain unified modeling language that enables physical system modeling.

[0037] Step 102: deploy the vehicle physical system simulation model in a hardware-in-the-loop simulation platform for execution, generate control simulation code based on the vehicle control system simulation model, and deploy the code in the controller to be tested for execution.

[0038] In one embodiment, a complete vehicle physical system simulation model and a complete vehicle control system simulation model are established for an engineering machinery product using the Modelica system modeling language. The complete vehicle control system simulation model implements the control logic algorithm for the engineering machinery. The complete vehicle physical system simulation model runs in real time on a real-time machine within a hardware-in-the-loop simulation platform. Based on the simulation functionality of the complete vehicle control system simulation model, control simulation code, such as C code, is generated and deployed to run in the controller under test.

[0039] Step 103: Send the sensor detection data of the engineering machinery received by the hardware-in-the-loop simulation platform to the controller to be tested.

[0040] In one embodiment, the sensor detection data includes fuel consumption, pressure, flow, and other detection data of the construction machinery. The pressure and flow refer to the pressure and flow of the construction machinery's hydraulic system and other systems. A variety of sensors can be used to detect fuel consumption, pressure, flow, and other detection data. The hardware-in-the-loop simulation platform obtains real-time sensor data such as fuel consumption, pressure, and flow from the actual operation of the construction machinery product through a communication module. The communication module can use wired or wireless communication.

[0041] Step 104: Use control simulation code to generate control signals based on sensor detection data. The controller to be tested is the same as the controller currently used by the engineering machinery, and has the same control algorithm and strategy.

[0042] Step 105 : Send the control signal to the hardware-in-the-loop simulation platform, and use the vehicle physical system simulation model to correct the energy consumption simulation analysis result based on the control signal.

[0043] Figure 2 FIG. 1 is a flow chart of correcting energy consumption simulation analysis results in one embodiment of the energy consumption simulation analysis method for engineering machinery according to the present disclosure, as shown in FIG. Figure 2 As shown:

[0044] Step 201 : Using the whole vehicle physical system simulation model and based on sensor detection data, real-time simulation processing is performed on the operation of the construction machinery to obtain energy consumption simulation analysis results.

[0045] In one embodiment, the whole vehicle physical system simulation model runs in real time in the real-time machine of the hardware-in-the-loop simulation platform. The whole vehicle physical system simulation model performs real-time simulation processing on the operation of the construction machinery based on the detection data such as fuel consumption, pressure, flow, etc., and obtains the energy consumption simulation analysis results. The energy consumption simulation analysis results include analysis results such as fuel consumption per unit working time.

[0046] Step 202 : using the vehicle physical system simulation model to determine actual operating state information of the construction machinery based on the control signal, and correcting the energy consumption simulation analysis result based on the actual operating state information.

[0047] In one embodiment, the hardware-in-the-loop simulation platform randomly reads test data such as fuel consumption, pressure, and flow rate received by the communication receiving module and transmits it to the controller under test. The controller under test generates control signals after calculating the control algorithm implemented by the control simulation code, and transmits the control signals to the real-time machine of the hardware-in-the-loop simulation platform for calculation. For example, in the controller under test, the control simulation code is used to generate control signals based on the test data such as fuel consumption, pressure, and flow rate. The control signals include signals for the working components of the construction machinery, such as the engine and hydraulic system.

[0048] The controller under test sends control signals to the vehicle's physical system simulation model. The vehicle's physical system simulation model then performs simulation processing based on the control signals to determine the construction machinery's actual operating status. This information includes information such as increasing the throttle, decreasing the throttle, increasing hydraulic pressure, and increasing operating speed. Based on this information, the energy consumption simulation analysis results are corrected using a variety of existing correction methods. Through a bidirectional calculation method and continuous iterative optimization, the energy consumption simulation analysis results in the real-time machine of the hardware-in-the-loop simulation platform can be corrected and calibrated in real time.

[0049] The energy consumption simulation and analysis method of engineering machinery disclosed in the present invention can use the acquired data to correct and calibrate the simulation results in the hardware-in-the-loop simulation platform in real time. By continuously optimizing the simulation data, it is possible to obtain more realistic simulated energy consumption of engineering machinery products, improve the efficiency of energy consumption analysis and testing of engineering machinery products, and ensure the accuracy of energy consumption analysis and test results.

