An energy management system, method, loader, and work vehicle for a fuel cell loader

Abstract

The application discloses an energy management system and method for a fuel cell loader, a loader and an engineering vehicle, and the system comprises a control layer and an execution layer; the control layer is used for issuing a control signal to a fuel cell and an energy storage device based on a configured energy management strategy according to a driver operation signal, and controlling output power of the fuel cell and the energy storage device; the energy management strategy is used for adjusting power generation of an expected output of the fuel cell by predicting energy consumption of each working cycle of the loader, together with an error of an actual consumption value and an expected value of the energy consumption, so as to approach an actual required energy value of the fuel cell, improve power generation efficiency of the fuel cell and save hydrogen fuel consumption.

Description

Technical Field

[0001] This invention relates to an energy management system, method, loader, and engineering vehicle for fuel cell loaders, belonging to the field of energy management technology. Background Technology

[0002] Loaders are among the most typical types of construction machinery, playing a vital role in national economic development. In recent years, the rapid development of new energy technologies has provided strong support for the green development of loaders. Fuel cells, a new type of energy system, are gradually being promoted and applied in the loader field due to their stable power output characteristics and near-zero emissions. Generally, fuel cells are used in combination with power battery packs to provide the energy required by the loader. The fuel cell, with its high energy density, charges the battery pack, which in turn, with its high instantaneous power density, directly provides the instantaneous energy required by the entire machine to the drive system. However, the output power of a fuel cell is generally negatively correlated with its energy utilization rate; the higher the output power, the lower the energy utilization rate. Therefore, determining a reasonable energy management method is crucial to improving the hydrogen fuel utilization rate of fuel cells while meeting the loader's power requirements.

[0003] Chinese invention patent CN202310023998.6 provides a hybrid energy management method for fuel cells and batteries. This method ensures that the system achieves optimization goals under various operating conditions and under the aging of both fuel cells and batteries by adjusting the model parameters used in real time. Chinese invention patent CN202211259019.9 provides an energy management method for fuel cell trams based on pseudospectral and PSO algorithms. This method considers the impact of traffic lights between two stations on the operating status of fuel cell trams in urban areas; optimizes the speed trajectory of fuel cell trams between traffic lights, enabling them to pass through intersections without stopping; and uses a particle swarm optimization algorithm to efficiently and rationally allocate the output power of the fuel cell and the power battery, achieving energy-saving driving. Chinese invention patent CN202211563210.2 provides an energy management method for fuel cell hybrid vehicles that considers battery thermal health constraints. It first uses an online Markov predictor to accurately determine the vehicle's power demand in the short term, and then obtains the optimal control variables based on the designed energy management strategy. This process fully ensures the details of the vehicle's dynamic operating conditions and achieves a balance between control effectiveness and various operating costs. During vehicle use, it effectively controls the power battery temperature and extends its lifespan, thereby maximizing the economic potential of fuel cell hybrid vehicles. Chinese invention patent CN202211278760.X provides a time-based on-board fuel cell energy management method. The fuel cell system outputs a fixed power P-0 for the first T minutes, and the operating time tt of the fuel cell system is started simultaneously, with time periods divided into T-minute intervals. Every T minutes, the average vehicle power PV(tt) of the previous time period is used as the output power PN of the fuel cell system for the next time period. The output power of the fuel cell system is changed every T minutes. Chinese invention patent CN202211256063.4 provides a method, device, equipment, and storage medium for energy management and control of fuel cell vehicles. By acquiring the remaining charge value of the power battery, the current vehicle operating mode of the fuel cell vehicle is obtained. The current vehicle operating mode is adjusted based on the remaining charge value of the power battery and a critical value of the remaining charge of the current vehicle operating mode, resulting in an updated vehicle operating mode. Based on the updated vehicle operating mode, an output strategy for the fuel cell is obtained, and the energy output of the fuel cell is controlled according to the output strategy. The current remaining charge value of the power battery is matched with the current vehicle operating mode, and the matching result determines whether the vehicle operating mode needs adjustment, thereby adjusting the fuel cell output strategy. Compared with existing technologies, this invention achieves the goal of adjusting the fuel cell output based on the remaining charge value of the power battery, thereby improving the utilization rate of hydrogen fuel.

