A hybrid engineering machinery multi-mode control method, device, equipment and medium

Abstract

The application discloses a kind of hybrid engineering machinery multi-mode control method, device, equipment and medium.The method comprises: if the working mode of current vehicle is first mode, then according to the battery capacity of current vehicle, control range extender to generate electricity with first power;If the working mode of current vehicle is second mode, then according to the battery capacity of current vehicle, the average power of the whole machine stage of current vehicle, the maximum value of range extender target power generation power and the minimum value of range extender target power generation power control range extender to generate electricity with second power;If the working mode of current vehicle is third mode, then according to the battery capacity of current vehicle, the average power of the whole machine stage of current vehicle, the minimum value of range extender target power generation power and target working coefficient control range extender to generate electricity with third power, by the technical scheme of the application, can match hybrid loader multi-mode control strategy, realize effective range extender power distribution, and then realize the optimal control of whole machine energy consumption.

Description

A multi-mode control method, device, equipment and medium for hybrid engineering machinery Technical Field

[0001] The embodiments of the present invention relate to the field of vehicle technology, and in particular to a multi-mode control method, device, equipment and medium for hybrid engineering machinery. Background Technology

[0002] The electrification of construction machinery is developing rapidly, with electric loaders gaining widespread adoption due to their superior performance. However, limitations in battery range and charging infrastructure restrict their use in certain scenarios. Hybrid loaders, on the other hand, leverage the rapid response of electric loaders while utilizing range extenders to provide power to the entire machine, significantly increasing their range. Therefore, it is crucial to rationally match the multi-mode control strategies of hybrid loaders to meet the diverse usage scenarios of users. Summary of the Invention

[0003] This invention provides a multi-mode control method, device, equipment, and medium for hybrid construction machinery, which can match the multi-mode control strategy of hybrid loaders, achieve effective range extender power distribution, and thus achieve optimal control of the overall machine energy consumption.

[0004] According to one aspect of the present invention, a multi-mode control method for hybrid engineering machinery is provided, comprising:

[0005] If the current vehicle's operating mode is the first mode, then obtain the current vehicle's battery power and control the range extender to generate electricity at the first power based on the current vehicle's battery power.

[0006] If the current vehicle's operating mode is the second mode, then obtain the current vehicle's battery charge, the current vehicle's overall stage average power, the maximum target power of the range extender, and the minimum target power of the range extender, and control the range extender to generate electricity at the second power based on the current vehicle's battery charge, the current vehicle's overall stage average power, the maximum target power of the range extender, and the minimum target power of the range extender.

[0007] If the current vehicle is operating in the third mode, the battery charge, the average power of the vehicle during the current stage, the minimum target power output of the range extender, and the target operating coefficient are obtained. Based on the battery charge, the average power of the vehicle during the current stage, the minimum target power output of the range extender, and the target operating coefficient, the range extender is controlled to generate electricity at the third power.

[0008] According to another aspect of the present invention, a multi-mode control device for hybrid construction machinery is provided, the multi-mode control device for hybrid construction machinery comprising:

[0009] The first control module is used to obtain the battery power of the current vehicle if the current vehicle's operating mode is the first mode, and control the range extender to generate electricity at the first power according to the current vehicle's battery power.

[0010] The second control module is used to obtain the current vehicle's battery charge, the current vehicle's overall stage average power, the maximum target power of the range extender, and the minimum target power of the range extender if the current vehicle's operating mode is the second mode, and to control the range extender to generate electricity at the second power based on the current vehicle's battery charge, the current vehicle's overall stage average power, the maximum target power of the range extender, and the minimum target power of the range extender.

[0011] The third control module is used to obtain the current vehicle's battery charge, the current vehicle's average power during the current stage, the minimum target power output of the range extender, and the target operating coefficient if the current vehicle's operating mode is the third mode. Based on the current vehicle's battery charge, the current vehicle's average power during the current stage, the minimum target power output of the range extender, and the target operating coefficient, the module controls the range extender to generate electricity at the third power.

[0012] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0013] At least one processor; and

[0014] A memory communicatively connected to the at least one processor; wherein,

[0015] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the multi-mode control method for hybrid engineering machinery according to any embodiment of the present invention.

[0016] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the multi-mode control method for hybrid engineering machinery according to any embodiment of the present invention.

[0017] This invention addresses the problem of unmet user needs caused by the inability to reasonably match the multi-mode control strategy of hybrid loaders. If the current vehicle's operating mode is a first mode, the range extender is controlled to generate electricity at a first power based on the vehicle's battery level; if the current vehicle's operating mode is a second mode, the range extender is controlled to generate electricity at a second power based on the vehicle's battery level, the vehicle's average power output during a given period, the maximum and minimum target power output of the range extender; if the current vehicle's operating mode is a third mode, the range extender is controlled to generate electricity at a third power based on the vehicle's battery level, the vehicle's average power output during a given period, the minimum target power output of the range extender, and the target operating coefficient. This allows for matching the multi-mode control strategy of hybrid loaders, achieving effective range extender power allocation, and ultimately achieving optimal control of the overall machine's energy consumption.

