Hybrid loader brake energy recovery control method and device

Abstract

The application discloses a kind of hybrid loader brake energy recovery control method and device, the method includes: when the state of charge of target loader power battery meets first preset threshold, and battery temperature meets second preset threshold, control target loader work in energy recovery state;In energy recovery state, determine the braking mode of target loader and motor brake system state;Total demand brake torque is distributed as front axle demand brake torque and rear axle demand brake torque;Determine front axle and rear axle motor maximum brake torque;According to motor brake system state, front axle and rear axle demand brake torque, front axle and rear axle motor maximum brake torque and preset torque distribution rule corresponding to motor brake system state, determine the torque distribution scheme of target loader.The application effectively improves the brake efficiency of hybrid loader, improves the energy recovery amount when hybrid loader brakes, and improves the operation comfort of driver simultaneously.

Description

Technical Field

[0001] This invention relates to the technical field of engineering machinery, and in particular to a method and device for controlling the recovery of braking energy in a hybrid loader. Background Technology

[0002] Extra-large loaders are mainly used in open-pit mines, ports, and other similar operating scenarios, with their primary operating condition being a V-shaped cycle. A V-shaped cycle involves multiple forward, braking, and reverse movements, with braking consuming a significant amount of energy and resulting in substantial energy waste. However, extra-large loaders with four-wheel independent drive can generate electricity from the battery by reversing the traction motors, thus mitigating energy consumption during braking. For example, when the loader is using motor braking or descending a long slope, multiple traction motors on the loader act as generators, converting the loader's kinetic and potential energy into electrical energy and storing it in the battery. This extends the loader's range and reduces fuel consumption.

[0003] The unique working environment, conditions, and immense mass of extra-large loaders dictate their high energy consumption. Hybrid technology can significantly improve the energy efficiency of these loaders, while four-wheel independent drive technology offers the possibility of faster and more precise control of the braking torque of each traction motor. Currently, existing braking energy recovery strategies and control methods for extra-large loaders prioritize motor braking. This method recovers the loader's kinetic energy during braking, reducing brake wear and heat generation. However, existing energy recovery control methods do not comprehensively consider the operating states of the traction motors and power batteries. During operation, there may be situations where a single or multiple traction motors fail to participate in motor braking. For example, if a single traction motor malfunctions, and the distribution of braking torque between the traction motors and the hydraulic braking torque of each axle is not adjusted, it can lead to adverse effects such as vehicle deviation during braking, insufficient braking force, and increased braking distance, causing driver stress.

[0004] Therefore, existing braking energy recovery strategies and control methods for loader engines suffer from problems such as low braking efficiency, low energy recovery amount, and low driver comfort. Summary of the Invention

[0005] This invention provides a method and apparatus for controlling the braking energy recovery of a hybrid loader, which solves the problems of low braking efficiency, low energy recovery amount, and low driver comfort in existing braking energy recovery strategies and control methods for loaders.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] In a first aspect, the present invention provides a method for controlling the braking energy recovery of a hybrid loader, the method comprising:

[0008] The total required braking torque of the target loader is determined based on the obtained braking torque demand table and the brake pedal opening degree of the target loader; the braking torque demand table stores multiple brake pedal opening degrees and the total required braking torque corresponding to the brake pedal opening degree.

[0009] When the state of charge of the target loader's power battery meets a first preset threshold and the battery temperature meets a second preset threshold, the target loader is controlled to operate in an energy recovery state.

[0010] In the energy recovery state, the braking mode of the target loader and the corresponding motor braking system state are determined based on the positions of the four traction motors on the target loader and the operating status data of each traction motor. Different motor braking system states correspond to different braking modes of the target loader. The motor braking system states include a first state, a second state, a third state, and a fourth state, and the corresponding braking modes are front axle braking alone, rear axle braking alone, no braking of the front and rear axles, and joint braking of the front and rear axles, respectively.

[0011] The total required braking torque is allocated into front axle required braking torque and rear axle required braking torque based on the obtained braking distribution coefficient;

[0012] The maximum braking torque of the front axle motor and the maximum braking torque of the rear axle motor are determined based on the motor speed, peak power, and maximum torque in the constant torque region of the traction motor involved in braking.

[0013] Based on the state of the motor braking system, the required braking torque of the front axle, the required braking torque of the rear axle, the maximum braking torque of the front axle motor, the maximum braking torque of the rear axle motor, and the preset torque distribution rules corresponding to the state of the motor braking system, a torque distribution scheme for the target loader is determined; the torque distribution scheme includes the electric braking torque of the front axle, the electric braking torque of the rear axle, the hydraulic braking torque of the front axle, and the hydraulic braking torque of the rear axle.

[0014] In one possible implementation, the four traction motors include a front axle left traction motor, a front axle right traction motor, a rear axle left traction motor, and a rear axle right traction motor. The front axle left traction motor and the front axle right traction motor are both mounted on the front axle of the target loader, and the rear axle left traction motor and the rear axle right traction motor are both mounted on the rear axle of the target loader. The step of determining the braking method of the target loader and the corresponding motor braking system state based on the positions of the four traction motors on the target loader and the operating status data of each traction motor specifically includes:

[0015] The operating status data includes motor speed, motor temperature, and motor fault information. Based on the motor speed, motor temperature, and motor fault information of the four traction motors, the traction motor that meets the preset braking conditions is determined. The preset braking conditions are that the motor speed meets the third preset threshold, the motor temperature meets the fourth preset threshold, and there is no motor fault signal.

[0016] Based on the position of the traction motor that meets the preset braking conditions on the target loader, the brake axle of the target loader is determined; the brake axle is the front axle and / or the rear axle. When two traction motors on the same axle both meet the preset braking conditions, the axle containing the two traction motors that meet the preset braking conditions is taken as the brake axle.

[0017] The braking method of the target loader and the corresponding motor braking system status are determined based on the position of the brake shaft.

[0018] In one possible implementation, determining the braking mode of the target loader and the corresponding motor braking system state based on the position of the brake shaft specifically includes:

[0019] When the brake axle is the front axle, the braking mode of the target loader is determined to be front axle independent braking, and the corresponding motor braking system state is the first state;

[0020] When the braking axle is the rear axle, the braking mode of the target loader is determined to be rear axle independent braking, and the corresponding motor braking system state is the second state;

[0021] When the braking axle is neither the front axle nor the rear axle, the braking mode of the target loader is determined to be that neither the front axle nor the rear axle is braked, and the corresponding motor braking system state is the third state.

[0022] When the braking axles are the front axle and the rear axle, the braking mode of the target loader is determined to be the combined braking of the front axle and the rear axle, and the corresponding motor braking system state is the fourth state.

[0023] In one possible implementation, the allocation of the total required braking torque into front axle required braking torque and rear axle required braking torque based on the acquired braking distribution coefficient specifically involves:

[0024] The required braking torque for the front axle is determined by multiplying the total required braking torque by the obtained braking distribution coefficient.

[0025] The required braking torque of the rear axle is determined by multiplying the difference between 1 and the braking distribution coefficient and the total required braking torque.

[0026] In one possible implementation, determining the maximum braking torque of the front axle motor and the maximum braking torque of the rear axle motor based on the motor speed, peak power, and maximum torque in the constant torque region of the traction motor involved in braking specifically includes:

[0027] When the traction motor involved in braking is a traction motor located on the front axle, the motor speed, peak power, and maximum torque in the constant torque range of the traction motor located on the front axle are obtained; when the motor speed is less than or equal to a preset speed, the maximum torque in the constant torque range of the motor is taken as the maximum braking torque of the front axle motor; when the motor speed is greater than the preset speed, the ratio of the product of the peak power of the motor and a first preset coefficient to the motor speed is taken as the maximum braking torque of the front axle motor.

[0028] When the traction motor involved in braking is a traction motor located on the rear axle, the motor speed, peak power, and maximum torque in the constant torque region of the traction motor located on the rear axle are obtained; when the motor speed is less than or equal to a preset speed, the maximum torque in the constant torque region of the motor is taken as the maximum braking torque of the rear axle motor; when the motor speed is greater than the preset speed, the ratio of the product of the peak power of the motor and the first preset coefficient to the motor speed is taken as the maximum braking torque of the rear axle motor.

[0029] In one possible implementation, when the motor braking system is in a first state, the corresponding torque distribution scheme is a first scheme and a second scheme; determining the torque distribution scheme of the target loader specifically involves:

[0030] Determine whether the maximum braking torque of the front axle motor is greater than or equal to the required braking torque of the front axle;

[0031] If the maximum braking torque of the front axle motor is greater than or equal to the required braking torque of the front axle, then the torque distribution scheme of the target loader is determined to be the first scheme; in the first scheme, the braking torque of the front axle motor is the required braking torque of the front axle, the braking torque of the rear axle motor is 0, the braking torque of the front axle hydraulic motor is 0, and the braking torque of the rear axle hydraulic motor is the required braking torque of the rear axle;

[0032] If the maximum braking torque of the front axle motor is less than the required braking torque of the front axle, then the torque distribution scheme of the target loader is determined to be the second scheme; in the second scheme, the braking torque of the front axle motor is the maximum braking torque of the front axle motor, the braking torque of the rear axle motor is 0, the braking torque of the front axle hydraulic motor is the difference between the required braking torque of the front axle and the maximum braking torque of the front axle motor, and the braking torque of the rear axle hydraulic motor is the required braking torque of the rear axle.

[0033] In one possible implementation, when the motor braking system is in the second state, the corresponding torque distribution schemes are the third and fourth schemes; the determination of the torque distribution scheme for the target loader specifically involves:

[0034] Determine whether the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle;

[0035] If the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle, then the torque distribution scheme of the target loader is determined to be the third scheme; in the third scheme, the braking torque of the front axle motor is 0, the braking torque of the rear axle motor is the required braking torque of the rear axle, the braking torque of the front axle hydraulic motor is the required braking torque of the front axle, and the braking torque of the rear axle hydraulic motor is 0;

[0036] If the maximum braking torque of the rear axle motor is less than the required braking torque of the rear axle, then the torque distribution scheme of the target loader is determined to be the fourth scheme; in the fourth scheme, the braking torque of the front axle motor is 0, the braking torque of the rear axle motor is the maximum braking torque of the rear axle motor, the braking torque of the front axle hydraulic motor is the required braking torque of the front axle, and the braking torque of the rear axle hydraulic motor is the difference between the required braking torque of the rear axle and the maximum braking torque of the rear axle motor.