[0004] Analysis of publicly available technologies reveals that existing strategies primarily allocate energy in real-time to the hybrid power system's energy source based on the system's required torque or power, combined with the system's real-time status, using different optimization algorithms. This approach is suitable for hybrid systems with fast power response speeds, such as gasoline-electric hybrid systems. However, for hybrid systems like fuel cell + battery pack systems, the instantaneous power density of the fuel cell changes slowly, making it difficult to instantly release the energy allocated by the strategy. This is especially true for construction machinery like loaders, which have short operating cycles and large instantaneous power demand variations; existing strategies clearly struggle to leverage the advantages of fuel cells. Therefore, designing an energy management system and method specifically for fuel cell loaders is essential. Summary of the Invention

[0005] The purpose of this invention is to provide an energy management system, method, loader, and engineering vehicle for fuel cell loaders. This method aims to maximize the utilization rate of hydrogen fuel in the fuel cell by adjusting the fuel cell's power output based on the difference between the actual electrical energy consumed and the expected power generation during the loader's operating cycle. This energy management method avoids the instantaneous power requirements of existing energy management methods for hybrid systems, fully utilizes the advantages of high energy density in fuel cells and high power density in energy storage devices, improves the operating efficiency of fuel cells, and avoids the impact of instantaneous high power demands on fuel cells.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] This invention provides an energy management system for fuel cell loaders, comprising a control layer and an execution layer;

[0008] The control layer is used to send control signals to the fuel cell and energy storage device based on the driver's operation signal and the configured energy management strategy, and control the output power of the fuel cell and energy storage device.

[0009] The execution layer is used to power the chassis motor and superstructure motor of the loader based on the fuel cell and energy storage device, and drive the tires, boom mechanism and steering mechanism of the loader;

[0010] The energy management strategy configured in the control layer is as follows:

[0011] A. When the state of charge (SOC) of the energy storage device satisfies SOC max ≥SOC(t)>SOC target hour:

[0012] If the loader's power requirement meets P req (t)>0 and P F (t)>P F_minTo control the fuel cell to operate in a reduced-power mode, specifically, the output power of the fuel cell and energy storage device is controlled as follows:

[0013] P b (t)=P req (t),

[0014] Among them, P req (t) represents the loader's power demand at time t, and SOC(t) represents the state of charge of the energy storage device at time t. max State of Charge (SOC) represents the maximum state of charge of an energy storage device. target P represents the target value of the state of charge of the energy storage device. b (t) represents the output power of the energy storage device at time t, P F (t) represents the fuel cell output power at time t, P F_min This indicates the minimum output power of the fuel cell. Δt represents the expected output power of the fuel cell, Δt represents the time the fuel cell needs to work continuously during the (n-1)th work cycle, and k represents the rate of change of the fuel cell's output power.

[0015] If the loader's power requirement meets P req When (t)≤0, the fuel cell is controlled to operate in shutdown mode. Specifically, the output power of the fuel cell and energy storage device is controlled as follows:

[0016] P b (t)=P req (t), P F (t) = 0;

[0017] B. When the state of charge (SOC) of the energy storage device satisfies SOC min ≤SOC(t)≤SOC target hour:

[0018] If the loader requires power P req (t)>0 and P F (t)>P F_min To control the fuel cell to operate in constant power mode, specifically, the output power of the fuel cell and energy storage device is controlled as follows:

[0019] P b (t)=P req (t),

[0020] If the loader requires power P req If (t) ≤ 0, the fuel cell is controlled to operate in half-power mode. Specifically, the output power of the fuel cell and energy storage device is controlled as follows:

[0021] P b (t)=P req (t),

[0022] Among them, SOC min P represents the minimum state of charge of the energy storage device. F_max This indicates the maximum output power of the fuel cell.