[0018] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 is a flowchart of a multi-mode control method for hybrid engineering machinery according to Embodiment 1 of the present invention;

[0021] Figure 2 is a structural schematic diagram of a multi-mode control device for hybrid engineering machinery according to Embodiment 2 of the present invention;

[0022] Figure 3 is a schematic diagram of the structure of an electronic device according to Embodiment 3 of the present invention. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0025] It is understood that before using the technical solutions disclosed in the various embodiments of this disclosure, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in this disclosure in an appropriate manner in accordance with relevant laws and regulations, and user authorization should be obtained.

[0026] Example 1

[0027] Figure 1 is a flowchart of a multi-mode control method for hybrid construction machinery according to Embodiment 1 of the present invention. This embodiment is applicable to the multi-mode control of range-extended hybrid loaders. The method can be executed by the multi-mode control device for hybrid construction machinery in this embodiment of the present invention. The device can be implemented in software and / or hardware. As shown in Figure 1, the method specifically includes the following steps:

[0028] S110, if the current vehicle's operating mode is the first mode, then obtain the current vehicle's battery power and control the range extender to generate electricity at the first power based on the current vehicle's battery power.

[0029] The first mode can be the extreme pure electric mode, in which the whole machine works in pure electric state, that is, the energy of the whole machine is completely provided by the battery.

[0030] The first power is the power generated by the range extender when it starts in the first mode.

[0031] Specifically, if the current vehicle's operating mode is the first mode, the method of obtaining the vehicle's battery charge and controlling the range extender to generate electricity at a first power based on the current battery charge can be as follows: The user selects the current vehicle operating mode as the first mode on the vehicle's display screen. Then, the system controller obtains the current battery charge. If the current battery charge is greater than or equal to a first preset threshold, the range extender does not operate. If the current battery charge is less than the first preset threshold, the range extender is activated and generates electricity at the power corresponding to the optimal fuel power point (i.e., the first power is the power corresponding to the optimal fuel power point), until the current vehicle's battery charge reaches a second preset threshold, at which point the range extender stops operating. Both the first and second preset thresholds can be determined according to the vehicle's actual needs. The optimal fuel power point can be pre-stored in the vehicle database. The optimal fuel power point can be obtained by conducting multiple tests on the vehicle beforehand or by directly obtaining and storing it in the vehicle database from the vehicle's factory data.

[0032] S120, if the current vehicle's operating mode is the second mode, then obtain the current vehicle's battery charge, the current vehicle's overall stage average power, the maximum target power of the range extender, and the minimum target power of the range extender, and control the range extender to generate electricity at the second power based on the current vehicle's battery charge, the current vehicle's overall stage average power, the maximum target power of the range extender, and the minimum target power of the range extender.

[0033] The second mode can be a fuel-priority mode. The current vehicle's average power output during the current phase is the average power output of the current vehicle within a preset phase time. The maximum and minimum target power output of the range extender can be determined based on the range extender's optimal power output range. The optimal power output range of the range extender can be obtained by pre-testing the range extender or by obtaining the range extender's factory data.

[0034] The second power is the power generated by the range extender when the current vehicle is in the second operating mode.

[0035] Specifically, if the current vehicle's operating mode is the second mode, the following methods are used to control the range extender to generate electricity at the second power: First, if the user selects the second mode on the vehicle's display screen, then the following methods are obtained: First, the current vehicle's battery level, average power output, maximum target power output, and minimum target power output of the range extender are acquired. Second, the optimal power output range of the range extender is determined. Third, the maximum and minimum target power outputs of the range extender are determined based on the optimal power output range. Finally, the optimal power output of the range extender in the current state is determined and set as the second power output, thus controlling the range extender to generate electricity at the second power output.

[0036] S130, if the current vehicle's operating mode is the third mode, then obtain the current vehicle's battery charge, the current vehicle's average power during the current stage, the minimum target power output of the range extender, and the target operating coefficient, and control the range extender to generate electricity at the third power based on the current vehicle's battery charge, the current vehicle's average power during the current stage, the minimum target power output of the range extender, and the target operating coefficient.

[0037] The third mode can be a battery-priority mode. The target operating coefficient is the coefficient for the current vehicle's battery's ability to operate compared to fuel. The third power is the range extender's power output when the vehicle is in the third operating mode.

[0038] Specifically, if the current vehicle's operating mode is the third mode, the following methods are used to control the range extender to generate electricity at the third power: First, the user selects the current vehicle's operating mode as the third mode on the vehicle's display screen. Then, the user obtains the current vehicle's battery level, average power output, minimum target power output of the range extender, and target operating coefficient. Based on these parameters, the user determines the most suitable power output for the range extender in the current state and sets it as the third power output, controlling the range extender to generate electricity at the third power output.

[0039] Optionally, obtain the current vehicle's overall stage average power, including:

[0040] Obtain the range extender's power generation, battery's power generation, and battery's charging amount within the specified time period.

[0041] The average power of the vehicle at any given stage is determined based on the power generation during the range extender stage, the power generation during the battery stage, and the charging amount during the battery stage.

[0042] The timeframe for each stage can be determined based on actual needs and calculation cycles.

[0043] Among them, the power generation during the range extender stage, the power generation during the battery stage, and the charging amount during the battery stage refer to the power generation of the range extender, the power generation of the battery, and the charging amount of the battery within the stage period.