[0037] In one possible implementation, when the motor braking system is in the third state, the corresponding torque distribution scheme is the fifth scheme; the determination of the torque distribution scheme of the target loader specifically involves:

[0038] The torque distribution scheme of the target loader is determined to be the fifth scheme; in the fifth scheme, the front axle electric motor torque is 0, the rear axle electric motor torque is 0, the front axle hydraulic braking torque is the required braking torque of the front axle, and the rear axle hydraulic braking torque is the required braking torque of the rear axle.

[0039] In one possible implementation, when the motor braking system is in the fourth state, the corresponding torque distribution schemes are the sixth, seventh, eighth, and ninth schemes; the determination of the torque distribution scheme for the target loader specifically involves:

[0040] When the maximum braking torque of the front axle motor is greater than or equal to the required braking torque of the front axle, it is determined whether the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle.

[0041] If the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle, then the torque distribution scheme of the target loader is determined to be the sixth scheme; in the sixth scheme, the braking torque of the front axle motor is the maximum braking torque of the front axle motor, the braking torque of the rear axle motor is the maximum braking torque of the rear axle motor, the braking torque of the front axle hydraulic motor is the difference between the required braking torque of the front axle and the maximum braking torque of the front axle motor, and the braking torque of the rear axle hydraulic motor is the difference between the required braking torque of the rear axle and the maximum braking torque of the rear axle motor;

[0042] If the maximum braking torque of the rear axle motor is less than the required braking torque of the rear axle, then the torque distribution scheme of the target loader is determined to be the seventh scheme; in the seventh scheme, the braking torque of the front axle motor is the maximum braking torque of the front axle motor, the braking torque of the rear axle motor is the required braking torque of the rear axle, the braking torque of the front axle hydraulic motor is the difference between the required braking torque of the front axle motor and the maximum braking torque of the front axle motor, and the braking torque of the rear axle hydraulic motor is 0;

[0043] When the maximum braking torque of the front axle motor is less than the required braking torque of the front axle, determine whether the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle;

[0044] If the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle, then the torque distribution scheme of the target loader is determined to be the eighth scheme; in the eighth scheme, the braking torque of the front axle motor is the required braking torque of the front axle, the braking torque of the rear axle motor is the required braking torque of the rear axle, the hydraulic braking torque of the front axle is 0, and the hydraulic braking torque of the rear axle is 0;

[0045] If the maximum braking torque of the rear axle motor is less than the required braking torque of the rear axle, then the torque distribution scheme of the target loader is determined to be the ninth scheme; in the ninth scheme, the braking torque of the front axle motor is the required braking torque of the front axle, the braking torque of the rear axle motor is the maximum braking torque of the rear axle motor, the front axle hydraulic braking torque is 0, and the rear axle hydraulic braking torque is the difference between the required braking torque of the rear axle and the maximum braking torque of the rear axle motor.

[0046] In one possible implementation, after controlling the target loader to operate in an energy recovery state when the state of charge of the target loader's power battery meets a first preset threshold and the battery temperature meets a second preset threshold, the method further includes:

[0047] The total braking torque of the recyclable motor is determined based on the maximum charging power of the power battery corresponding to the state of charge, the maximum operating power of the DC boost current stabilizing power supply module, and the actual rotational speed of the four traction motors of the target loader at the current moment.

[0048] In a second aspect, the present invention provides a hybrid power loader braking energy recovery control device, comprising:

[0049] The total required braking torque determination module is used to determine the total required braking torque of the target loader based on the obtained braking torque requirement table and the brake pedal opening degree of the target loader; the braking torque requirement table stores multiple brake pedal opening degrees and the total required braking torque corresponding to the brake pedal opening degree.

[0050] An energy recovery control module is used to control the target loader to operate in an energy recovery state when the state of charge of the target loader's power battery meets a first preset threshold and the battery temperature meets a second preset threshold.

[0051] The motor braking system state determination module is used to determine the braking mode of the target loader and the corresponding motor braking system state based on the positions of the four traction motors of the target loader on the target loader and the operating status data of each traction motor during the energy recovery state. Different motor braking system states correspond to different braking modes of the target loader. The motor braking system states include a first state, a second state, a third state, and a fourth state, and the corresponding braking modes are front axle braking alone, rear axle braking alone, no braking of the front and rear axles, and joint braking of the front and rear axles, respectively.

[0052] The demand braking torque allocation module is used to allocate the total demand braking torque into front axle demand braking torque and rear axle demand braking torque according to the obtained braking allocation coefficient;

[0053] The maximum braking torque determination module is used to determine the maximum braking torque of the front axle motor and the maximum braking torque of the rear axle motor based on the motor speed, peak power, and maximum torque in the constant torque region of the traction motors involved in braking.

[0054] The torque distribution scheme determination module is used to determine the torque distribution scheme of the target loader based on the state of the motor braking system, the required braking torque of the front axle, the required braking torque of the rear axle, the maximum braking torque of the front axle motor, the maximum braking torque of the rear axle motor, and the preset torque distribution rules corresponding to the state of the motor braking system; the torque distribution scheme includes the motor braking torque of the front axle, the motor braking torque of the rear axle, the hydraulic braking torque of the front axle, and the hydraulic braking torque of the rear axle.

[0055] In one possible implementation, the four traction motors include a front axle left traction motor, a front axle right traction motor, a rear axle left traction motor, and a rear axle right traction motor. The front axle left and right traction motors are both mounted on the front axle of the target loader, and the rear axle left and right traction motors are both mounted on the rear axle of the target loader. During the energy recovery state, the motor braking system state determination module is configured to execute:

[0056] The operating status data includes motor speed, motor temperature, and motor fault information. Based on the motor speed, motor temperature, and motor fault information of the four traction motors, the traction motor that meets the preset braking conditions is determined. The preset braking conditions are that the motor speed meets the third preset threshold, the motor temperature meets the fourth preset threshold, and there is no motor fault signal.

[0057] Based on the position of the traction motor that meets the preset braking conditions on the target loader, the brake axle of the target loader is determined; the brake axle is the front axle and / or the rear axle. When two traction motors on the same axle both meet the preset braking conditions, the axle containing the two traction motors that meet the preset braking conditions is taken as the brake axle.

[0058] The braking method of the target loader and the corresponding motor braking system status are determined based on the position of the brake shaft.

[0059] In one possible implementation, when determining the braking mode of the target loader and the corresponding motor braking system state based on the position of the brake shaft, the motor braking system state determination module is specifically configured to execute:

[0060] When the brake axle is the front axle, the braking mode of the target loader is determined to be front axle independent braking, and the corresponding motor braking system state is the first state;

[0061] When the braking axle is the rear axle, the braking mode of the target loader is determined to be rear axle independent braking, and the corresponding motor braking system state is the second state;

[0062] When the braking axle is neither the front axle nor the rear axle, the braking mode of the target loader is determined to be that neither the front axle nor the rear axle is braked, and the corresponding motor braking system state is the third state.

[0063] When the braking axles are the front axle and the rear axle, the braking mode of the target loader is determined to be the combined braking of the front axle and the rear axle, and the corresponding motor braking system state is the fourth state.

[0064] In one possible implementation, the demand braking torque allocation module is configured to perform:

[0065] The required braking torque for the front axle is determined by multiplying the total required braking torque by the obtained braking distribution coefficient.

[0066] The required braking torque of the rear axle is determined by multiplying the difference between 1 and the braking distribution coefficient and the total required braking torque.

[0067] In one possible implementation, the maximum braking torque determination module is configured to perform:

[0068] When the traction motor involved in braking is a traction motor located on the front axle, the motor speed, peak power, and maximum torque in the constant torque range of the traction motor located on the front axle are obtained; when the motor speed is less than or equal to a preset speed, the maximum torque in the constant torque range of the motor is taken as the maximum braking torque of the front axle motor; when the motor speed is greater than the preset speed, the ratio of the product of the peak power of the motor and a first preset coefficient to the motor speed is taken as the maximum braking torque of the front axle motor.

[0069] When the traction motor involved in braking is a traction motor located on the rear axle, the motor speed, peak power, and maximum torque in the constant torque region of the traction motor located on the rear axle are obtained; when the motor speed is less than or equal to a preset speed, the maximum torque in the constant torque region of the motor is taken as the maximum braking torque of the rear axle motor; when the motor speed is greater than the preset speed, the ratio of the product of the peak power of the motor and the first preset coefficient to the motor speed is taken as the maximum braking torque of the rear axle motor.

[0070] In one possible implementation, when the motor braking system is in a first state, the corresponding torque distribution scheme is a first scheme and a second scheme; when determining the torque distribution scheme of the target loader, the torque distribution scheme determination module is configured to execute:

[0071] Determine whether the maximum braking torque of the front axle motor is greater than or equal to the required braking torque of the front axle;

[0072] If the maximum braking torque of the front axle motor is greater than or equal to the required braking torque of the front axle, then the torque distribution scheme of the target loader is determined to be the first scheme; in the first scheme, the braking torque of the front axle motor is the required braking torque of the front axle, the braking torque of the rear axle motor is 0, the braking torque of the front axle hydraulic motor is 0, and the braking torque of the rear axle hydraulic motor is the required braking torque of the rear axle;

[0073] If the maximum braking torque of the front axle motor is less than the required braking torque of the front axle, then the torque distribution scheme of the target loader is determined to be the second scheme; in the second scheme, the braking torque of the front axle motor is the maximum braking torque of the front axle motor, the braking torque of the rear axle motor is 0, the braking torque of the front axle hydraulic motor is the difference between the required braking torque of the front axle and the maximum braking torque of the front axle motor, and the braking torque of the rear axle hydraulic motor is the required braking torque of the rear axle.