[0023] C. When the state of charge (SOC) of the energy storage device satisfies SOC min When SOC(t) > 0:

[0024] If the loader requires power P req (t)>0 and P F (t)>P F_min To control the fuel cell to operate in full-power mode, specifically, the output power of the fuel cell and energy storage device is controlled as follows:

[0025] P b (t)=P req (t), P F (t)=P F_max ;

[0026] If the loader requires power P req If (t)≤0, the fuel cell is controlled to operate in power-up mode, specifically by controlling the output power of the fuel cell and energy storage device as follows:

[0027] P b (t)=P req (t),

[0028] Furthermore, the control layer includes:

[0029] The vehicle control unit is used to send control signals to the fuel cell control unit and the battery management system based on the driver's operation signals and the configured energy management strategy.

[0030] The battery management system is used to receive control signals from the vehicle control unit and status information of the energy storage device, and to control the energy storage device to operate in the discharging, shutdown or charging state.

[0031] The fuel cell control unit is used to receive control signals from the vehicle control unit and fuel cell status information, and to control the fuel cell to operate in a power generation or shutdown state.

[0032] Furthermore, the execution layer includes:

[0033] Fuel cells are used to charge energy storage devices;

[0034] Energy storage device, used to power the chassis motor and superstructure motor through the inverter, and to store the electrical energy output by the fuel cell or the recovered energy generated by the reverse drive of the chassis motor;

[0035] Inverters are used to drive the superstructure motor and the chassis motor;

[0036] A chassis motor is used to drive the chassis transmission system; the chassis transmission system is used to drive the tires of the loader.

[0037] The superstructure motor is used to drive the superstructure hydraulic system; the superstructure hydraulic system is used to drive the boom mechanism and steering mechanism of the loader.

[0038] Furthermore, the energy storage device is a battery pack or a supercapacitor.

[0039] A second aspect of the present invention provides an energy management method for a fuel cell loader, comprising:

[0040] Obtain the current state of charge of the energy storage device of the loader;

[0041] Based on the loader's power requirements and the current state of charge of the energy storage device, the output power of the fuel cell and energy storage device is controlled as follows:

[0042] A. When the state of charge (SOC) of the energy storage device satisfies SOC max ≥SOC(t)>SOC target hour:

[0043] If the loader's power requirement meets P req (t)>0 and P F (t)>P F_min To control the fuel cell to operate in a reduced-power mode, specifically, the output power of the fuel cell and energy storage device is controlled as follows:

[0044] P b (t)=P req (t),

[0045] Among them, P req (t) represents the loader's power demand at time t, and SOC(t) represents the state of charge of the energy storage device at time t. max State of Charge (SOC) represents the maximum state of charge of an energy storage device. target P represents the target value of the state of charge of the energy storage device. b (t) represents the output power of the energy storage device at time t, P F (t) represents the fuel cell output power at time t, P F_min This indicates the minimum output power of the fuel cell. Δt represents the expected output power of the fuel cell, Δt represents the time the fuel cell needs to work continuously during the (n-1)th work cycle, and k represents the rate of change of the fuel cell's output power.

[0046] If the loader's power requirement meets P req When (t)≤0, the fuel cell is controlled to operate in shutdown mode. Specifically, the output power of the fuel cell and energy storage device is controlled as follows:

[0047] P b (t)=P req (t), P F (t) = 0;

[0048] B. When the state of charge (SOC) of the energy storage device satisfies SOC min ≤SOC(t)≤SOC target hour:

[0049] If the loader requires power P req (t)>0 and P F (t)>P F_min To control the fuel cell to operate in constant power mode, specifically, the output power of the fuel cell and energy storage device is controlled as follows:

[0050] P b (t)=P req (t),

[0051] If the loader requires power P req If (t) ≤ 0, the fuel cell is controlled to operate in half-power mode. Specifically, the output power of the fuel cell and energy storage device is controlled as follows:

[0052] P b (t)=P req (t),

[0053] Among them, SOC min P represents the minimum state of charge of the energy storage device. F_max This indicates the maximum output power of the fuel cell.