[0044] Specifically, the method for obtaining the range extender's phase power generation, battery's phase power generation, and battery's phase charging amount during a phase period can be: obtaining the range extender's phase power generation, battery's phase power generation, and battery's phase charging amount during a phase period through the current vehicle's battery management system and range extender.

[0045] Specifically, the method for determining the current vehicle's average power across all stages based on the range extender's power generation, battery's power generation, and battery's charging is as follows: determine the vehicle's power consumption across all stages based on the range extender's power generation, battery's power generation, and battery's charging, and then determine the vehicle's average power across all stages based on the power consumption and stage duration.

[0046] For example, the phase time could be set to T. d If the unit is s, then the total system consumption can be:

[0047]

[0048] in, Consumption during the overall machine stage. This refers to the power generation during the range extender stage. This refers to the amount of electricity generated during the battery phase. This refers to the amount of charge generated during the battery phase.

[0049] The average power output of the vehicle at each stage can be determined based on the overall stage consumption and stage time.

[0050]

[0051] in, This represents the average power output of the entire machine per hour, which is the average power output of the vehicle during the current stage.

[0052] By acquiring the range extender's power generation, battery's power generation, and battery's charging amount within a given time period, and by determining the vehicle's average power output for that time period based on these figures, errors can be reduced and calculation accuracy improved by using the vehicle's overall power consumption over that time period.

[0053] Optionally, the range extender can be controlled to generate electricity at a second power output based on the current battery charge, the current average power output of the vehicle at any given stage, the maximum target power output of the range extender, and the minimum target power output of the range extender, including:

[0054] If the average power of the whole machine is less than the minimum target power of the range extender, then the minimum target power of the range extender is determined as the second power.

[0055] If the average power of the whole machine stage is greater than or equal to the minimum target power generation of the range extender, and the average power of the whole machine stage is less than or equal to the maximum target power generation of the range extender, then the second power is determined based on the current battery charge of the vehicle.

[0056] If the average power of the whole machine is greater than the maximum target power of the range extender, then the maximum target power of the range extender is determined as the second power, and the range extender is controlled to generate electricity at the second power.

[0057] Specifically, if the average power of the entire unit is less than the minimum target power output of the range extender, the minimum target power output of the range extender can be determined as the second power in the following way: If the average power of the entire unit is less than the minimum target power output of the range extender, it indicates that the vehicle's power demand is less than the minimum allowable power output, i.e., less than the minimum target power output of the range extender. Therefore, the minimum target power output of the range extender is determined as the second power, and the range extender is controlled to generate electricity at the second power. For example, if the optimal power output range of the range extender is [P]... Best_Low ,P Best_High ], where P Best_Low P is the minimum target power output of the range extender. Best_High If the target power output of the range extender is the maximum value, Less than P Best_Low Then P Best_Low The second power source is determined, and the range extender is controlled to generate electricity at the second power source.

[0058] Specifically, if the average power of the entire vehicle stage is greater than or equal to the minimum target power generation of the range extender, and the average power of the entire vehicle stage is less than or equal to the maximum target power generation of the range extender, then the method for determining the second power based on the current battery charge of the vehicle can be as follows: If the average power of the entire vehicle stage is greater than or equal to the minimum target power generation of the range extender, and the average power of the entire vehicle stage is less than or equal to the maximum target power generation of the range extender, it indicates that the vehicle's current state is that the power demand of the vehicle is within the allowable power generation range. Therefore, the second power is determined based on the current battery charge of the vehicle, the optimal state of charge range of the battery, the power point within the optimal power generation range of the range extender, and the set power generation rules, and the range extender is controlled to generate power at the second power. The set power generation rules can be preset according to actual needs and stored. There can be multiple power generation rules. For example, if the current battery charge of the vehicle is less than the minimum value within the optimal state of charge range of the battery, then the second power should be the power corresponding to the power point within the optimal power generation range of the range extender that is greater than the average power of the entire vehicle stage and closest to the average power of the entire vehicle stage.

[0059] Specifically, if the average power output of the entire vehicle exceeds the maximum target power output of the range extender, then the maximum target power output of the range extender is determined as the second power, and the range extender is controlled to generate electricity at the second power. This can be achieved by: if the average power output of the entire vehicle exceeds the maximum target power output of the range extender, it indicates that the vehicle's power demand exceeds the maximum allowable power output, i.e., it exceeds the maximum target power output of the range extender. Therefore, the maximum target power output of the range extender is determined as the second power, and the range extender is controlled to generate electricity at the second power. It should be noted that when the range extender generates electricity at its maximum target power output, the other energy required by the vehicle needs to be supplemented by the battery. For example, if... Greater than P Best_High Then P Best_High The second power source is determined, and the range extender is controlled to generate electricity at the second power source.

[0060] By determining the relationship between the average power of the vehicle in the second mode, the minimum target power generation of the range extender, and the maximum target power generation of the range extender, the power generation of the range extender can be quickly determined. When the vehicle is in the second mode, the power generation of the range extender and the power discharge of the battery can be reasonably allocated to achieve optimal control of the overall energy consumption.