[0074] In one possible implementation, when the motor braking system is in the second state, the corresponding torque distribution schemes are the third and fourth schemes; when determining the torque distribution scheme of the target loader, the torque distribution scheme determination module is configured to execute:

[0075] Determine whether the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle;

[0076] If the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle, then the torque distribution scheme of the target loader is determined to be the third scheme; in the third scheme, the braking torque of the front axle motor is 0, the braking torque of the rear axle motor is the required braking torque of the rear axle, the braking torque of the front axle hydraulic motor is the required braking torque of the front axle, and the braking torque of the rear axle hydraulic motor is 0;

[0077] If the maximum braking torque of the rear axle motor is less than the required braking torque of the rear axle, then the torque distribution scheme of the target loader is determined to be the fourth scheme; in the fourth scheme, the braking torque of the front axle motor is 0, the braking torque of the rear axle motor is the maximum braking torque of the rear axle motor, the braking torque of the front axle hydraulic motor is the required braking torque of the front axle, and the braking torque of the rear axle hydraulic motor is the difference between the required braking torque of the rear axle and the maximum braking torque of the rear axle motor.

[0078] In one possible implementation, when the motor braking system is in the third state, the corresponding torque distribution scheme is the fifth scheme; when determining the torque distribution scheme of the target loader, the torque distribution scheme determination module is configured to execute:

[0079] The torque distribution scheme of the target loader is determined to be the fifth scheme; in the fifth scheme, the front axle electric motor torque is 0, the rear axle electric motor torque is 0, the front axle hydraulic braking torque is the required braking torque of the front axle, and the rear axle hydraulic braking torque is the required braking torque of the rear axle.

[0080] In one possible implementation, when the motor braking system is in the fourth state, the corresponding torque distribution schemes are the sixth, seventh, eighth, and ninth schemes; when determining the torque distribution scheme of the target loader, the torque distribution scheme determination module is configured to execute:

[0081] When the maximum braking torque of the front axle motor is greater than or equal to the required braking torque of the front axle, it is determined whether the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle.

[0082] If the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle, then the torque distribution scheme of the target loader is determined to be the sixth scheme; in the sixth scheme, the braking torque of the front axle motor is the maximum braking torque of the front axle motor, the braking torque of the rear axle motor is the maximum braking torque of the rear axle motor, the braking torque of the front axle hydraulic motor is the difference between the required braking torque of the front axle and the maximum braking torque of the front axle motor, and the braking torque of the rear axle hydraulic motor is the difference between the required braking torque of the rear axle and the maximum braking torque of the rear axle motor;

[0083] If the maximum braking torque of the rear axle motor is less than the required braking torque of the rear axle, then the torque distribution scheme of the target loader is determined to be the seventh scheme; in the seventh scheme, the braking torque of the front axle motor is the maximum braking torque of the front axle motor, the braking torque of the rear axle motor is the required braking torque of the rear axle, the braking torque of the front axle hydraulic motor is the difference between the required braking torque of the front axle motor and the maximum braking torque of the front axle motor, and the braking torque of the rear axle hydraulic motor is 0;

[0084] When the maximum braking torque of the front axle motor is less than the required braking torque of the front axle, determine whether the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle;

[0085] If the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle, then the torque distribution scheme of the target loader is determined to be the eighth scheme; in the eighth scheme, the braking torque of the front axle motor is the required braking torque of the front axle, the braking torque of the rear axle motor is the required braking torque of the rear axle, the hydraulic braking torque of the front axle is 0, and the hydraulic braking torque of the rear axle is 0;

[0086] If the maximum braking torque of the rear axle motor is less than the required braking torque of the rear axle, then the torque distribution scheme of the target loader is determined to be the ninth scheme; in the ninth scheme, the braking torque of the front axle motor is the required braking torque of the front axle, the braking torque of the rear axle motor is the maximum braking torque of the rear axle motor, the front axle hydraulic braking torque is 0, and the rear axle hydraulic braking torque is the difference between the required braking torque of the rear axle and the maximum braking torque of the rear axle motor.

[0087] In one possible implementation, the hybrid loader braking energy recovery control device further includes a recoverable torque calculation module. After controlling the target loader to operate in energy recovery mode when the state of charge of the target loader's power battery meets a first preset threshold and the battery temperature meets a second preset threshold, the recoverable torque calculation module is configured to execute:

[0088] The total braking torque of the recyclable motor is determined based on the maximum charging power of the power battery corresponding to the state of charge, the maximum operating power of the DC boost current stabilizing power supply module, and the actual rotational speed of the four traction motors of the target loader at the current moment.

[0089] Thirdly, the present invention provides an electronic device comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set, or an instruction set, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the hybrid power loader braking energy recovery control method described above.

[0090] Fourthly, the present invention provides a computer-readable storage medium storing at least one instruction, at least one program, a code set, or an instruction set, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the hybrid power loader braking energy recovery control method described in any of the preceding claims.

[0091] In practical application, the hybrid loader braking energy recovery control method and device provided in this invention firstly, based on the brake pedal opening degree of the target loader at the current moment, queries the braking torque demand table to find the total required braking torque corresponding to that brake pedal opening degree; secondly, when the nuclear power status of the target loader meets a first preset threshold and the battery temperature meets a second preset threshold, the target loader is put into an energy recovery state; thirdly, in the energy recovery state, the braking mode of the target loader and the corresponding motor braking system state are determined based on the position and operating status of the four traction motors on the target loader. The braking modes include front axle individual braking, rear axle individual braking, no braking of either the front or rear axle, and joint braking of both the front and rear axles, corresponding to the first, second, third, and fourth states of the motor braking system state, respectively; then, the total required braking torque is distributed to the front axle according to the braking distribution coefficient. The invention first calculates the braking torque and the required braking torque of the rear axle. Then, based on the motor speed, peak power, and maximum torque in the constant torque range of the traction motors involved in braking, the maximum braking torque of the front axle motor and the maximum braking torque of the rear axle motor are determined. Finally, based on the state of the motor braking system, the required braking torque of the front axle, the required braking torque of the rear axle, the maximum braking torque of the front axle motor, the maximum braking torque of the rear axle motor, and the preset torque distribution rules corresponding to the state of the motor braking system, the torque distribution scheme of the target loader is determined. This invention is applicable to extra-large hybrid loaders that comprehensively consider the operating states of the power battery and traction motor when performing braking energy recovery. It then rationally distributes the electric motor braking torque and hydraulic braking torque of the front and rear axles to ensure the braking safety of the power loader. This invention also effectively improves the braking efficiency of the hybrid loader, increases the energy recovery amount during braking, and improves the driver's operating comfort. Attached Figure Description

[0092] Figure 1 A flowchart illustrating the steps of a hybrid power loader braking energy recovery control method provided in an embodiment of the present invention;

[0093] Figure 2 This is a schematic diagram of the preset torque distribution rule corresponding to the first state of a hybrid power loader's power energy recovery control method provided in an embodiment of the present invention;

[0094] Figure 3 This is a schematic diagram of the preset torque distribution rule corresponding to the second state of a hybrid power loader braking energy recovery control method provided in an embodiment of the present invention;

[0095] Figure 4 A schematic diagram of the preset torque distribution rule corresponding to the third state of a hybrid power loader braking energy recovery control method provided in an embodiment of the present invention;

[0096] Figure 5 A schematic diagram of the preset torque distribution rule corresponding to the fourth state of a hybrid power loader braking energy recovery control method provided in an embodiment of the present invention;

[0097] Figure 6 A graph showing the change in the braking displacement of the target loader over time when the braking of the target loader is achieved entirely by the front axle hydraulic brake and the rear axle hydraulic brake;

[0098] Figure 7 A comparison of the curves showing the change of the target loading mechanism's braking displacement over time in the normal mode with four traction motors braking together, and the curves showing the change of the target loading mechanism's braking displacement over time when the two traction motors on the front axle fail.

[0099] Figure 8 A comparison diagram of the target loading mechanism's braking trajectory obtained using existing technology and the control method of this invention when performing straight-line braking due to a fault in the left traction motor of the front axle;

[0100] Figure 9 This is a structural block diagram of a hybrid power loader braking energy recovery control device provided in an embodiment of the present invention. Detailed Implementation

[0101] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. 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 are within the scope of protection of the present invention.

[0102] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this disclosure, unless otherwise stated, "a plurality of" means two or more. Furthermore, the use of "based on" or "according to" implies openness and inclusiveness, because processes, steps, calculations, or other actions "based on" or "according to" one or more of the stated conditions or values ​​may in practice be based on additional conditions or beyond the stated values.

[0103] There are three existing methods for brake control of loading mechanisms.

[0104] The first method is a braking control method for a pure electric loader's braking system. The braking system includes an electric motor braking system and a hydraulic braking system. The hydraulic braking system includes an electro-proportional valve, a speed sensor, and a braking sensor, all electrically connected to the machine controller, installed on the brake oil circuit between the brake valve and the brake. The machine controller controls the opening of the electro-proportional valve's brake port based on the machine speed and braking intensity, and controls the drive motor's operating state through the electric motor controller. This method, by installing an electro-proportional valve after the brake valve, prioritizes electric motor braking of the loader, recovers the loader's kinetic energy during braking, reduces brake wear and heat generation, and saves energy.

[0105] The second method is the braking control method of the new configuration loader's hybrid electric-hydraulic system. This method involves two travel motors and one work motor in the braking system, with the vehicle controller simultaneously controlling all three motors. The work motor controls the hydraulic system, which drives the vehicle's work system and steering system via hydraulic valve groups. A hydraulic pump / motor is also connected in parallel with the front axle travel motor to a torque coupler, which drives the wheel reducers. This system allows for separate drive of the axle and rear axle, combined braking with hydraulic system participation, and energy recovery. Compared to existing technologies, this solution offers more significant energy saving and emission reduction effects, and higher energy utilization efficiency.

[0106] The third method is a control method for the energy recovery system of a hybrid loader. In this method, the engine and generator are mechanically connected, and the battery pack is electrically connected to the battery management module. The battery management module is electrically connected to the inverter, which is electrically connected to the drive motor, braking resistor grid, and generator. A brake is mounted on the drive motor's main shaft. The vehicle controller is electrically connected to the accelerator pedal, battery management module, inverter, brake pedal, speed sensor, acceleration sensor, and temperature sensor. When the vehicle decelerates or brakes, due to the vehicle's inertia, the drive motor converts into a generator to produce electricity, which is then stored in the battery pack via the inverter and battery management module. The stored electrical energy can continue to power the machine. Compared with existing technologies, this solution offers higher engine fuel efficiency, recovers kinetic energy from vehicle braking, saving energy; the vehicle eliminates mechanical transmission components, is not limited by space constraints, has high reliability, and is easy to maintain.