[0054] C. When the state of charge (SOC) of the energy storage device satisfies SOC min When SOC(t) > 0:

[0055] If the loader requires power P req (t)>0 and P F (t)>P F_min To control the fuel cell to operate in full-power mode, specifically, the output power of the fuel cell and energy storage device is controlled as follows:

[0056] P b (t)=P req (t), P F (t)=P F_max ;

[0057] If the loader requires power P req If (t)≤0, the fuel cell is controlled to operate in power-up mode, specifically by controlling the output power of the fuel cell and energy storage device as follows:

[0058] P b (t)=P req (t),

[0059] The Δt satisfies Δt∈[t] min ,t max ], where t max and t min This represents the longest and shortest operating time for a single work cycle of the loader.

[0060] Furthermore, the method for determining the expected power output of the fuel cell is as follows:

[0061] An energy prediction model is constructed. Based on the actual energy consumption of the loader in the previous work cycle, the energy prediction model is used to predict the energy consumption of the loader in the current work cycle.

[0062] Based on the actual energy consumption of the loader in the previous work cycle and the predicted energy consumption of the loader in the current work cycle, calculate the expected power output of the fuel cell in the current work cycle:

[0063]

[0064] in, Let Q be the predicted energy consumption of the loader in the current nth work cycle. n-1 This represents the actual electrical energy consumption of the loader during the (n-1)th work cycle. Let be the expected power output of the fuel cell during the (n-1)th operating cycle.

[0065] Furthermore, the construction of the energy prediction model includes:

[0066] Construct a backpropagation neural network;

[0067] Select typical operating scenarios, collect the power consumption data of loaders under N operating cycles, and calculate the average time and average power consumption of a single operating cycle. The calculated average power consumption forms a training set.

[0068] The backpropagation neural network is trained using the training set to optimize the network parameters and obtain a trained energy prediction model.

[0069] A third aspect of the present invention provides a fuel cell loader, including the aforementioned energy management system for a fuel cell loader.

[0070] A fourth aspect of the present invention provides an engineering vehicle, including a fuel cell and an energy management system, wherein the energy management system employs the aforementioned energy management method for fuel cell loaders to manage fuel cell energy.

[0071] The beneficial effects of this invention are as follows:

[0072] (1) This invention predicts the energy consumption of the loader in each working cycle, and adjusts the expected output of the fuel cell by taking into account the error between the actual and expected energy consumption. This approach can approximate the actual electrical energy output required by the fuel cell. Based on this, combined with energy management strategies, the power generation efficiency of the fuel cell can be improved, and hydrogen fuel consumption can be saved.

[0073] (2) The energy management method provided by the present invention is simple to implement, does not require complex algorithms, is easy to apply in engineering, and has good portability. Attached Figure Description

[0074] Figure 1 This invention provides an energy management system architecture for fuel cell loaders.

[0075] Figure 2 This is the "1-5-1" three-layer BPNN network structure used in this invention;

[0076] Figure 3 The present invention provides an energy management strategy for fuel cell loaders. Detailed Implementation

[0077] The present invention will now be further described. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0078] This invention provides an energy management system for fuel cell loaders, such as... Figure 1 As shown, it includes a control layer and an execution layer.

[0079] The control layer includes: Vehicle Control Unit (VCU), Battery Management System (BMS), and Fuel-cell Control Unit (FCU).

[0080] The VCU is used to manage the FCU and BMS according to the driver's operation signals and the configured energy management strategy, thereby controlling the operating status of the fuel cell and energy storage device.

[0081] BMS is used to receive VCU control signals and energy storage device status information, and to control the energy storage device to operate in the discharging, shutdown or charging state.

[0082] The FCU is used to receive VCU control signals and fuel cell status information, and to control the fuel cell to operate in power generation or shutdown mode.

[0083] The execution layer includes: fuel cells, energy storage devices, inverters, chassis motors, superstructure motors, chassis transmission systems, and superstructure hydraulic systems.