[0050] In one embodiment, Figure 3As shown in the figure, the vehicle physical system simulation model includes models such as the hydraulic system simulation model, the engine system simulation model, and the working device system simulation model. The working device system can be a traveling device, a lifting device, etc. The hydraulic system simulation model includes models such as the pilot operation simulation model, the variable pump simulation model, the multi-way valve simulation model (the multi-way valve can be a hydraulic pilot-controlled valve body or a purely electronically controlled valve body), the hydraulic cylinder simulation model, the rotary motor simulation model, the traveling motor simulation model, and the hydraulic fan drive model.

[0051] There are two types of pilot operation simulation models: a hydraulic control pilot model and an electric control handle model; the variable pump model has the function of displaying real-time pump speed, pump flow, pump pressure, pump proportional valve current and proportional valve output pressure data; the multi-way valve simulation model has the function of displaying real-time valve opening, flow, pressure, flow rate and other data of each channel; the hydraulic cylinder simulation model has the function of displaying real-time flow, pressure, cylinder extension and extension speed and other data; the rotary motor and travel motor simulation models have the function of displaying real-time flow, speed, pressure and other data sources.

[0052] The engine system simulation model includes the engine model, crankshaft model, and starter model. The engine model displays real-time data such as speed, torque, current, load rate, and power, and can simulate the engine model (with simulated transmission of basic engine data and fault code data). The engine model allows for flexible configuration of parameters such as external characteristic curves and universal curves. The starter, essentially a motor model, drives the generator flywheel to start the generator before the engine operates normally. The crankshaft's primary function is to convert the pneumatic pressure acting on the piston into rotational power and output it, while also driving other auxiliary devices via a belt.

[0053] The working device system simulation model is used to display the dynamic operating status data of the working devices of construction machinery. The working devices are driven by hydraulic cylinders, and this dynamic operating status data includes data such as the working device's angle, angular velocity, and motion trajectory. The working device system simulation model needs to be able to display the dynamic operation of each working device. The working devices are driven by hydraulic cylinders, and data such as the angle, angular velocity, and motion trajectory of each working device needs to be displayed in real time.

[0054] In one embodiment, Figure 4 As shown, the hardware-in-the-loop simulation platform is used to build a hardware environment for hardware-in-the-loop simulation testing, responsible for signal processing and conversion. Construction machinery excavators are a type of construction machinery product, including excavators, cranes, pump trucks, and other models. The controller under test is the same as the controller currently used in construction machinery. For example, the controller under test is the actual controller on the construction machinery vehicle, that is, the controller being tested in the simulation.

[0055] The hardware-in-the-loop simulation platform includes multiple components, such as a PXI chassis and an Ethernet communication board connected to it through a PXI chassis slot, a PXI real-time controller, an on-board communication board, a wireless / wired communication module, a first analog simulation board, a second analog simulation board, a first digital simulation board, a second digital simulation board, etc.

[0056] The PXI chassis features 24GB / s of system bandwidth for data transfer between simulation boards and the real-time controller. It also includes software resources for monitoring system health data, such as temperature and fan speed. The PXI real-time controller runs the vehicle simulation code generated based on the vehicle's physical system simulation model and sends and receives data through the board's communication interface. For example, the vehicle simulation code generated based on the vehicle's physical system simulation model includes real-time C code, among other code types. The PXI real-time controller runs the real-time C code generated based on the vehicle's physical system simulation model and sends and receives data through the board's communication interface.

[0057] The on-board communication board can implement CAN / LIN communication and is suitable for high-speed real-time operation of a large number of CAN frames and signals. Each channel of the board can be configured with a different transceiver as needed. The wireless / wired communication module can send or receive data in real time. The wireless / wired communication sending module on the engineering machinery vehicle is used to send data in real time, and the wireless / wired communication receiving module in the hardware-in-the-loop simulation platform cabinet is used to receive data in real time. For example, the wireless communication sending module is a data communication module installed on the engineering machinery vehicle, which is used to send sensor data such as fuel consumption, pressure, and flow on the vehicle in real time. If the required communication distance is short, wired network communication can also be used to send sensor data such as fuel consumption, pressure, and flow on the vehicle. The wireless communication receiving module is a data communication module installed in the hardware-in-the-loop simulation platform cabinet, which is used to receive sensor data such as fuel consumption, pressure, and flow on the vehicle in real time.