[0107] Currently, the braking energy recovery strategy and control method for extra-large loaders in existing technologies are achieved by prioritizing motor braking. This method can recover the kinetic energy of the loader during braking, reducing brake wear and heat generation. However, existing energy recovery control methods do not comprehensively consider the working status of the traction motor and power battery during operation.

[0108] Specifically, regenerative braking should not be performed when the state of charge of the power battery is too high or the battery temperature is too high. When the traction motor is at a low speed, the regenerative braking efficiency is too low, and the traction motor will generate a large amount of heat, severely affecting its service life. Therefore, when the traction motor is faulty, it should also not participate in regenerative braking. During operation, there may be situations where a single or multiple traction motors cannot participate in braking. For example, if a single traction motor fails, and the braking torque of each traction motor and the distribution of hydraulic braking torque on each axle are not adjusted, it will lead to adverse effects such as vehicle deviation during braking, insufficient braking force, and increased braking distance, causing driver stress. Therefore, precise control of the braking torque of each traction motor is necessary to ensure the braking performance of the loader.

[0109] To address the problems of low braking efficiency, low energy recovery, and low driver comfort in existing loader braking energy recovery strategies and control methods, this invention provides a hybrid loader braking energy recovery control method and device.

[0110] like Figure 1 As shown, in a first aspect, the hybrid power loader braking energy recovery control method provided by the embodiments of the present invention includes the following steps:

[0111] Step 101: Determine the total required braking torque of the target loader based on the obtained braking torque demand table and the brake pedal opening degree of the target loader.

[0112] The braking torque demand table stores multiple brake pedal opening and closing degrees and the total braking torque demand corresponding to the brake pedal opening and closing degrees.

[0113] The brake pedal opening degree reflects the driver's braking intention, while the total required braking torque is the braking torque required by the entire target loader. For example, when the driver fully depresses the brake pedal for emergency braking, i.e., when the brake pedal opening degree is 100%, the total required braking torque is relatively large; when the driver lightly depresses the brake pedal for intermittent braking, i.e., when the brake pedal opening degree is relatively small, the total required braking torque is also relatively small.

[0114] Different brake pedal opening degrees correspond to different total required braking torques, and the magnitude of the total required braking torque increases as the brake pedal opening degree increases.

[0115] The total required braking torque corresponding to different brake pedal opening degrees is stored in the braking torque demand table, and the brake pedal opening degree of the loader can be obtained through sensors.

[0116] Once the brake pedal opening degree is obtained, the corresponding total required braking torque is looked up in the braking torque demand table based on the brake pedal opening degree.

[0117] Step 102: When the state of charge of the target loader's power battery meets the first preset threshold and the battery temperature meets the second preset threshold, control the target loader to work in the energy recovery state.

[0118] Specifically, when the state of charge of the target loader's power battery meets the first preset threshold and the battery temperature meets the second preset threshold, it means that the power battery can perform braking energy recovery at this time.

[0119] In this embodiment, the state of charge (SOC) is used to represent the state of charge. Specifically, the SOC of the power battery meets the first preset threshold when it is less than or equal to 80%. The battery temperature meets the second preset threshold when it is greater than or equal to 0 degrees Celsius and less than or equal to 60 degrees Celsius.

[0120] When the SOC value of the power battery is greater than 80%, and / or the battery temperature of the power battery is below 0 degrees Celsius or above 60 degrees Celsius, the motor braking will not be performed and the energy recovery operation will also stop.

[0121] Step 103: In the energy recovery state, determine the braking method of the target loader and the corresponding motor braking system status based on the position of the four traction motors on the target loader and the operating status data of each traction motor.

[0122] Among them, different motor braking system states correspond to different braking methods of the target loader. The motor braking system states include the first state, the second state, the third state, and the fourth state, and the corresponding braking methods are front axle braking alone, rear axle braking alone, no braking of the front axle and the rear axle, and front axle and rear axle braking together, respectively.

[0123] Specifically, after the target loader enters the energy recovery state, the traction motors capable of braking can be determined based on the operating status data of each traction motor on the loader. Furthermore, to ensure the loader does not veer off course and to guarantee the stability of the loader's overall braking, when a single traction motor cannot participate in braking, the other traction motor coaxial with that motor also cannot participate in braking. This determines the position of the traction motors capable of braking. Based on the position of these traction motors, the loader's braking methods are categorized into four types: front axle braking alone, rear axle braking alone, no braking on either the front or rear axle, and simultaneous braking on both the front and rear axles. The corresponding motor braking system states for these four braking methods are respectively the first state, the second state, the third state, and the fourth state, represented in this embodiment as state=1, state=2, state=3, and state=4, respectively.

[0124] Step 104: Based on the obtained braking distribution coefficient, the total required braking torque is distributed into the required braking torque for the front axle and the required braking torque for the rear axle.

[0125] Specifically, the braking distribution coefficient is not necessarily the same for each loader. The braking distribution coefficient is a pre-determined known data, which can be determined through the load condition of the loader and engineering experience. In this invention, the braking distribution coefficient is known data, and the specific calculation method is not considered.

[0126] The total braking torque demand can be proportionally distributed to the front and rear axles using the braking distribution coefficient, resulting in the axle braking torque demand and the rear axle braking torque demand respectively.

[0127] Step 105: Determine the maximum braking torque of the front axle motor and the maximum braking torque of the rear axle motor based on the motor speed, peak power, and maximum torque in the constant torque zone of the traction motors involved in braking.

[0128] Specifically, when the traction motors involved in braking are only the two traction motors located on the front axle, the maximum braking torque of the front axle motor only needs to be calculated based on the motor speed, peak power, and maximum torque in the constant torque zone of the front axle traction motor, while the maximum braking torque of the rear axle motor is 0.

[0129] When the only traction motors involved in braking are the two traction motors located on the rear axle, the maximum braking torque of the rear axle motors only needs to be calculated based on the motor speed, peak power, and maximum torque in the constant torque zone of the rear axle traction motors. The maximum braking torque of the front axle motors is 0.

[0130] When the traction motors involved in braking include traction motors located on the front axle and the rear axle, it is necessary to calculate the maximum braking torque of the front axle motor and the maximum braking torque of the rear axle motor.

[0131] Step 106: Determine the torque distribution scheme of the target loader based on the motor braking system status, the required braking torque of the front axle, the required braking torque of the rear axle, the maximum braking torque of the front axle motor, the maximum braking torque of the rear axle motor, and the preset torque distribution rules corresponding to the motor braking system status.

[0132] The torque distribution scheme includes front axle electric motor torque, rear axle electric motor torque, front axle hydraulic braking torque, and rear axle hydraulic braking torque.

[0133] Specifically, the extra-large hybrid loader uses both an electric motor braking system and a hydraulic braking system to provide braking force. In the braking energy control strategy of this invention, the electric motor braking system primarily provides braking force. When the electric motor braking torque of the front axle and the electric motor braking torque of the rear axle can provide sufficient total braking torque, the hydraulic braking system does not participate in the braking task. When the electric motor braking system cannot provide sufficient total braking torque, the hydraulic braking system compensates for the insufficient braking torque.

[0134] The required torque provided by the electric motor braking system includes the electric motor torque of the front axle and the electric motor torque of the rear axle, while the required torque provided by the hydraulic braking system is the hydraulic braking torque of the front axle and the hydraulic braking torque of the rear axle.

[0135] In this scheme, different motor braking system states correspond to different preset torque distribution rules. Based on the corresponding preset torque distribution rules and the front axle required braking torque, rear axle required braking torque, front axle motor maximum braking torque, and rear axle motor maximum braking torque calculated in steps 104 and 105, the front axle motor braking torque, rear axle motor braking torque, front axle hydraulic braking torque, and rear axle hydraulic braking torque under this motor braking system state can be obtained. The total required braking torque is then accurately distributed to each wheel of the loader according to the data in the torque distribution scheme.

[0136] The torque allocated to the hydraulic braking system differs significantly from that allocated to the electric motor braking system in terms of braking torque control methods. For example, the electric motor braking torque is controlled directly by sending signals to the motor controller via the CAN bus, controlling the torque magnitude of each traction motor. In contrast, the hydraulic braking torque requires control of two actuators: the front hydraulic brake valve and the rear hydraulic brake valve. The opening degree of the hydraulic brake valve corresponds to different output pressures, i.e., different braking torques for the front and rear axles. The opening degree of the hydraulic brake valve is controlled by the current. Based on this scheme, precise allocation of hydraulic braking torque and electric motor braking torque can be achieved on each wheel of the loader.

[0137] In practical application, the hybrid loader braking energy recovery control method and device provided in this invention firstly, based on the brake pedal opening degree of the target loader at the current moment, queries the braking torque demand table to find the total required braking torque corresponding to that brake pedal opening degree; secondly, when the nuclear power status of the target loader meets a first preset threshold and the battery temperature meets a second preset threshold, the target loader is put into an energy recovery state; thirdly, in the energy recovery state, the braking method of the target loader and the corresponding motor braking system state are determined based on the position and operating status of the four traction motors on the target loader, wherein the braking method includes front axle individual braking, rear axle individual braking, and neither the front nor rear axle braking. Braking, including both front and rear axle braking, corresponds to the first, second, third, and fourth states of the motor braking system, respectively. Then, based on the braking distribution coefficient, the total required braking torque is allocated to the front axle and the rear axle. Next, the maximum braking torque of the front axle motor and the maximum braking torque of the rear axle motor are determined based on the motor speed, peak power, and maximum torque in the constant torque region of the traction motors involved in braking. Finally, based on the motor braking system state, the required braking torque of the front axle, the required braking torque of the rear axle, the maximum braking torque of the front axle motor, the maximum braking torque of the rear axle motor, and the preset torque distribution rules corresponding to the motor braking system state, the torque distribution scheme for the target loader is determined.