[0084] Fuel cells are used to charge energy storage devices;

[0085] The energy storage device is used to power the chassis motor and the superstructure motor through the inverter, and can also store the electrical energy output by the fuel cell or the recovered energy generated by the reverse drive of the chassis motor.

[0086] The inverter is used to drive the superstructure motor and the chassis motor;

[0087] The chassis motor is used to drive the chassis transmission system;

[0088] The superstructure motor is used to drive the superstructure hydraulic system;

[0089] The chassis drive system generally consists of a gearbox, a reducer, and a drive axle, which directly drive the tires;

[0090] The hydraulic system of the upper structure consists of pumps, valves and cylinders, which directly drive the boom mechanism, steering mechanism, etc.

[0091] It should be noted that the energy storage device in the loader uses a battery pack, but a supercapacitor can also be used as an alternative.

[0092] The energy management strategy configured in the vehicle control unit of the above system is as follows:

[0093] A. When the energy storage device is at SOC max ≥SOC(t)>SOC target hour:

[0094] If the system requires power P req (t)>0 and P F (t)>P F_min To control the fuel cell to operate in a reduced-power mode, specifically, the output power of the fuel cell and energy storage device is controlled as follows:

[0095] P b (t)=P req(t),

[0096] Where SOC(t) represents the state of charge of the energy storage device at time t, SOC max State of Charge (SOC) represents the maximum state of charge of an energy storage device. target P represents the target value of the state of charge of the energy storage device. b (t) represents the output power of the energy storage device at time t, P F (t) represents the fuel cell output power at time t, P F_min This indicates the minimum output power of the fuel cell. Δt represents the expected output power of the fuel cell, Δt represents the time the fuel cell needs to work continuously in the (n-1)th cycle, and k represents the rate of change of the fuel cell's output power.

[0097] It should be noted that P req (t) is the driver's required power, i.e., the system's required power, which is converted from the driver's operating signal.

[0098] It should be noted that the above-mentioned cycle refers to the V-shaped working cycle of the loader.

[0099] It should be noted that the rate of change of output power k of a fuel cell is a known value. The rate of change varies for different fuel cell stacks, but once the fuel cell stack is determined, the rate of change k is determined accordingly.

[0100] If the system requires power P req When (t)≤0, the fuel cell is controlled to operate in shutdown mode. Specifically, the output power of the fuel cell and energy storage device is controlled as follows:

[0101] P b (t)=P req (t), P F (t) = 0;

[0102] B. When the energy storage device is at SOC min ≤SOC(t)≤SOC target hour:

[0103] If the system requires power P req (t)>0 and P F (t)>P F_min To control the fuel cell to operate in constant power mode, specifically, the output power of the fuel cell and energy storage device is controlled as follows:

[0104] P b (t)=P req (t),

[0105] If the system requires power Preq If (t) ≤ 0, the fuel cell is controlled to operate in half-power mode. Specifically, the output power of the fuel cell and energy storage device is controlled as follows:

[0106] P b (t)=P req (t),

[0107] Among them, SOC min P represents the minimum state of charge of the energy storage device. F_max This indicates the maximum output power of the fuel cell.

[0108] C. When the energy storage device is at SOC min When SOC(t) > 0:

[0109] If the system requires power P req (t)>0 and P F (t)>P F_min To control the fuel cell to operate in full-power mode, specifically, the output power of the fuel cell and energy storage device is controlled as follows:

[0110] P b (t)=P req (t), P F (t)=P F_max ;

[0111] If the system requires power P req If (t)≤0, the fuel cell is controlled to operate in power-up mode, specifically by controlling the output power of the fuel cell and energy storage device as follows:

[0112] P b (t)=P req (t),

[0113] It should be noted that in the above energy management strategy, Δt satisfies Δt∈[t] min ,t max ], where t max and t min This represents the longest and shortest operating time for a single work cycle of the loader.