[0061] Optionally, the second power can be determined based on the current battery charge of the vehicle, including:

[0062] Obtain the minimum target battery capacity and the set of the first target power points of the range extender;

[0063] If the current battery charge of the vehicle is less than the minimum target battery charge, then the power corresponding to the power point in the first target power point set that is greater than the average power of the whole machine stage and has the smallest difference from the average power of the whole machine stage is determined as the second power.

[0064] If the current battery charge of the vehicle is greater than or equal to the minimum target battery charge, then the power point in the first target power point set that is less than or equal to the average power of the whole machine stage and has the smallest difference from the average power of the whole machine stage is determined as the second power.

[0065] The minimum target battery capacity can be obtained based on the battery's optimal state of charge (SOC) range. This SOC range can be determined through testing the vehicle battery or from the battery's manufacturer's specifications. The first target power point set for the range extender comprises all power points within the range extender's optimal power output range in the second mode. Specifically, it includes all power points between the minimum and maximum target power output of the range extender. These power points can be obtained through testing the range extender or based on historical experience.

[0066] Specifically, the minimum target battery capacity and the set of the first target power points of the range extender can be obtained by: obtaining the minimum target battery capacity and the set of the first target power points of the range extender based on historical test results of the vehicle's battery and range extender.

[0067] Specifically, if the current battery charge of the vehicle is less than the minimum target battery charge, the power corresponding to the power point in the first target power point set that is greater than the average power of the whole machine stage and has the smallest difference from the average power of the whole machine stage can be determined as the second power. If the current battery charge of the vehicle is less than the minimum target battery charge, it means that the current battery charge of the vehicle is below the optimal state of charge range of the battery. Then, all power points in the first target power point set are determined, and the power corresponding to the power point that is greater than the average power of the whole machine stage and has the smallest difference from the average power of the whole machine stage or is closest to the average power of the whole machine stage is determined as the second power.

[0068] Specifically, if the current battery charge of the vehicle is greater than or equal to the minimum target battery charge, the power point in the first target power point set that is less than or equal to the average power of the entire machine stage and has the smallest difference from the average power of the entire machine stage can be determined as the second power point in the following ways: if the current battery charge of the vehicle is greater than or equal to the minimum target battery charge and less than or equal to the maximum target battery charge, or if the current battery charge of the vehicle is greater than the maximum target battery charge, wherein the maximum target battery charge can be obtained synchronously with the battery's optimal state of charge range when the minimum target battery charge is obtained, then the power point corresponding to the power point that is less than or equal to the average power of the entire machine stage and has the smallest difference from the average power of the entire machine stage or is closest to the average power of the entire machine stage can be determined as the second power point.

[0069] For example, it could be when Greater than or equal to P Best_Low ,and Less than or equal to P Best_High Based on the current battery charge of the vehicle, the second power is determined, and the optimal state of charge range of the battery is obtained as [SOC]. Best_Low SOC Best_High ], of which SOC Best_Low SOC is the minimum target battery capacity. Best_High To obtain the maximum target battery capacity, the first target power point set of the range extender can include P. Best_Low P1, P2...P Best_High Get the current battery charge of the vehicle. If the current battery charge is less than the minimum target battery charge (i.e., current SOC < SOC), then... Best_Low At that time, the power generation P of the range extender Rcu The power is the power point in the first target power point set that is greater than the average power of the entire machine during the stage and has the smallest difference from the average power of the entire machine during the stage; if the current battery capacity of the vehicle is greater than or equal to the minimum target battery capacity, i.e., the current SOC > SOC Best_High At that time, or, SOC Best_Low ≤SOC≤SOC Best_High At that time, the power generation P of the range extender Rcu The power is the power point in the first target power point set that is greater than the average power of the whole machine stage and has the smallest difference from the average power of the whole machine stage.

[0070] By comparing the current battery charge of the vehicle with the target battery charge, the power output of the range extender can be determined more rationally, achieving optimal control of the overall energy consumption and meeting the user's needs in the second mode.

[0071] Optionally, the range extender can be controlled to generate electricity at a third power level based on the current battery charge, the current average power output of the vehicle, the minimum target power output of the range extender, and the target operating coefficient, including:

[0072] If the average power of the whole machine is less than the minimum target power generation of the range extender, and the current battery charge of the vehicle is less than the minimum battery charge in the third mode, then the minimum target power generation of the range extender will be determined as the third power.

[0073] If the average power of the whole machine stage is greater than or equal to the minimum target power generation of the range extender, then the third power is determined according to the target operating coefficient, and the range extender is controlled to generate electricity at the third power.

[0074] The minimum battery capacity in the third mode can be obtained based on historical test results.

[0075] Specifically, if the average power of the entire vehicle is less than the minimum target power output of the range extender, and the current battery level of the vehicle is less than the minimum battery level in the third mode, then the minimum target power output of the range extender can be determined as the third power in the following ways: If the average power of the entire vehicle is less than the minimum target power output of the range extender, it indicates that the vehicle's current state is that the vehicle's required power is less than the minimum allowable power output, i.e., less than the minimum target power output of the range extender. Then, the range extender's operation is determined based on the current battery level. If the current battery level is greater than or equal to the minimum battery level in the third mode, the range extender does not need to operate. If the current battery level is less than the minimum battery level in the third mode, then the minimum target power output of the range extender is determined as the third power, and the range extender is controlled to generate power at the third power. For example, in the third mode, if... Less than P Best_Low The minimum battery charge in the third mode is the SOC. min If the current SOC ≥ SOC min If the current SOC < SOC, the range extender will not work; min Then the minimum target power output P of the range extender will be... Best_Low It was determined to be the third power.