[0138] This invention is applicable to extra-large hybrid loaders that comprehensively consider the operating status of the power battery and traction motor when performing braking energy recovery. Then, the electric motor torque and hydraulic braking torque of the front axle and rear axle are reasonably distributed to ensure the braking safety of the power loader.

[0139] This invention also effectively improves the braking performance of hybrid loaders, increases the energy recovery during braking, and enhances the driver's operating comfort.

[0140] Furthermore, the four traction motors include a front axle left traction motor, a front axle right traction motor, a rear axle left traction motor, and a rear axle right traction motor. The front axle left traction motor and the front axle right traction motor are both mounted on the front axle of the target loader, while the rear axle left traction motor and the rear axle right traction motor are both mounted on the rear axle of the target loader.

[0141] Based on the positions of the four traction motors on the target loader and the operating status data of each traction motor, the braking method of the target loader and the corresponding motor braking system status are determined, specifically including:

[0142] The operating status data includes motor speed, motor temperature, and motor fault information. Based on the motor speed, motor temperature, and motor fault information of the four traction motors, the traction motor that meets the preset braking conditions is determined.

[0143] The preset braking conditions are that the motor speed meets the third preset threshold, the motor temperature meets the fourth preset threshold, and there is no motor fault signal.

[0144] The motor speed meets the third preset threshold, specifically, the motor speed is higher than the preset minimum speed. In this embodiment, the minimum speed refers to the speed corresponding to when the motor efficiency is greater than 80%.

[0145] The brake axle of the target loader is determined based on the position of the traction motor on the target loader that meets the preset braking conditions.

[0146] Among them, the braking shaft is the front shaft and / or the rear shaft. When both traction motors on the same shaft meet the preset braking conditions, the shaft where the two traction motors that meet the preset braking conditions are located is taken as the braking shaft.

[0147] The braking method of the target loader and the corresponding state of the motor braking system are determined based on the position of the brake shaft.

[0148] Furthermore, the braking method of the target loader and the corresponding state of the motor braking system are determined based on the position of the brake axle, specifically including:

[0149] When the brake axle is the front axle, the braking method of the target loader is determined to be front axle independent braking, and the corresponding motor braking system state is the first state;

[0150] When the braking axle is the rear axle, the braking method of the target loader is determined to be rear axle independent braking, and the corresponding motor braking system state is the second state;

[0151] When the braking axle is neither the front axle nor the rear axle, the braking mode of the target loader is determined to be that neither the front axle nor the rear axle is braked, and the corresponding motor braking system state is the third state.

[0152] When the braking axles are the front and rear axles, the braking method of the target loader is determined to be the combined braking of the front and rear axles, and the corresponding motor braking system state is the fourth state.

[0153] Furthermore, based on the obtained braking distribution coefficient, the total required braking torque is allocated to the front axle and the rear axle, specifically as follows:

[0154] The required braking torque for the front axle is determined by multiplying the total required braking torque by the obtained braking distribution coefficient:

[0155] The required braking torque of the rear axle is determined by multiplying the difference between 1 and the braking distribution coefficient with the total required braking torque.

[0156] Specifically, the required braking torque of the front axle of the target loader is calculated using the first formula, which is as follows:

[0157] T1 = T r ·β (1);

[0158] The required braking torque of the rear axle of the target loader is calculated using the second formula, which is as follows:

[0159] T2 = T r ·(1-β) (2);

[0160] Where T1 represents the required braking torque of the front axle, T r β represents the total required braking torque, β represents the braking distribution coefficient, and T2 represents the required braking torque of the rear axle.

[0161] Furthermore, the maximum braking torque of the front axle motor and the maximum braking torque of the rear axle motor are determined based on the motor speed, peak power, and maximum torque in the constant torque region of the traction motors involved in braking. Specifically, this includes:

[0162] When the traction motor involved in braking is a traction motor located on the front axle, the motor speed, peak power, and maximum torque in the constant torque region of the traction motor located on the front axle are obtained.

[0163] Specifically, when the motor speed is less than or equal to the preset speed, the maximum torque in the constant torque zone of the motor is taken as the maximum braking torque of the front axle motor; when the motor speed is greater than the preset speed, the ratio of the product of the motor peak power and the first preset coefficient to the motor speed is taken as the maximum braking torque of the front axle motor.

[0164] When the traction motor involved in braking is a traction motor located on the rear axle, the motor speed, peak power, and maximum torque in the constant torque range of the traction motor located on the rear axle are obtained; when the motor speed is less than or equal to the preset speed, the maximum torque in the constant torque range of the motor is taken as the maximum braking torque of the rear axle motor.

[0165] Specifically, when the motor speed is greater than the preset speed, the ratio of the product of the motor peak power and the first preset coefficient to the motor speed is used as the maximum braking torque of the rear axle motor.

[0166] Specifically, the first preset coefficient is 9550.

[0167] In this embodiment, the preset speed is 400 r / min. When the motor braking system is in the first state, i.e., Sta eWhen = 1, the loader's braking method is front axle-only braking, meaning the front axle motor participates in braking while the rear axle motor does not. The maximum braking torque of the front axle motor is calculated according to the third formula, which is as follows:

[0168]

[0169] Among them, T m T represents the maximum braking torque of the front axle motor, n represents the motor speed, and T represents the maximum braking torque of the front axle motor. max P represents the peak power of the motor. m This indicates the maximum torque in the constant torque region of the motor.

[0170] When the motor braking system is in the second state, i.e. Stae = 2, the loader's braking mode is rear axle-only braking, meaning the rear axle motor participates in braking while the front axle motor does not. The calculation method for the maximum braking torque of the rear axle motor is the same as the preparation method for the maximum braking torque of the front axle motor.

[0171] like Figure 2 As shown, T_1 represents the required braking torque of the front axle, T_2 represents the required braking torque of the rear axle, Tm_1 represents the maximum braking torque of the front axle motor, Tm_2 represents the maximum braking torque of the rear axle motor, Te_1 represents the braking torque of the front axle motor, Te_2 represents the braking torque of the rear axle motor, Tf_1 represents the hydraulic braking torque of the front axle, and Tf_2 represents the hydraulic braking torque of the rear axle.

[0172] When the motor braking system is in the first state, that is, when Stae = 1, the corresponding torque distribution schemes are the first scheme and the second scheme.

[0173] The torque distribution scheme for the target loader is determined as follows:

[0174] Determine whether the maximum braking torque of the front axle motor is greater than or equal to the required braking torque of the front axle.

[0175] If the maximum braking torque of the front axle motor is greater than or equal to the required braking torque of the front axle, then the torque distribution scheme of the target loader is determined to be the first scheme.

[0176] In the first scheme, the front axle electric motor driving torque is the front axle required braking torque, the rear axle electric motor driving torque is 0, the front axle hydraulic braking torque is 0, and the rear axle hydraulic braking torque is the rear axle required braking torque.

[0177] That is to say, in the first scheme, Te_1 = T_1, Te_2 = 0, Tf_1 = 0, and Tf_2 = T_2.

[0178] If the maximum braking torque of the front axle motor is less than the required braking torque of the front axle, then the torque distribution scheme for the target loader is determined to be the second scheme.

[0179] In the second scheme, the front axle electric motor driving torque is the maximum braking torque of the front axle motor, the rear axle electric motor driving torque is 0, the front axle hydraulic braking torque is the difference between the required braking torque of the front axle and the maximum braking torque of the front axle motor, and the rear axle hydraulic braking torque is the required braking torque of the rear axle.

[0180] That is to say, in the second scheme, Te_1=Tm_1, Te_2=0, Tf_1=T_1-Tm_1, Tf_2=T_2.

[0181] like Figure 3 As shown, when the motor braking system is in the second state, that is, when State = 2, the corresponding torque distribution schemes are the third and fourth schemes.

[0182] The torque distribution scheme for the target loader is determined as follows:

[0183] Determine whether the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle.

[0184] If the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle, then the torque distribution scheme for the target loader is determined to be the third scheme.

[0185] In the third scheme, the front axle electric motor torque is 0, the rear axle electric motor torque is the required braking torque of the rear axle, the front axle hydraulic braking torque is the required braking torque of the front axle, and the rear axle hydraulic braking torque is 0.

[0186] That is to say, in the third scheme, Te_1=0, Te_2=T_2, Tf_1=T_1, Tf_2=0.

[0187] If the maximum braking torque of the rear axle motor is less than the required braking torque of the rear axle, then the torque distribution scheme for the target loader is determined to be the fourth scheme.

[0188] In the fourth scheme, the front axle electric motor torque is 0, the rear axle electric motor torque is the maximum braking torque of the rear axle motor, the front axle hydraulic braking torque is the required braking torque of the front axle, and the rear axle hydraulic braking torque is the difference between the required braking torque of the rear axle and the maximum braking torque of the rear axle motor.

[0189] That is to say, in the fourth scheme, Te_1=0, Te_2=Tm_2, Tf_1=T_1, Tf_2=T_2-Tm_2.

[0190] like Figure 4 As shown, when the motor braking system is in the third state, that is, when State = 3, the corresponding torque distribution scheme is the fifth scheme.

[0191] The torque distribution scheme for the target loader is determined as follows:

[0192] The torque distribution scheme for the target loader is determined to be the fifth scheme.

[0193] In the fifth scheme, the front axle electric motor torque is 0, the rear axle electric motor torque is 0, the front axle hydraulic braking torque is the required braking torque of the front axle, and the rear axle hydraulic braking torque is the required braking torque of the rear axle.

[0194] That is, Te_1 = 0, Te_2 = 0, Tf_1 = T_1, Tf_2 = T_2.

[0195] like Figure 5 As shown, when the motor braking system is in the fourth state, that is, when State = 4, the corresponding torque distribution schemes are the sixth, seventh, eighth and ninth schemes.

[0196] The torque distribution scheme for the target loader is determined as follows:

[0197] When the maximum braking torque of the front axle motor is greater than or equal to the required braking torque of the front axle, determine whether the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle.

[0198] If the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle, then the torque distribution scheme for the target loader is determined to be the sixth scheme.