[0058] The first analog simulation board handles the transmission and interaction of analog signals between the PXI real-time controller and the controller under test. The second analog simulation board handles the transmission and interaction of analog signals between the wireless communication receiving module and the PXI real-time controller. The Ethernet communication board handles the data transmission between the PXI real-time controller and the host computer, that is, the Ethernet communication board is used for data transmission between the PXI real-time controller (slave computer) and the host computer of the hardware-in-the-loop simulation platform. The first digital simulation board handles the transmission and interaction of digital signals between the PXI real-time controller and the controller under test. The second digital simulation board handles the transmission and interaction of digital signals between the wireless communication receiving module and the PXI real-time controller.

[0059] In one embodiment, a Modelica vehicle physical system simulation model of an engineering machine runs in real time on a real-time machine (a PXI real-time controller), while the corresponding control algorithm simulation code runs on the controller under test. A wireless communication transmission module acquires real-time sensor data on the vehicle's fuel consumption, pressure, flow rate, and other indicators and transmits them to the hardware-in-the-loop simulation platform. A wireless communication reception module receives this sensor data in real time.

[0060] The hardware-in-the-loop simulation platform's PXI real-time controller randomly reads data packets from the wireless communication receiving module and sends them to the controller under test. The controller, in turn, sends control signals calculated using a control algorithm to the PXI real-time controller. The PXI real-time controller then calculates, corrects, and calibrates the simulation data based on the actual vehicle data. Through continuous iterative optimization, more realistic energy consumption analysis and simulation results can be achieved.

[0061] The energy consumption simulation and analysis method of engineering machinery in the above embodiment addresses the problem that there is no energy consumption analysis method suitable for complete engineering machinery products in the current engineering machinery field to conduct energy consumption analysis. A data-driven energy consumption analysis simulation test technical solution is proposed. There is no need to conduct energy consumption tests on engineering machinery products in actual road environments. The energy consumption of many types of engineering machinery products can be accurately analyzed and evaluated, which can effectively reduce the difficulty of energy consumption testing of engineering machinery, improve the efficiency and accuracy of energy consumption testing, and obtain more accurate energy consumption analysis simulation results of engineering machinery products, while improving the efficiency of energy consumption testing.

[0062] In one embodiment, Figure 5 As shown, the present disclosure provides an energy consumption simulation and analysis device 50 for construction machinery, comprising a model construction module 51, a model deployment module 52, a data transmission module 53, a control simulation module 54, and a simulation analysis module 55. The model construction module 51 constructs a corresponding vehicle physical system simulation model and a vehicle control system simulation model based on the construction machinery's requirements and analysis information. The model deployment module 52 deploys the vehicle physical system simulation model on a hardware-in-the-loop simulation platform for execution, generates control simulation code based on the vehicle control system simulation model, and deploys the code in the controller under test for execution.

[0063] The data transmission module 53 transmits the construction machinery's sensor data, received by the HIL simulation platform, to the controller under test. The control simulation module 54 uses control simulation code to generate control signals based on the sensor data. The simulation analysis module 55 transmits the control signals to the HIL simulation platform. The vehicle's physical system simulation model then modifies the energy consumption simulation analysis results based on the control signals.

[0064] In one embodiment, the simulation analysis module 55 uses the whole vehicle physical system simulation model and performs real-time simulation processing on the operation of the construction machinery based on the sensor detection data to obtain the energy consumption simulation analysis results; the simulation analysis module 55 uses the whole vehicle physical system simulation model to determine the actual operation status information of the construction machinery based on the control signal, and corrects the energy consumption simulation analysis results based on the actual operation status information.

[0065] Figure 6 FIG. 1 is a schematic diagram of another embodiment of the energy consumption simulation analysis device for engineering machinery according to the present disclosure. Figure 6 As shown, the energy consumption simulation and analysis device for construction machinery may include a memory 601, a processor 602, a communication interface 603, and a bus 604. The memory 601 is used to store instructions, and the processor 602 is coupled to the memory 601. The processor 602 is configured to execute the above-mentioned energy consumption simulation and analysis method for construction machinery based on the instructions stored in the memory 601.

[0066] Memory 601 can be high-speed RAM, non-volatile memory, or a memory array. Memory 601 can also be divided into blocks, and the blocks can be combined into virtual volumes according to certain rules. Processor 602 can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the disclosed method for simulating and analyzing the energy consumption of engineering machinery.