[0076] Specifically, if the average power of the entire unit is greater than or equal to the minimum target power generation of the range extender, the third power is determined based on the target operating coefficient, and the range extender is controlled to generate electricity at the third power. This can be done as follows: If the average power of the entire unit is greater than or equal to the minimum target power generation of the range extender, and the average power of the entire unit is less than or equal to the maximum target power generation of the range extender, it indicates that the vehicle's power demand is within the allowable power generation range. Alternatively, if the average power of the entire unit is greater than the maximum target power generation of the range extender, it indicates that the vehicle's power demand is greater than the maximum allowable power generation. In this case, the target operating coefficient is obtained, and it is determined whether the range extender needs to operate based on the target operating coefficient. If it needs to operate, the third power is determined based on the target operating coefficient, and the range extender is controlled to generate electricity at the third power.

[0077] By determining the relationship between the average power of the vehicle in the third mode and the minimum target power output of the range extender, the power output of the range extender can be quickly determined. This allows for the reasonable allocation of the range extender's power output when the vehicle is in the third mode, achieving optimal control of the overall energy consumption.

[0078] Optionally, the third power is determined based on the target operating factor, including:

[0079] Obtain the second target power point set for the range extender;

[0080] If the average power of the whole machine stage is greater than or equal to the minimum target power of the range extender, and the average power of the whole machine stage is less than or equal to the maximum target power of the range extender, then the power point in the second target power point set that is less than or equal to the average power of the whole machine stage and has the smallest difference from the average power of the whole machine stage is determined as the fourth power.

[0081] If the average power of the whole machine is greater than the maximum target power of the range extender, then the maximum target power of the range extender will be determined as the fifth power.

[0082] The fourth or fifth power is determined as the range extender stage power, and the target operating coefficient is determined based on the range extender stage power.

[0083] If the target operating coefficient is less than or equal to the first threshold, then the power corresponding to the power point in the second target power point set that is greater than the average power of the whole machine stage and has the smallest difference from the average power of the whole machine stage is determined as the third power.

[0084] The second target power point set for the range extender comprises all power points within the optimal power generation range of the range extender in the third mode. The fourth and fifth power values ​​are the power values ​​obtained during the process of acquiring the range extender's power generation, primarily used to determine the target operating coefficient. The first threshold can be set according to actual needs.

[0085] Specifically, the second target power point set of the range extender can be obtained by: obtaining the second target power point set of the range extender based on the historical test results of the vehicle's range extender.

[0086] Specifically, if the average power of the whole machine stage is greater than or equal to the minimum target power generation of the range extender, and the average power of the whole machine stage is less than or equal to the maximum target power generation of the range extender, then the power point in the second target power point set that is less than or equal to the average power of the whole machine stage and has the smallest difference from the average power of the whole machine stage can be determined as the fourth power point.

[0087] Specifically, if the average power of the whole machine stage is greater than the maximum target power of the range extender, the maximum target power of the range extender can be determined as the fifth power in the following way: if the average power of the whole machine stage is greater than the maximum target power of the range extender, it means that the vehicle's current state is that the vehicle's required power is greater than the maximum allowable power generation, that is, greater than the maximum target power of the range extender, then the maximum target power of the range extender is determined as the fifth power.

[0088] Specifically, the method for determining the fourth or fifth power as the range extender stage power and determining the target operating coefficient based on the range extender stage power can be as follows: determine the fourth or fifth power as the range extender stage power, obtain the current vehicle's fuel-operable time based on the range extender stage power, obtain the battery-operable time based on the current vehicle's battery charge, and determine the target operating coefficient based on the current vehicle's fuel-operable time and battery-operable time.

[0089] Specifically, if the target operating coefficient is less than or equal to the first threshold, the power corresponding to the power point in the second target power point set that is greater than the average power of the entire machine stage and has the smallest difference from the average power of the entire machine stage can be determined as the third power in the following ways: If the target operating coefficient is greater than the first threshold, it indicates that the battery's working time is greater than the fuel's working time. At this time, the vehicle's battery charge is relatively sufficient, and it can directly operate on pure electric power. It should be noted that the vehicle's battery charge and fuel information are acquired in real time, so the target operating coefficient is in a dynamic adjustment state. If the target operating coefficient is less than or equal to the first threshold, it indicates that the battery's working time is less than the fuel's working time. In this case, the power point that is greater than the average power of the entire machine stage and has the smallest difference from the average power of the entire machine stage, or the power point that is closest to the average power of the entire machine stage, is selected from all power points and determined as the third power. It should be noted that when the range extender generates electricity according to the third power, the power generation needs to be continuously adjusted according to the target operating coefficient until the target operating coefficient converges towards the first threshold, so that the battery and range extender consume electricity synchronously to meet the consumption requirements of the entire machine. The first threshold can be set to 1.