[0114] Another aspect of the present invention provides an energy management method for fuel cell loaders, see [link to relevant documentation]. Figure 3 ,include:

[0115] Obtain the current state of charge of the energy storage device;

[0116] Based on the system power demand and the current state of charge of the energy storage device, the output power of the fuel cell and the energy storage device is controlled as follows:

[0117] A. When the energy storage device is at SOC max ≥SOC(t)>SOC target hour:

[0118] If the system requires power P req (t)>0 and P F (t)>P F_min To control the fuel cell to operate in a reduced-power mode, specifically, the output power of the fuel cell and energy storage device is controlled as follows:

[0119] P b (t)=P req (t),

[0120] Where SOC(t) represents the state of charge of the energy storage device at time t, SOC max State of Charge (SOC) represents the maximum state of charge of an energy storage device. target P represents the target value of the state of charge of the energy storage device. b (t) represents the output power of the energy storage device at time t, P F (t) represents the fuel cell output power at time t, P F_min This indicates the minimum output power of the fuel cell. Δt represents the expected output power of the fuel cell, Δt represents the time the fuel cell needs to work continuously in the (n-1)th cycle, and k represents the rate of change of the fuel cell's output power.

[0121] If the system requires power P req When (t)≤0, the fuel cell is controlled to operate in shutdown mode. Specifically, the output power of the fuel cell and energy storage device is controlled as follows:

[0122] P b (t)=P req (t), P F (t) = 0;

[0123] B. When the energy storage device is at SOC min ≤SOC(t)≤SOC target hour:

[0124] If the system requires power P req (t)>0 and P F (t)>P F_min To control the fuel cell to operate in constant power mode, specifically, the output power of the fuel cell and energy storage device is controlled as follows:

[0125] P b (t)=P req (t),

[0126] If the system requires power P req If (t) ≤ 0, the fuel cell is controlled to operate in half-power mode. Specifically, the output power of the fuel cell and energy storage device is controlled as follows:

[0127] P b (t)=P req (t),

[0128] Among them, SOC min P represents the minimum state of charge of the energy storage device. F_max This indicates the maximum output power of the fuel cell.

[0129] C. When the energy storage device is at SOC min When SOC(t) > 0:

[0130] If the system requires power P req (t)>0 and P F (t)>P F_min To control the fuel cell to operate in full-power mode, specifically, the output power of the fuel cell and energy storage device is controlled as follows:

[0131] P b (t)=P req (t), P F (t)=P F_max ;

[0132] If the system requires power P req If (t)≤0, the fuel cell is controlled to operate in power-up mode, specifically by controlling the output power of the fuel cell and energy storage device as follows:

[0133] P b (t)=P req (t),

[0134] Δt satisfies Δt∈[t min ,t max ], where t max and t min This represents the longest and shortest operating time for a single work cycle of the loader.

[0135] It should be noted that in the above energy management strategy, the expected power output of the fuel cell is... The method for determining it is as follows:

[0136] An energy prediction model is constructed. Based on the actual energy consumption of the loader in the previous cycle, the energy prediction model is used to predict the energy consumption of the loader in the current cycle.

[0137] Based on the actual energy consumption of the loader in the previous cycle and the predicted energy consumption of the loader in the current cycle, calculate the expected power output of the fuel cell in the current cycle.

[0138]

[0139] in, Let Q be the predicted energy consumption of the loader in the current nth cycle. n-1 This represents the actual electrical energy consumption of the loader during the (n-1)th cycle. Let be the expected power output of the fuel cell in the (n-1)th cycle.

[0140] In one embodiment of the present invention, an energy prediction model is constructed using a back propagation neural network (BPNN). Taking a three-layer BPNN structure in the form of "1-5-1" as an example, as follows... Figure 2 As shown, the BPNN network model is constructed:

[0141]

[0142] Where x and y represent the network input and output, respectively, and H in and H ou Let W1 and W2 represent the input and output values ​​of the hidden layer nodes, respectively. Let W1 and W2 represent the weight matrices from the input layer to the hidden layer and from the hidden layer to the output layer nodes, respectively. Let θ1 and θ2 represent the threshold matrices of the hidden layer nodes and the output layer nodes, respectively. The activation functions f(*) for the hidden layer nodes and h(*) for the output layer nodes are chosen as tansig and purelin functions, respectively.