[0199] In the sixth scheme, the front axle electric motor driving torque is the maximum braking torque of the front axle motor, the rear axle electric motor driving torque is the maximum braking torque of the rear axle motor, the front axle hydraulic braking torque is the difference between the required braking torque of the front axle and the maximum braking torque of the front axle motor, and the rear axle hydraulic braking torque is the difference between the required braking torque of the rear axle and the maximum braking torque of the rear axle motor.

[0200] That is, Te_1 = Tm_1, Te_2 = Tm_2, Tf_1 = T_1 - Tm_1, Tf_2 = T_2 - Tm_2.

[0201] If the maximum braking torque of the rear axle motor is less than the required braking torque of the rear axle, then the torque distribution scheme for the target loader is determined to be the seventh scheme.

[0202] In the seventh scheme, the front axle electric motor driving torque is the maximum braking torque of the front axle motor, the rear axle electric motor driving torque is the required braking torque of the rear axle, the front axle hydraulic braking torque is the difference between the required braking torque of the front axle and the maximum braking torque of the front axle motor, and the rear axle hydraulic braking torque is 0.

[0203] That is, Te_1 = Tm_1, Te_2 = T_2, Tf_1 = T_1 - Tm_1, Tf_2 = 0.

[0204] When the maximum braking torque of the front axle motor is less than the required braking torque of the front axle, determine whether the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle.

[0205] If the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle, then the torque distribution scheme of the target loader is determined to be the eighth scheme.

[0206] In the eighth scheme, the front axle electric motor driving torque is the front axle required braking torque, the rear axle electric motor driving torque is the rear axle required braking torque, the front axle hydraulic braking torque is 0, and the rear axle hydraulic braking torque is 0.

[0207] That is, Te_1 = T_1, Te_2 = T_2, Tf_1 = 0, Tf_2 = 0.

[0208] If the maximum braking torque of the rear axle motor is less than the required braking torque of the rear axle, then the torque distribution scheme for the target loader is determined to be the ninth scheme.

[0209] In the ninth scheme, the front axle electric motor driving torque is the front axle required braking torque, the rear axle electric motor driving torque is the rear axle motor maximum braking torque, the front axle hydraulic braking torque is 0, and the rear axle hydraulic braking torque is the difference between the rear axle required braking torque and the rear axle motor maximum braking torque.

[0210] That is, Te_1 = T_1, Te_2 = Tm_2, Tf_1 = 0, Tf_2 = T_2 - Tm_2.

[0211] Furthermore, after controlling the target loader to operate in energy recovery mode when the state of charge of the target loader's power battery meets a first preset threshold and the battery temperature meets a second preset threshold, the method further includes:

[0212] The total braking torque of the regenerative motor is determined based on the maximum charging power of the power battery corresponding to the state of charge, the maximum operating power of the DC boost current stabilizing power supply module, and the actual speed of the four traction motors of the target loader at the current moment.

[0213] The maximum charging power of the power battery corresponding to the current state of charge and the maximum operating power of the DC boost current stabilizing power supply module can be obtained by querying the battery characteristic table of the target loader's power battery.

[0214] Based on the actual rotational speeds of the four traction motors of the target loader at the current moment, and the smaller of the maximum power battery charging power corresponding to the current state of charge and the maximum operating power of the DC boost current stabilizing power supply module, the total regenerative braking torque of the loader's motors is calculated using the fourth calculation formula. The fourth calculation formula is as follows:

[0215]

[0216] Among them, T reg This represents the total braking torque of the regenerative braking motor, P represents the smaller of the maximum power battery charging power corresponding to the current state of charge and the maximum operating power of the DC boost current stabilizing power supply module, and n represents the actual speed of the traction motor at the current moment.

[0217] Specifically, the total braking torque of the recyclable motor can be converted into current for recycling and reuse after subsequent processing.

[0218] like Figure 6 As shown, considering the working characteristics of each electrical system of the target loader, a scenario of battery overheating is simulated, that is, a scenario where the battery temperature is greater than 60 degrees Celsius. In order to protect the power battery, the motor braking needs to be turned off at this time, and no energy recovery is performed. In other words, the braking of the entire loader is currently provided entirely by the hydraulic braking system of the front and rear axles. During the braking process, the SOC value of the power battery keeps decreasing, indicating that no energy recovery is performed in the current scenario.

[0219] like Figure 7 As shown, simulating a scenario where both traction motors on the front axle fail, the vehicle's braking displacement during emergency braking is approximately 8.7 meters. Compared to the normal mode where braking is performed simultaneously by all four traction motors, the loader's overall braking displacement is almost identical when all traction motors are functioning normally and under the same emergency braking conditions. This demonstrates that even if the two traction motors on the front axle fail and cannot perform emergency braking, the braking efficiency of the loader is not weakened by distributing electric motor torque and hydraulic braking torque to each axle through the braking capacity recovery control method of this invention, thus ensuring braking safety.

[0220] like Figure 8 As shown, this simulates a straight-line braking scenario due to a malfunction of the left traction motor on the front axle, to detect whether the target loader will experience vehicle swerving during braking. Figure 8 As can be seen, compared with the vehicle braking of the prior art, the control method of the present invention distributes the electric motor torque and hydraulic braking torque on each wheel in real time, and the vehicle does not veer off course, thus ensuring the safety of the loading mechanism braking.

[0221] In this embodiment, the hybrid power loader braking energy recovery control strategy includes a driver operation behavior layer, a braking energy recovery strategy layer, and a braking execution layer.

[0222] The driver operation behavior layer is used to acquire state parameters such as brake pedal opening degree, the speed of the four drive motors, the state of charge of the target loader's power battery, and battery temperature.

[0223] The braking energy recovery strategy layer is used in the hybrid loader braking energy recovery control method according to the present invention. Based on the state parameters obtained from the driver operation behavior layer, it accurately allocates the front axle electric motor torque, rear axle electric motor torque, front axle hydraulic braking torque and rear axle hydraulic braking torque to the target loader to form a torque distribution scheme.

[0224] The braking execution layer receives the torque distribution scheme and outputs the hydraulic braking torque of the front axle and the hydraulic braking torque of the rear axle to the hydraulic braking system according to the torque distribution scheme. It also outputs the electric motor braking torque of the front axle and the electric motor braking torque of the rear axle to the motor braking system. At the same time, the energy generated by the reverse rotation of the traction motor is delivered to the power battery and the resistor grid to realize energy recovery.

[0225] like Figure 9 As shown, in a second aspect, embodiments of the present invention provide a hybrid power loader braking energy recovery control device, the device comprising:

[0226] The total braking torque demand determination module 201 is used to determine the total braking torque demand of the target loader based on the obtained braking torque demand table and the brake pedal opening degree of the target loader; the braking torque demand table stores multiple brake pedal opening degrees and the total braking torque demand corresponding to the brake pedal opening degree.

[0227] The energy recovery control module 202 is used to control the target loader to work in the energy recovery state when the state of charge of the target loader's power battery meets a first preset threshold and the battery temperature meets a second preset threshold.

[0228] The motor braking system state determination module 203 is used to determine the braking mode of the target loader and the corresponding motor braking system state based on the position of the four traction motors of the target loader on the target loader and the operating status data of each traction motor when in the energy recovery state. Different motor braking system states correspond to different braking modes of the target loader. The motor braking system states include a first state, a second state, a third state, and a fourth state, and the corresponding braking modes are front axle braking alone, rear axle braking alone, no braking of the front axle and the rear axle, and braking of the front axle and the rear axle together, respectively.

[0229] The demand braking torque distribution module 204 is used to distribute the total demand braking torque into front axle demand braking torque and rear axle demand braking torque according to the obtained braking distribution coefficient.

[0230] The maximum braking torque determination module 205 is used to determine the maximum braking torque of the front axle motor and the maximum braking torque of the rear axle motor based on the motor speed, peak power, and maximum torque in the constant torque region of the traction motor involved in braking.

[0231] The torque distribution scheme determination module 206 is used to determine the torque distribution scheme of the target loader based on the state of the motor braking system, the required braking torque of the front axle, the required braking torque of the rear axle, the maximum braking torque of the front axle motor, the maximum braking torque of the rear axle motor, and the preset torque distribution rules corresponding to the state of the motor braking system. The torque distribution scheme includes the motor braking torque of the front axle, the motor braking torque of the rear axle, the hydraulic braking torque of the front axle, and the hydraulic braking torque of the rear axle.

[0232] Furthermore, the four traction motors include a front axle left traction motor, a front axle right traction motor, a rear axle left traction motor, and a rear axle right traction motor. The front axle left and right traction motors are both mounted on the front axle of the target loader, and the rear axle left and right traction motors are both mounted on the rear axle of the target loader. In the energy recovery state, the motor braking system state determination module 203 is configured to execute:

[0233] The operating status data includes motor speed, motor temperature, and motor fault information. Based on the motor speed, motor temperature, and motor fault information of the four traction motors, the traction motor that meets the preset braking conditions is determined. The preset braking conditions are that the motor speed meets the third preset threshold, the motor temperature meets the fourth preset threshold, and there is no motor fault signal.

[0234] The brake axle of the target loader is determined based on the position of the traction motor that meets the preset braking conditions on the target loader. The brake axle is the front axle and / or the rear axle. When two traction motors on the same axle both meet the preset braking conditions, the axle containing the two traction motors that meet the preset braking conditions is taken as the brake axle.

[0235] The braking method of the target loader and the corresponding state of the motor braking system are determined based on the position of the brake shaft.

[0236] Furthermore, when determining the braking mode of the target loader and the corresponding motor braking system state based on the position of the brake axle, the motor braking system state determination module 203 is specifically configured to execute:

[0237] When the brake axle is the front axle, the braking method of the target loader is determined to be front axle independent braking, and the corresponding motor braking system state is the first state;

[0238] When the braking axle is the rear axle, the braking method of the target loader is determined to be rear axle independent braking, and the corresponding motor braking system state is the second state;

[0239] When the braking axle is neither the front axle nor the rear axle, the braking mode of the target loader is determined to be that neither the front axle nor the rear axle is braked, and the corresponding motor braking system state is the third state.

[0240] When the braking axles are the front and rear axles, the braking method of the target loader is determined to be the combined braking of the front and rear axles, and the corresponding motor braking system state is the fourth state.