[0090] By determining the third power by the target operating coefficient, the power generation of the battery and the range extender can be reasonably allocated, thereby allowing the battery and the range extender to consume power synchronously, meeting the overall power consumption requirements and the user's needs in the third mode.

[0091] Optionally, the target operating factor can be determined based on the range extender's stage power, including:

[0092] Obtain the current vehicle's remaining fuel, fuel-generated electricity per liter, battery capacity, battery power limit, and range extender stage power;

[0093] The working time of fuel is determined based on the remaining fuel, the amount of electricity generated per liter of fuel, and the stage power of the range extender.

[0094] The battery's working time is determined based on the current battery charge, battery limit power charge, battery capacity, the current vehicle's average power during the current stage, and the range extender's power during the current stage.

[0095] The target operating coefficient for the current vehicle is determined based on the battery operating time and the fuel operating time.

[0096] The stage power of the range extender can be obtained by acquiring the stage power generation of the range extender, or the fourth or fifth power can be determined as the stage power of the range extender.

[0097] Specifically, the methods for obtaining the current vehicle's remaining fuel, fuel-generated electricity per liter, battery capacity, battery limit power, and range extender stage power can be as follows: obtain the current vehicle's battery capacity and battery limit power through the vehicle's battery management system; obtain the current vehicle's remaining fuel and fuel-generated electricity per liter through the fuel sensor; and obtain the range extender stage power through the obtained stage power generation of the range extender or the fourth or fifth power in the third mode.

[0098] Specifically, the method for determining the fuel-operable time based on the remaining fuel, the power generated per liter of fuel, and the stage power of the range extender can be as follows: The fuel-operable time can be calculated based on the remaining fuel, the power generated per liter of fuel, and the stage power of the range extender. For example, the fuel-operable time could be:

[0099]

[0100] Among them, T oil For fuel-powered operating time, R oil P represents the remaining fuel quantity. L To increase fuel-fired power generation, This refers to the power output of the range extender during its phase.

[0101] Specifically, determining the battery's working time based on the current battery charge, battery limit power, battery capacity, the vehicle's average power output during the current phase, and the range extender's power output during the current phase can be done as follows: The battery's working time can be calculated based on the current battery charge, battery limit power, battery capacity, the vehicle's average power output during the current phase, and the range extender's power output during the current phase. For example, the battery's working time could be:

[0102]

[0103] Among them, T SOC For battery operating time, SOC Now SOC (State of Charge) is the current battery charge of the vehicle. Limit Capacitor limits battery power and capacity. Bat For battery capacity, This represents the current vehicle's overall average power output during the current phase. This refers to the power output of the range extender during its phase.

[0104] Specifically, the target operating coefficient of a vehicle can be determined based on its battery operating time and fuel operating time by calculating the target operating coefficient. For example, the target operating coefficient could be:

[0105]

[0106] Among them, T SOC_oil T is the target working factor. SOC For battery operating time, T oil This refers to the operating time while fuel is running.

[0107] By analyzing the current battery charge and remaining fuel level of the vehicle, the battery operating time and fuel operating time are obtained. The target operating coefficient is then derived from the battery operating time and fuel operating time. This target operating coefficient allows for the rational allocation of the range extender's power generation and battery discharge power, achieving optimal control of the overall energy consumption.

[0108] The technical solution of this embodiment solves the problem of not being able to meet user needs due to the inability to reasonably match the multi-mode control strategy of the hybrid loader. If the current vehicle's operating mode is the first mode, the range extender is controlled to generate electricity at the first power based on the current vehicle's battery level; if the current vehicle's operating mode is the second mode, the range extender is controlled to generate electricity at the second power based on the current vehicle's battery level, the current vehicle's average power during the current stage, the maximum and minimum target power generation of the range extender; if the current vehicle's operating mode is the third mode, the range extender is controlled to generate electricity at the third power based on the current vehicle's battery level, the current vehicle's average power during the current stage, the minimum target power generation of the range extender, and the target operating coefficient. It can match the multi-mode control strategy of the hybrid loader, achieve effective range extender power allocation, and thus achieve optimal control of the overall energy consumption.

[0109] Example 2

[0110] Figure 2 is a schematic diagram of a multi-mode control device for hybrid construction machinery according to Embodiment 2 of the present invention. This embodiment is applicable to the multi-mode control of range-extended hybrid loaders. The device can be implemented in software and / or hardware. The device can be integrated into any device that provides multi-mode control functionality for hybrid construction machinery. As shown in Figure 2, the multi-mode control device for hybrid construction machinery specifically includes: a first control module 210, a second control module 220, and a third control module 230.

[0111] The first control module 210 is used to obtain the battery power of the current vehicle if the current vehicle's working mode is the first mode, and control the range extender to generate electricity at the first power according to the current vehicle's battery power.

[0112] The second control module 220 is used to obtain the current vehicle's battery charge, the current vehicle's overall stage average power, the maximum target power of the range extender, and the minimum target power of the range extender if the current vehicle's operating mode is the second mode, and to control the range extender to generate electricity at the second power based on the current vehicle's battery charge, the current vehicle's overall stage average power, the maximum target power of the range extender, and the minimum target power of the range extender.