[0067] In one embodiment, Figure 7 As shown, the present disclosure provides an energy consumption simulation and analysis system for engineering machinery, including a hardware-in-the-loop simulation platform 71, a controller to be tested 72, and an energy consumption simulation and analysis device 73 for engineering machinery as in any of the above embodiments.

[0068] In one embodiment, the present disclosure provides a computer-readable storage medium storing computer instructions, which, when executed by a processor, implement the energy consumption simulation analysis method for engineering machinery in any of the above embodiments.

[0069] The energy consumption simulation analysis method, device, system and storage medium of the engineering machinery in the above-mentioned embodiments propose a data-driven energy consumption analysis simulation test technical solution. There is no need to conduct energy consumption tests on engineering machinery products in actual road environments. The acquired data can be used to correct and calibrate the simulation results in real time, and a more realistic simulated energy consumption of engineering machinery can be obtained, thereby improving the efficiency of the energy consumption analysis test of engineering machinery. It can effectively reduce the difficulty of the energy consumption test of engineering machinery, improve the efficiency and accuracy of the energy consumption test, and obtain more accurate energy consumption analysis simulation results of engineering machinery products, thereby improving the user experience.

[0070] The methods and systems of the present disclosure may be implemented in many ways. For example, the methods and systems of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless otherwise specified. In addition, in some embodiments, the present disclosure may also be implemented as programs recorded in a recording medium, which include machine-readable instructions for implementing the methods according to the present disclosure. Therefore, the present disclosure also covers recording media that store programs for executing the methods according to the present disclosure.

[0071] The description of the present disclosure is provided for purposes of illustration and description and is not intended to be exhaustive or to limit the disclosure to the disclosed form. Many modifications and variations will be apparent to those skilled in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present disclosure and to enable those skilled in the art to understand the present disclosure and design various embodiments with various modifications suitable for specific applications.

Claims

1. A method for simulating and analyzing energy consumption of construction machinery, comprising: Build corresponding vehicle physical system simulation models and vehicle control system simulation models based on the needs and analysis information of engineering machinery; Deploy the vehicle physical system simulation model in a hardware-in-the-loop simulation platform for operation, generate control simulation code based on the vehicle control system simulation model and deploy the code in the controller to be tested for operation; Sending the sensor detection data of the engineering machinery received by the hardware-in-the-loop simulation platform to the controller to be tested; generating a control signal based on the sensor detection data using the control simulation code; Sending the control signal to the hardware-in-the-loop simulation platform, and using the vehicle physical system simulation model to correct the energy consumption simulation analysis result based on the control signal; Using the vehicle physical system simulation model and based on the sensor detection data, real-time simulation processing is performed on the operation of the engineering machinery to obtain the energy consumption simulation analysis result; The method of using the vehicle physical system simulation model to correct the energy consumption simulation analysis result based on the control signal includes: The vehicle physical system simulation model is used to determine actual operating state information of the engineering machinery based on the control signal, and the energy consumption simulation analysis result is corrected based on the actual operating state information.

2. The method according to claim 1, wherein The sensor detection data includes: fuel consumption, pressure, and flow detection data; The controller to be tested is the same as the controller currently used by the engineering machinery.

3. The method according to claim 1, wherein The whole vehicle physical system simulation model includes: a hydraulic system simulation model, an engine system simulation model and a working device system simulation model.

4. The method according to claim 3, wherein: The hydraulic system simulation model includes: a pilot operation simulation model, a variable pump simulation model, a multi-way valve simulation model, a hydraulic cylinder simulation model, a rotary motor simulation model, a travel motor simulation model and a hydraulic fan drive model; The engine system simulation model includes: an engine model, a crankshaft model and a starter model.

5. The method according to claim 3, wherein: The working device system simulation model is used to display the dynamic operating status data of the working device of the engineering machinery; wherein the operation of the working device is driven by a hydraulic cylinder, and the dynamic operating status data includes the angle, angular velocity, and motion trajectory of the working device.

6. The method of claim 1, wherein: The hardware-in-the-loop simulation platform includes: A wireless communication receiving module, used for receiving the sensor detection data; A PXI real-time controller is used to run the vehicle simulation code generated based on the vehicle physical system simulation model and to send and receive data through the board communication interface; A first analog simulation board is used to process the transmission and interaction of analog signals between the PXI real-time controller and the controller to be tested; A second analog simulation board is used to process the transmission and interaction of analog signals between the wireless communication receiving module and the PXI real-time controller; Ethernet communication board, used for processing data transmission between the PXI real-time controller and the host computer; A first digital quantity simulation board is used to process the transmission and interaction of digital quantity signals between the PXI real-time controller and the controller to be tested; The second digital quantity simulation board is used to process the transmission and interaction of digital quantity signals between the wireless communication receiving module and the PXI real-time controller.