[0143] Regarding the energy prediction of this invention, the above variables can be further expressed as:

[0144]

[0145] Among them, Q n-1 This represents the actual electrical energy consumption of the loader during the (n-1)th cycle. This represents the predicted energy consumption of the loader in the nth cycle.

[0146] Select typical operating scenarios, collect power consumption data of loaders under several operating cycles, and calculate the average time of a single operating cycle. and average electricity consumption The average power consumption over several work cycles forms the training set;

[0147] The energy prediction model is trained using the training set described above, and the network parameters are optimized until the prediction error meets the following requirements: N represents the number of data points in the training set. The parameters in the energy prediction model are determined to obtain the trained energy prediction model. ε is the preset accuracy threshold.

[0148] It should be noted that the above energy prediction model is not limited to using BPNN networks.

[0149] It should be noted that the energy management methods described above can be used not only for fuel cell loaders, but also for engineering vehicles with similar operating characteristics to loaders.

[0150] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An energy management system for fuel cell loaders, characterized in that, Includes a control layer and an execution layer; The control layer is used to send control signals to the fuel cell and energy storage device based on the driver's operation signal and the configured energy management strategy, and control the output power of the fuel cell and energy storage device. The execution layer is used to power the chassis motor and superstructure motor of the loader based on the fuel cell and energy storage device, and drive the tires, boom mechanism and steering mechanism of the loader; The energy management strategy configured in the control layer is as follows: A. When the energy storage device is in a charged state satisfy hour: If the loader's power requirement is met and To control the fuel cell to operate in a reduced-power mode, specifically, the output power of the fuel cell and energy storage device is controlled as follows: ， ； in, express The loader's power requirement at all times express The state of charge of the energy storage device at all times. Indicates the maximum state of charge of the energy storage device. This represents the target value of the state of charge of the energy storage device. express The output power of the energy storage device at all times. express Fuel cell output power at all times This indicates the minimum output power of the fuel cell. This represents the expected output of electricity from the fuel cell. Indicates the loader is in the The fuel cell needs to operate continuously for a certain period of time within each operating cycle. This indicates the rate of change of the output power of the fuel cell; If the loader's power requirement is met To control the fuel cell to operate in shutdown mode, specifically, the output power of the fuel cell and energy storage device is controlled as follows: ， ； B. When the energy storage device is in a charged state satisfy hour: If the loader requires power and To control the fuel cell to operate in constant power mode, specifically, the output power of the fuel cell and energy storage device is controlled as follows: ， ； If the loader requires power To control the fuel cell to operate in half-power mode, specifically, the output power of the fuel cell and energy storage device is controlled as follows: ， ； in, Indicates the minimum state of charge of the energy storage device. This indicates the maximum output power of the fuel cell; C. When the energy storage device is in a charged state satisfy hour: If the loader requires power and To control the fuel cell to operate in full-power mode, specifically, the output power of the fuel cell and energy storage device is controlled as follows: ， ； If the loader requires power To control the fuel cell to operate in power-up mode, specifically, the output power of the fuel cell and energy storage device is controlled as follows: ， ； The satisfy ,in, and This represents the longest and shortest operating time for a single work cycle of the loader.

2. The energy management system for fuel cell loaders according to claim 1, characterized in that, The control layer includes: The vehicle control unit is used to send control signals to the fuel cell control unit and the battery management system based on the driver's operation signals and the configured energy management strategy. The battery management system is used to receive control signals from the vehicle control unit and status information of the energy storage device, and to control the energy storage device to operate in the discharging, shutdown or charging state. The fuel cell control unit is used to receive control signals from the vehicle control unit and fuel cell status information, and to control the fuel cell to operate in a power generation or shutdown state.