[0113] The third control module 230 is used to obtain the current vehicle's battery charge, the current vehicle's average power during the current stage, the minimum target power output of the range extender, and the target operating coefficient if the current vehicle's operating mode is the third mode, and to control the range extender to generate electricity at the third power based on the current vehicle's battery charge, the current vehicle's average power during the current stage, the minimum target power output of the range extender, and the target operating coefficient.

[0114] Optionally, the second control module is specifically used for:

[0115] Obtain the range extender's power generation, battery's power generation, and battery's charging amount within the specified time period.

[0116] The average power of the vehicle at any given stage is determined based on the power generation during the range extender stage, the power generation during the battery stage, and the charging amount during the battery stage.

[0117] Optionally, the second control module is specifically used for:

[0118] If the average power of the whole machine is less than the minimum target power of the range extender, then the minimum target power of the range extender is determined as the second power.

[0119] If the average power of the whole machine stage is greater than or equal to the minimum target power generation of the range extender, and the average power of the whole machine stage is less than or equal to the maximum target power generation of the range extender, then the second power is determined based on the current battery charge of the vehicle.

[0120] If the average power of the whole machine is greater than the maximum target power of the range extender, then the maximum target power of the range extender is determined as the second power, and the range extender is controlled to generate electricity at the second power.

[0121] Optionally, the second control module is specifically used for:

[0122] Obtain the minimum target battery capacity and the set of the first target power points of the range extender;

[0123] If the current battery charge of the vehicle is less than the minimum target battery charge, then the power corresponding to the power point in the first target power point set that is greater than the average power of the whole machine stage and has the smallest difference from the average power of the whole machine stage is determined as the second power.

[0124] If the current battery charge of the vehicle is greater than or equal to the minimum target battery charge, then the power point in the first target power point set that is less than or equal to the average power of the whole machine stage and has the smallest difference from the average power of the whole machine stage is determined as the second power.

[0125] Optionally, the third control module is specifically used for:

[0126] If the average power of the whole machine is less than the minimum target power generation of the range extender, and the current battery charge of the vehicle is less than the minimum battery charge in the third mode, then the minimum target power generation of the range extender will be determined as the third power.

[0127] If the average power of the whole machine stage is greater than or equal to the minimum target power generation of the range extender, then the third power is determined according to the target operating coefficient, and the range extender is controlled to generate electricity at the third power.

[0128] Optionally, the third control module is specifically used for:

[0129] Obtain the second target power point set for the range extender;

[0130] If the average power of the whole machine stage is greater than or equal to the minimum target power of the range extender, and the average power of the whole machine stage is less than or equal to the maximum target power of the range extender, then the power point in the second target power point set that is less than or equal to the average power of the whole machine stage and has the smallest difference from the average power of the whole machine stage is determined as the fourth power.

[0131] If the average power of the whole machine is greater than the maximum target power of the range extender, then the maximum target power of the range extender will be determined as the fifth power.

[0132] The fourth or fifth power is determined as the range extender stage power, and the target operating coefficient is determined based on the range extender stage power.

[0133] If the target operating coefficient is less than or equal to the first threshold, then the power corresponding to the power point in the second target power point set that is greater than the average power of the whole machine stage and has the smallest difference from the average power of the whole machine stage is determined as the third power.

[0134] Optionally, the third control module is specifically used for:

[0135] Obtain the current vehicle's remaining fuel, fuel-generated electricity per liter, battery capacity, battery power limit, and range extender stage power;

[0136] The working time of fuel is determined based on the remaining fuel, the amount of electricity generated per liter of fuel, and the stage power of the range extender.

[0137] The battery's working time is determined based on the current battery charge, battery limit power charge, battery capacity, the current vehicle's average power during the current stage, and the range extender's power during the current stage.

[0138] The target operating coefficient for the current vehicle is determined based on the battery operating time and the fuel operating time.

[0139] The above-described products can perform the methods provided in any embodiment of the present invention, and have the corresponding functional modules and beneficial effects for performing the methods.

[0140] Example 3

[0141] Figure 3 is a schematic diagram of an electronic device according to Embodiment 3 of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0142] As shown in Figure 3, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer programs stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0143] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0144] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as multi-mode control methods for hybrid engineering machinery.

[0145] In some embodiments, the hybrid construction machinery multi-mode control method can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the hybrid construction machinery multi-mode control method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the hybrid construction machinery multi-mode control method by any other suitable means (e.g., by means of firmware).

[0146] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0147] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0148] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0149] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0150] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0151] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0152] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0153] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A multi-mode control method for hybrid engineering machinery, characterized in that, include: If the current vehicle's operating mode is the first mode, then obtain the current vehicle's battery power and control the range extender to generate electricity at the first power based on the current vehicle's battery power. If the current vehicle's operating mode is the second mode, then the system acquires the vehicle's battery charge, the vehicle's average power output during the current phase, the maximum target power output of the range extender, and the minimum target power output of the range extender. Based on these parameters, the system controls the range extender to generate power at the second power level. If the current vehicle's operating mode is the third mode, then the system acquires the vehicle's battery charge, the vehicle's average power output during the current phase, the minimum target power output of the range extender, and the minimum target power output of the range extender. The system uses a coefficient to control the range extender to generate electricity at a third power based on the current vehicle's battery charge, the current vehicle's average power output during the current phase, the minimum target power output of the range extender, and the target operating coefficient. This includes: if the average power output during the current phase is less than the minimum target power output of the range extender, and the current vehicle's battery charge is less than the minimum battery charge in the third mode, then the minimum target power output of the range extender is determined as the third power; if the average power output during the current phase is greater than or equal to the minimum target power output of the range extender, then the third power is determined based on the target operating coefficient, and the range extender is controlled to generate electricity at the third power.