7. The method according to any one of claims 1 to 6, wherein: The engineering machinery includes: excavators, cranes, and pump trucks; The whole vehicle physical system simulation model and the whole vehicle control system simulation model are simulation models constructed based on the Modelica language.

8. An energy consumption simulation and analysis device for construction machinery, comprising: Model building module, used to build corresponding vehicle physical system simulation models and vehicle control system simulation models based on the needs and analysis information of engineering machinery; A model deployment module is used to deploy the vehicle physical system simulation model in a hardware-in-the-loop simulation platform for operation, generate control simulation code based on the vehicle control system simulation model, and deploy the code in the controller to be tested for operation; a data sending module, configured to send the sensor detection data of the engineering machinery received by the hardware-in-the-loop simulation platform to the controller to be tested; a control simulation module, configured to generate a control signal based on the sensor detection data using the control simulation code; a simulation analysis module, configured to send the control signal to the hardware-in-the-loop simulation platform, and the vehicle physical system simulation model corrects the energy consumption simulation analysis result based on the control signal; The simulation analysis module is configured to use the vehicle physical system simulation model and perform real-time simulation processing on the operation of the engineering machinery based on the sensor detection data to obtain the energy consumption simulation analysis result; The vehicle physical system simulation model is used to determine actual operating state information of the engineering machinery based on the control signal, and the energy consumption simulation analysis result is corrected based on the actual operating state information.

9. The device according to claim 8, wherein The sensor detection data includes: fuel consumption, pressure, and flow detection data; The controller to be tested is the same as the controller currently used by the engineering machinery.

10. The device according to claim 8, wherein The whole vehicle physical system simulation model includes: a hydraulic system simulation model, an engine system simulation model and a working device system simulation model.

11. The device according to claim 10, wherein The hydraulic system simulation model includes: a pilot operation simulation model, a variable pump simulation model, a multi-way valve simulation model, a hydraulic cylinder simulation model, a rotary motor simulation model, a travel motor simulation model and a hydraulic fan drive model; The engine system simulation model includes: an engine model, a crankshaft model and a starter model.

12. The device according to claim 10, wherein The working device system simulation model is used to display the dynamic operating status data of the working device of the engineering machinery; wherein the operation of the working device is driven by a hydraulic cylinder, and the dynamic operating status data includes the angle, angular velocity, and motion trajectory of the working device.

13. The device according to any one of claims 8 to 12, wherein: The engineering machinery includes: excavators, cranes, and pump trucks; The whole vehicle physical system simulation model and the whole vehicle control system simulation model are simulation models constructed based on the Modelica language.

14. An energy consumption simulation and analysis device for construction machinery, comprising: Memory; and a processor coupled to the memory, wherein the processor is configured to execute the method according to any one of claims 1 to 7 based on instructions stored in the memory.

15. An energy consumption simulation analysis system for construction machinery, comprising: A hardware-in-the-loop simulation platform, a controller to be tested, and an energy consumption simulation and analysis device for engineering machinery as claimed in any one of claims 8 to 14.

16. The system of claim 15, wherein: The hardware-in-the-loop simulation platform includes: A wireless communication receiving module is used to receive sensor detection data of engineering machinery; The PXI real-time controller is used to run the vehicle simulation code generated based on the vehicle physical system simulation model and send and receive data through the board communication interface; A first analog simulation board is used to process the transmission and interaction of analog signals between the PXI real-time controller and the controller to be tested; A second analog simulation board is used to process the transmission and interaction of analog signals between the wireless communication receiving module and the PXI real-time controller; Ethernet communication board, used for processing data transmission between the PXI real-time controller and the host computer; A first digital quantity simulation board is used to process the transmission and interaction of digital quantity signals between the PXI real-time controller and the controller to be tested; The second digital quantity simulation board is used to process the transmission and interaction of digital quantity signals between the wireless communication receiving module and the PXI real-time controller. 17 . A computer-readable storage medium storing computer instructions, wherein the instructions are executed by a processor to execute the method according to claim 1 .

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