3. The energy management system for fuel cell loaders according to claim 1, characterized in that, The execution layer includes: Fuel cells are used to charge energy storage devices; Energy storage device, used to power the chassis motor and superstructure motor through the inverter, and to store the electrical energy output by the fuel cell or the recovered energy generated by the reverse drive of the chassis motor; Inverters are used to drive the superstructure motor and the chassis motor; A chassis motor is used to drive the chassis transmission system; the chassis transmission system is used to drive the tires of the loader. The superstructure motor is used to drive the superstructure hydraulic system; the superstructure hydraulic system is used to drive the boom mechanism and steering mechanism of the loader.

4. The energy management system for fuel cell loaders according to claim 3, characterized in that, The energy storage device is a battery pack or a supercapacitor.

5. An energy management method for fuel cell loaders, characterized in that, include: Obtain the current state of charge of the energy storage device of the loader; Based on the loader's power requirements and the current state of charge of the energy storage device, the output power of the fuel cell and energy storage device is controlled as follows: A. When the energy storage device is in a charged state satisfy hour: If the loader's power requirement is met and To control the fuel cell to operate in a reduced-power mode, specifically, the output power of the fuel cell and energy storage device is controlled as follows: ， ； in, express The loader's power requirement at all times express The state of charge of the energy storage device at all times. Indicates the maximum state of charge of the energy storage device. This represents the target value of the state of charge of the energy storage device. express The output power of the energy storage device at all times. express Fuel cell output power at all times This indicates the minimum output power of the fuel cell. This represents the expected output of electricity from the fuel cell. Indicates the loader is in the The fuel cell needs to operate continuously for a certain period of time within each operating cycle. This indicates the rate of change of the output power of the fuel cell; If the loader's power requirement is met To control the fuel cell to operate in shutdown mode, specifically, the output power of the fuel cell and energy storage device is controlled as follows: ， ； B. When the energy storage device is in a charged state satisfy hour: If the loader requires power and To control the fuel cell to operate in constant power mode, specifically, the output power of the fuel cell and energy storage device is controlled as follows: ， ； If the loader requires power To control the fuel cell to operate in half-power mode, specifically, the output power of the fuel cell and energy storage device is controlled as follows: ， ； in, Indicates the minimum state of charge of the energy storage device. This indicates the maximum output power of the fuel cell; C. When the energy storage device is in a charged state satisfy hour: If the loader requires power and To control the fuel cell to operate in full-power mode, specifically, the output power of the fuel cell and energy storage device is controlled as follows: ， ； If the loader requires power To control the fuel cell to operate in power-up mode, specifically, the output power of the fuel cell and energy storage device is controlled as follows: ， ； The satisfy ,in, and This represents the longest and shortest operating time for a single work cycle of the loader.

6. The energy management method for a fuel cell loader according to claim 5, characterized in that, The method for determining the expected output power of the fuel cell is as follows: An energy prediction model is constructed. Based on the actual energy consumption of the loader in the previous work cycle, the energy prediction model is used to predict the energy consumption of the loader in the current work cycle. Based on the actual energy consumption of the loader in the previous work cycle and the predicted energy consumption of the loader in the current work cycle, calculate the expected power output of the fuel cell in the current work cycle: ； in, For the loader in the current number Predicted energy consumption within each work cycle For the loader in the first The actual power consumption value within each work cycle. For fuel cells in the first The expected output of electricity within each operating cycle.

7. The energy management method for fuel cell loaders according to claim 6, characterized in that, The energy prediction model is constructed as follows: Construct a backpropagation neural network; Select typical operating scenarios, collect the power consumption data of loaders under N operating cycles, and calculate the average time and average power consumption of a single operating cycle. The calculated average power consumption forms a training set. The backpropagation neural network is trained using the training set to optimize the network parameters and obtain a trained energy prediction model.

8. A fuel cell loader, characterized in that, The energy management system for fuel cell loaders as described in any one of claims 1 to 4.

9. An engineering vehicle comprising a fuel cell, characterized in that, It also includes an energy management system, which uses the energy management method for fuel cell loaders as described in any one of claims 5 to 7 to manage fuel cell energy.

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