2. The method according to claim 1, characterized in that, The system obtains the current vehicle's overall average power during the current phase, including: obtaining the range extender's power generation, battery's power generation, and battery's charging amount during the phase; and determining the current vehicle's overall average power during the current phase based on the range extender's power generation, battery's power generation, and battery's charging amount.

3. The method according to claim 1, characterized in that, The range extender is controlled to generate electricity at a second power based on the current vehicle battery charge, the current vehicle's average power output during the current phase, the maximum target power output of the range extender, and the minimum target power output of the range extender. This includes: if the average power output during the current phase is less than the minimum target power output of the range extender, then the minimum target power output of the range extender is determined as the second power; if the average power output during the current phase is greater than or equal to the minimum target power output of the range extender, and the average power output during the current phase is less than or equal to the maximum target power output of the range extender, then the second power is determined based on the current vehicle battery charge; if the average power output during the current phase is greater than the maximum target power output of the range extender, then the maximum target power output of the range extender is determined as the second power, and the range extender is controlled to generate electricity at the second power.

4. The method according to claim 3, characterized in that, The second power is determined based on the current battery charge of the vehicle, including: obtaining the minimum target battery charge and the first target power point set of the range extender; if the current battery charge of the vehicle is less than the minimum target battery charge, the power corresponding to the power point in the first target power point set that is greater than the average power of the whole machine stage and has the smallest difference from the average power of the whole machine stage is determined as the second power; if the current battery charge of the vehicle is greater than or equal to the minimum target battery charge, the power point in the first target power point set that is less than or equal to the average power of the whole machine stage and has the smallest difference from the average power of the whole machine stage is determined as the second power.

5. The method according to claim 1, characterized in that, The third power is determined based on the target operating coefficient, including: obtaining the second target power point set of the range extender; if the average power of the whole machine stage is greater than or equal to the minimum target power generation of the range extender, and the average power of the whole machine stage is less than or equal to the maximum target power generation of the range extender, then the power point in the second target power point set that is less than or equal to the average power of the whole machine stage and has the smallest difference from the average power of the whole machine stage is determined as the fourth power; if the average power of the whole machine stage is greater than the maximum target power generation of the range extender, then the maximum target power generation of the range extender is determined as the fifth power; the fourth power or the fifth power is determined as the range extender stage power, and the target operating coefficient is determined based on the range extender stage power; if the target operating coefficient is less than or equal to the first threshold, then the power corresponding to the power point in the second target power point set that is greater than the average power of the whole machine stage and has the smallest difference from the average power of the whole machine stage is determined as the third power.

6. The method according to claim 5, characterized in that, The target operating coefficient is determined based on the range extender's stage power, including: obtaining the current vehicle's remaining fuel, fuel-generated electricity per liter, battery capacity, battery power limit, and range extender stage power; determining the fuel-operable time based on the remaining fuel, fuel-generated electricity per liter, and range extender stage power; determining the battery-operable time based on the current vehicle's battery power, battery power limit, battery capacity, current vehicle's overall stage average power, and range extender stage power; and determining the current vehicle's target operating coefficient based on the battery-operable time and fuel-operable time.

7. A multi-mode control device for hybrid engineering machinery, characterized in that, include: The first control module is used to obtain the battery power of the current vehicle if the current vehicle's operating mode is the first mode, and control the range extender to generate electricity at the first power according to the current vehicle's battery power. The second control module is used to, if the current vehicle's operating mode is the second mode, acquire the current vehicle's battery charge, the current vehicle's average power output during the current phase, the maximum target power output of the range extender, and the minimum target power output of the range extender, and control the range extender to generate electricity at the second power based on the current vehicle's battery charge, the current vehicle's average power output during the current phase, the maximum target power output of the range extender, and the minimum target power output of the range extender; the third control module is used to, if the current vehicle's operating mode is the third mode, acquire the current vehicle's battery charge, the current vehicle's average power output during the current phase, the maximum target power output of the range extender, and the minimum target power output of the range extender. The system determines the minimum value and target operating coefficient, and controls the range extender to generate electricity at the third power based on the current vehicle's battery charge, the current vehicle's average power during the current stage, the minimum target power generation of the range extender, and the target operating coefficient. Specifically, if the average power during the current stage is less than the minimum target power generation of the range extender, and the current vehicle's battery charge is less than the minimum battery charge in the third mode, then the minimum target power generation of the range extender is determined as the third power. If the average power during the current stage is greater than or equal to the minimum target power generation of the range extender, then the third power is determined based on the target operating coefficient, and the range extender is controlled to generate electricity at the third power.

8. An electronic device, characterized in that, The electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the multi-mode control method for hybrid engineering machinery as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that are used to cause a processor to execute the multi-mode control method for hybrid engineering machinery as described in any one of claims 1-6.

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