[0241] Furthermore, the demand braking torque distribution module 204 is configured to execute:

[0242] The required braking torque for the front axle is determined by multiplying the total required braking torque by the obtained braking distribution coefficient.

[0243] The required braking torque of the rear axle is determined by multiplying the difference between 1 and the braking distribution coefficient with the total required braking torque.

[0244] Furthermore, the maximum braking torque determination module 205 is configured to perform:

[0245] When the traction motor involved in braking is a traction motor installed on the front axle, the motor speed, peak power, and maximum torque in the constant torque range of the traction motor installed on the front axle are obtained; when the motor speed is less than or equal to the preset speed, the maximum torque in the constant torque range of the motor is taken as the maximum braking torque of the front axle motor; when the motor speed is greater than the preset speed, the ratio of the product of the motor peak power and the first preset coefficient to the motor speed is taken as the maximum braking torque of the front axle motor.

[0246] When the traction motor involved in braking is a traction motor located on the rear axle, the motor speed, peak power, and maximum torque in the constant torque region of the traction motor located on the rear axle are obtained; when the motor speed is less than or equal to the preset speed, the maximum torque in the constant torque region of the motor is taken as the maximum braking torque of the rear axle motor; when the motor speed is greater than the preset speed, the ratio of the product of the motor peak power and the first preset coefficient to the motor speed is taken as the maximum braking torque of the rear axle motor.

[0247] Furthermore, when the motor braking system is in the first state, the corresponding torque distribution scheme is the first scheme and the second scheme; when determining the torque distribution scheme of the target loader, the torque distribution scheme determination module 206 is configured to execute:

[0248] Determine whether the maximum braking torque of the front axle motor is greater than or equal to the required braking torque of the front axle;

[0249] If the maximum braking torque of the front axle motor is greater than or equal to the required braking torque of the front axle, then the torque distribution scheme of the target loader is determined to be the first scheme; in the first scheme, the braking torque of the front axle motor is the required braking torque of the front axle, the braking torque of the rear axle motor is 0, the braking torque of the front axle hydraulic motor is 0, and the braking torque of the rear axle hydraulic motor is the required braking torque of the rear axle;

[0250] If the maximum braking torque of the front axle motor is less than the required braking torque of the front axle, then the torque distribution scheme of the target loader is determined to be the second scheme. In the second scheme, the braking torque of the front axle motor is the maximum braking torque of the front axle motor, the braking torque of the rear axle motor is 0, the braking torque of the front axle hydraulic motor is the difference between the required braking torque of the front axle and the maximum braking torque of the front axle motor, and the braking torque of the rear axle hydraulic motor is the required braking torque of the rear axle.

[0251] Furthermore, when the motor braking system is in the second state, the corresponding torque distribution schemes are the third and fourth schemes; when determining the torque distribution scheme of the target loader, the torque distribution scheme determination module 206 is configured to execute:

[0252] Determine whether the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle;

[0253] If the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle, then the torque distribution scheme of the target loader is determined to be the third scheme; in the third scheme, the braking torque of the front axle motor is 0, the braking torque of the rear axle motor is the required braking torque of the rear axle, the braking torque of the front axle hydraulic motor is the required braking torque of the front axle, and the braking torque of the rear axle hydraulic motor is 0.

[0254] If the maximum braking torque of the rear axle motor is less than the required braking torque of the rear axle, then the torque distribution scheme of the target loader is determined to be the fourth scheme. In the fourth scheme, the braking torque of the front axle motor is 0, the braking torque of the rear axle motor is the maximum braking torque of the rear axle motor, the braking torque of the front axle hydraulic motor is the required braking torque of the front axle, and the braking torque of the rear axle hydraulic motor is the difference between the required braking torque of the rear axle and the maximum braking torque of the rear axle motor.

[0255] Furthermore, when the motor braking system is in the third state, the corresponding torque distribution scheme is the fifth scheme; when determining the torque distribution scheme of the target loader, the torque distribution scheme determination module 206 is configured to execute:

[0256] The torque distribution scheme for the target loader is determined to be the fifth scheme; in the fifth scheme, the electric torque of the front axle is 0, the electric torque of the rear axle is 0, the hydraulic braking torque of the front axle is the required braking torque of the front axle, and the hydraulic braking torque of the rear axle is the required braking torque of the rear axle.

[0257] Furthermore, when the motor braking system is in the fourth state, the corresponding torque distribution schemes are the sixth, seventh, eighth, and ninth schemes; when determining the torque distribution scheme of the target loader, the torque distribution scheme determination module 206 is configured to execute:

[0258] When the maximum braking torque of the front axle motor is greater than or equal to the required braking torque of the front axle, determine whether the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle.

[0259] If the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle, then the torque distribution scheme of the target loader is determined to be the sixth scheme. In the sixth scheme, the braking torque of the front axle motor is the maximum braking torque of the front axle motor, the braking torque of the rear axle motor is the maximum braking torque of the rear axle motor, the braking torque of the front axle hydraulic motor is the difference between the required braking torque of the front axle and the maximum braking torque of the front axle motor, and the braking torque of the rear axle hydraulic motor is the difference between the required braking torque of the rear axle and the maximum braking torque of the rear axle motor.

[0260] If the maximum braking torque of the rear axle motor is less than the required braking torque of the rear axle, then the torque distribution scheme of the target loader is determined to be the seventh scheme. In the seventh scheme, the braking torque of the front axle motor is the maximum braking torque of the front axle motor, the braking torque of the rear axle motor is the required braking torque of the rear axle, the braking torque of the front axle hydraulic system is the difference between the required braking torque of the front axle and the maximum braking torque of the front axle motor, and the braking torque of the rear axle hydraulic system is 0.

[0261] When the maximum braking torque of the front axle motor is less than the required braking torque of the front axle, determine whether the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle.

[0262] If the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle, then the torque distribution scheme of the target loader is determined to be the eighth scheme; in the eighth scheme, the braking torque of the front axle motor is the required braking torque of the front axle, the braking torque of the rear axle motor is the required braking torque of the rear axle, the hydraulic braking torque of the front axle is 0, and the hydraulic braking torque of the rear axle is 0.

[0263] If the maximum braking torque of the rear axle motor is less than the required braking torque of the rear axle, then the torque distribution scheme of the target loader is determined to be the ninth scheme. In the ninth scheme, the braking torque of the front axle motor is the required braking torque of the front axle, the braking torque of the rear axle motor is the maximum braking torque of the rear axle motor, the hydraulic braking torque of the front axle is 0, and the hydraulic braking torque of the rear axle is the difference between the required braking torque of the rear axle and the maximum braking torque of the rear axle motor.

[0264] Furthermore, the hybrid loader braking energy recovery control device also includes a recoverable torque calculation module. After controlling the target loader to operate in energy recovery mode when the target loader's power battery's state of charge meets a first preset threshold and the battery temperature meets a second preset threshold, the recoverable torque calculation module is configured to execute:

[0265] The total braking torque of the regenerative motor is determined based on the maximum charging power of the power battery corresponding to the state of charge, the maximum operating power of the DC boost current stabilizing power supply module, and the actual speed of the four traction motors of the target loader at the current moment.

[0266] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0267] Thirdly, embodiments of the present invention also provide an electronic device, which includes a processor and a memory. The memory stores at least one instruction, at least one program, code set, or instruction set. The processor loads and executes the at least one instruction, at least one program, code set, or instruction set to implement the hybrid power loader braking energy recovery control method in the embodiments of the present invention.

[0268] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the target detection method for fisheye images in embodiments of the present invention.

[0269] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of the present invention is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., a solid-state disk (SSD)).

[0270] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions within the technical scope disclosed in the present invention should be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A hybrid loader brake energy recovery control method characterized by, include: The total required braking torque of the target loader is determined based on the obtained braking torque demand table and the brake pedal opening degree of the target loader. The braking torque demand table stores multiple brake pedal opening degrees and the total braking torque demand corresponding to the brake pedal opening degrees. When the state of charge of the target loader's power battery meets a first preset threshold and the battery temperature meets a second preset threshold, the target loader is controlled to operate in an energy recovery state. In the energy recovery state, the braking mode of the target loader and the corresponding motor braking system state are determined based on the positions of the four traction motors on the target loader and the operating status data of each traction motor. Different motor braking system states correspond to different braking modes of the target loader. The motor braking system states include a first state, a second state, a third state, and a fourth state, and the corresponding braking modes are front axle braking alone, rear axle braking alone, no braking of the front and rear axles, and joint braking of the front and rear axles, respectively. The total required braking torque is allocated into front axle required braking torque and rear axle required braking torque based on the obtained braking distribution coefficient; The maximum braking torque of the front axle motor and the maximum braking torque of the rear axle motor are determined based on the motor speed, peak power, and maximum torque in the constant torque region of the traction motor involved in braking. Based on the state of the motor braking system, the required braking torque of the front axle, the required braking torque of the rear axle, the maximum braking torque of the front axle motor, the maximum braking torque of the rear axle motor, and the preset torque distribution rules corresponding to the state of the motor braking system, a torque distribution scheme for the target loader is determined; the torque distribution scheme includes the electric braking torque of the front axle, the electric braking torque of the rear axle, the hydraulic braking torque of the front axle, and the hydraulic braking torque of the rear axle.

2. The method of claim 1, wherein, The four traction motors include a front axle left traction motor, a front axle right traction motor, a rear axle left traction motor, and a rear axle right traction motor. The front axle left traction motor and the front axle right traction motor are both mounted on the front axle of the target loader, and the rear axle left traction motor and the rear axle right traction motor are both mounted on the rear axle of the target loader. The step of determining the braking method of the target loader and the corresponding motor braking system state based on the positions of the four traction motors on the target loader and the operating status data of each traction motor specifically includes: The operating status data includes motor speed, motor temperature, and motor fault information. Based on the motor speed, motor temperature, and motor fault information of the four traction motors, the traction motor that meets the preset braking conditions is determined. The preset braking conditions are that the motor speed meets the third preset threshold, the motor temperature meets the fourth preset threshold, and there is no motor fault signal. Based on the position of the traction motor that meets the preset braking conditions on the target loader, the brake axle of the target loader is determined; the brake axle is the front axle and / or the rear axle. When two traction motors on the same axle both meet the preset braking conditions, the axle containing the two traction motors that meet the preset braking conditions is taken as the brake axle. The braking method of the target loader and the corresponding motor braking system status are determined based on the position of the brake shaft.

3. The method of claim 2, wherein, The step of determining the braking mode of the target loader and the corresponding motor braking system state based on the position of the brake shaft specifically includes: When the brake axle is the front axle, the braking mode of the target loader is determined to be front axle independent braking, and the corresponding motor braking system state is the first state; When the braking axle is the rear axle, the braking mode of the target loader is determined to be rear axle independent braking, and the corresponding motor braking system state is the second state; When the braking axle is neither the front axle nor the rear axle, the braking mode of the target loader is determined to be that neither the front axle nor the rear axle is braked, and the corresponding motor braking system state is the third state. When the braking axles are the front axle and the rear axle, the braking mode of the target loader is determined to be the combined braking of the front axle and the rear axle, and the corresponding motor braking system state is the fourth state.

4. The method of claim 1, wherein, The process of allocating the total required braking torque into front axle required braking torque and rear axle required braking torque based on the obtained braking distribution coefficient is specifically as follows: The required braking torque for the front axle is determined by multiplying the total required braking torque by the obtained braking distribution coefficient. The required braking torque of the rear axle is determined by multiplying the difference between 1 and the braking distribution coefficient and the total required braking torque.

5. The method according to claim 3, characterized in that, The determination of the maximum braking torque of the front axle motor and the maximum braking torque of the rear axle motor based on the motor speed, peak power, and maximum torque in the constant torque region of the traction motors involved in braking specifically includes: When the traction motor involved in braking is a traction motor located on the front axle, the motor speed, peak power, and maximum torque in the constant torque range of the traction motor located on the front axle are obtained; when the motor speed is less than or equal to a preset speed, the maximum torque in the constant torque range of the motor is taken as the maximum braking torque of the front axle motor; when the motor speed is greater than the preset speed, the ratio of the product of the peak power of the motor and a first preset coefficient to the motor speed is taken as the maximum braking torque of the front axle motor. When the traction motor involved in braking is a traction motor located on the rear axle, the motor speed, peak power, and maximum torque in the constant torque region of the traction motor located on the rear axle are obtained; when the motor speed is less than or equal to a preset speed, the maximum torque in the constant torque region of the motor is taken as the maximum braking torque of the rear axle motor; when the motor speed is greater than the preset speed, the ratio of the product of the peak power of the motor and the first preset coefficient to the motor speed is taken as the maximum braking torque of the rear axle motor.

6. The method according to claim 1, characterized in that, When the motor braking system is in the first state, the corresponding torque distribution scheme is the first scheme and the second scheme; the determination of the torque distribution scheme of the target loader is specifically as follows: Determine whether the maximum braking torque of the front axle motor is greater than or equal to the required braking torque of the front axle; If the maximum braking torque of the front axle motor is greater than or equal to the required braking torque of the front axle, then the torque distribution scheme of the target loader is determined to be the first scheme; in the first scheme, the braking torque of the front axle motor is the required braking torque of the front axle, the braking torque of the rear axle motor is 0, the braking torque of the front axle hydraulic motor is 0, and the braking torque of the rear axle hydraulic motor is the required braking torque of the rear axle; If the maximum braking torque of the front axle motor is less than the required braking torque of the front axle, then the torque distribution scheme of the target loader is determined to be the second scheme; in the second scheme, the braking torque of the front axle motor is the maximum braking torque of the front axle motor, the braking torque of the rear axle motor is 0, the braking torque of the front axle hydraulic motor is the difference between the required braking torque of the front axle and the maximum braking torque of the front axle motor, and the braking torque of the rear axle hydraulic motor is the required braking torque of the rear axle.

7. The method according to claim 1, characterized in that, When the motor braking system is in the second state, the corresponding torque distribution schemes are the third and fourth schemes; the determination of the torque distribution scheme for the target loader is specifically as follows: Determine whether the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle; If the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle, then the torque distribution scheme of the target loader is determined to be the third scheme; in the third scheme, the braking torque of the front axle motor is 0, the braking torque of the rear axle motor is the required braking torque of the rear axle, the braking torque of the front axle hydraulic motor is the required braking torque of the front axle, and the braking torque of the rear axle hydraulic motor is 0; If the maximum braking torque of the rear axle motor is less than the required braking torque of the rear axle, then the torque distribution scheme of the target loader is determined to be the fourth scheme; in the fourth scheme, the braking torque of the front axle motor is 0, the braking torque of the rear axle motor is the maximum braking torque of the rear axle motor, the braking torque of the front axle hydraulic motor is the required braking torque of the front axle, and the braking torque of the rear axle hydraulic motor is the difference between the required braking torque of the rear axle and the maximum braking torque of the rear axle motor.

8. The method according to claim 1, characterized in that, When the motor braking system is in the third state, the corresponding torque distribution scheme is the fifth scheme; the determination of the torque distribution scheme for the target loader is specifically as follows: The torque distribution scheme of the target loader is determined to be the fifth scheme; in the fifth scheme, the front axle electric motor torque is 0, the rear axle electric motor torque is 0, the front axle hydraulic braking torque is the required braking torque of the front axle, and the rear axle hydraulic braking torque is the required braking torque of the rear axle.

9. The method according to claim 1, characterized in that, When the motor braking system is in the fourth state, the corresponding torque distribution schemes are the sixth, seventh, eighth, and ninth schemes; the determination of the torque distribution scheme for the target loader is specifically as follows: When the maximum braking torque of the front axle motor is greater than or equal to the required braking torque of the front axle, it is determined whether the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle. If the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle, then the torque distribution scheme of the target loader is determined to be the sixth scheme. In the sixth scheme, the front axle electric motor's driving torque is the maximum braking torque of the front axle motor, the rear axle electric motor's driving torque is the maximum braking torque of the rear axle motor, the front axle hydraulic braking torque is the difference between the required braking torque of the front axle and the maximum braking torque of the front axle motor, and the rear axle hydraulic braking torque is the difference between the required braking torque of the rear axle and the maximum braking torque of the rear axle motor. If the maximum braking torque of the rear axle motor is less than the required braking torque of the rear axle, then the torque distribution scheme of the target loader is determined to be the seventh scheme. In the seventh scheme, the front axle electric motor driving torque is the maximum braking torque of the front axle motor, the rear axle electric motor driving torque is the required braking torque of the rear axle, the front axle hydraulic braking torque is the difference between the required braking torque of the front axle and the maximum braking torque of the front axle motor, and the rear axle hydraulic braking torque is 0. When the maximum braking torque of the front axle motor is less than the required braking torque of the front axle, determine whether the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle; If the maximum braking torque of the rear axle motor is greater than or equal to the required braking torque of the rear axle, then the torque distribution scheme of the target loader is determined to be the eighth scheme; in the eighth scheme, the braking torque of the front axle motor is the required braking torque of the front axle, the braking torque of the rear axle motor is the required braking torque of the rear axle, the hydraulic braking torque of the front axle is 0, and the hydraulic braking torque of the rear axle is 0; If the maximum braking torque of the rear axle motor is less than the required braking torque of the rear axle, then the torque distribution scheme of the target loader is determined to be the ninth scheme. In the ninth scheme, the front axle electric motor braking torque is the required braking torque of the front axle, the rear axle electric motor braking torque is the maximum braking torque of the rear axle motor, the front axle hydraulic braking torque is 0, and the rear axle hydraulic braking torque is the difference between the required braking torque of the rear axle and the maximum braking torque of the rear axle motor.

10. The method according to claim 1, characterized in that, After controlling the target loader to operate in energy recovery mode when the state of charge of the target loader's power battery meets a first preset threshold and the battery temperature meets a second preset threshold, the method further includes: The total braking torque of the recyclable motor is determined based on the maximum charging power of the power battery corresponding to the state of charge, the maximum operating power of the DC boost current stabilizing power supply module, and the actual rotational speed of the four traction motors of the target loader at the current moment.

11. A hybrid power loader braking energy recovery control device, characterized in that, include: The total required braking torque determination module is used to determine the total required braking torque of the target loader based on the obtained braking torque demand table and the brake pedal opening degree of the target loader. The braking torque demand table stores multiple brake pedal opening degrees and the total braking torque demand corresponding to the brake pedal opening degrees. An energy recovery control module is used to control the target loader to operate in an energy recovery state when the state of charge of the target loader's power battery meets a first preset threshold and the battery temperature meets a second preset threshold. The motor braking system state determination module is used to determine the braking mode of the target loader and the corresponding motor braking system state based on the positions of the four traction motors of the target loader on the target loader and the operating status data of each traction motor during the energy recovery state. Different motor braking system states correspond to different braking modes of the target loader. The motor braking system states include a first state, a second state, a third state, and a fourth state, and the corresponding braking modes are front axle braking alone, rear axle braking alone, no braking of the front and rear axles, and joint braking of the front and rear axles, respectively. The demand braking torque allocation module is used to allocate the total demand braking torque into front axle demand braking torque and rear axle demand braking torque according to the obtained braking allocation coefficient; The maximum braking torque determination module is used to determine the maximum braking torque of the front axle motor and the maximum braking torque of the rear axle motor based on the motor speed, peak power, and maximum torque in the constant torque region of the traction motors involved in braking. The torque distribution scheme determination module is used to determine the torque distribution scheme of the target loader based on the state of the motor braking system, the required braking torque of the front axle, the required braking torque of the rear axle, the maximum braking torque of the front axle motor, the maximum braking torque of the rear axle motor, and the preset torque distribution rules corresponding to the state of the motor braking system; the torque distribution scheme includes the motor braking torque of the front axle, the motor braking torque of the rear axle, the hydraulic braking torque of the front axle, and the hydraulic braking torque of the rear axle.

12. An electronic device, characterized in that, The electronic device includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set, or an instruction set, and the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the hybrid vehicle braking energy recovery control method as described in any one of claims 1-10.

13. A computer-readable storage medium, characterized in that, The storage medium stores at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, the at least one program, the code set, or instruction set is loaded and executed by a processor to implement the hybrid vehicle braking energy recovery control method as described in any one of claims 1-10.

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