Method and system for speed control of an electric power system of an electric excavator

Abstract

The application relates to the technical field of electric engineering machinery control, and provides a rotating speed control method and system of an electric excavator power system, which is applied to a vehicle controller in a rotating speed control system of the electric excavator power system, and the control system comprises a vehicle controller, an instrument, a motor controller, a hydraulic system controller and a battery controller; the method comprises the following steps: obtaining target data at the current moment from the hydraulic system controller and the battery controller in response to a switching signal of an automatic shifting mode sent by the instrument; obtaining the target rotating speed of the motor at the current moment by using a rotating speed prediction model of the electric excavator power system according to the target data at the current moment; the automatic shifting mode is sent by the instrument when it is determined that the electric excavator is in the automatic shifting mode; and the target rotating speed is sent to the motor controller, so as to be used for adjusting the working gear of the electric excavator by the motor controller. The application can realize the rotating speed control of the power system of the electric excavator in real time.

Description

Technical Field

[0001] This invention relates to the field of electric construction machinery control technology, and in particular to a speed control method and system for the power system of an electric excavator. Background Technology

[0002] In most operating conditions of excavators, the required power can change drastically in a short period of time depending on whether there is a load. In order to adapt to the load requirements under different operating conditions, the speed of the excavator's power system is calibrated and divided into different gears. By changing the engine output speed, the power system can be matched with the load to meet the power requirements of the whole machine.

[0003] Currently, traditional excavators rely on operators to manually switch gears to control output power based on actual working conditions. This is cumbersome in complex situations and inevitably leads to inappropriate gear selection, significantly reducing fuel economy. Electric excavators, using an electric motor as their primary power source, offer significantly improved dynamic response compared to traditional excavators. They possess the ability to respond quickly and frequently to changing output demands. Through appropriate control strategies, the fuel economy of the power system can be improved while meeting power requirements, extending the excavator's endurance.

[0004] How to achieve speed control of the power system of electric excavators has become a technical problem that urgently needs to be solved in the industry. Summary of the Invention

[0005] To address the technical problems existing in the prior art, the present invention provides a method and system for controlling the speed of the power system of an electric excavator, which realizes real-time speed control of the power system of the electric excavator without the need for additional speed control devices.

[0006] In a first aspect, the present invention provides a speed control method for an electric excavator power system, applied to a vehicle controller in the speed control system of the electric excavator power system. The speed control system of the electric excavator power system includes the vehicle controller, instruments, a motor controller, a hydraulic system controller, and a battery controller. The method includes:

[0007] In response to the automatic transmission mode switching signal sent by the instrument, the target data at the current moment is obtained from the hydraulic system controller and the battery controller, and based on the target data at the current moment, the motor speed is predicted using the speed prediction model of the electric excavator power system to obtain the target motor speed at the current moment; wherein, the automatic transmission mode is used to indicate that the electric excavator is in a mode of speed control using the speed control system, and the automatic transmission mode switching signal is sent by the instrument when it determines that the electric excavator is in automatic transmission mode;

[0008] The target speed of the motor at the current moment is sent to the motor controller; wherein, the target speed of the motor at the current moment is used by the motor controller to adjust the working gear of the electric excavator according to the target speed of the motor at the current moment.

[0009] Optionally, the target data includes first key data of the hydraulic system and second key data of the battery system; the step of responding to the automatic transmission mode switching signal sent by the instrument, obtaining the target data at the current moment from the hydraulic system controller and the battery controller, and predicting the motor speed using the speed prediction model of the electric excavator power system based on the target data at the current moment to obtain the target motor speed at the current moment includes:

[0010] The first key data of the hydraulic system at the current moment is obtained from the hydraulic system controller. The first key data of the hydraulic system is the displacement of the electric control handle, the angle of the electric control handle, and the power required by the electric excavator.

[0011] The second key data of the battery system at the current moment is obtained from the battery controller, and the second key data of the battery system is the battery state of charge (SOC).

[0012] The current displacement and angle of the electric control handle, the power demand of the electric excavator, and the current state of charge (SOC) of the battery are input into the speed prediction model of the electric excavator's power system.

[0013] Using the speed prediction model of the electric excavator power system, the motor speed is predicted based on the current displacement and angle of the electric control handle, the power demand of the electric excavator, and the current state of charge (SOC) of the battery, to obtain the target motor speed at the current moment; the speed prediction model of the electric excavator power system is obtained by training an initial model using first data within a preset time period.

[0014] Optionally, the training steps for the speed prediction model of the electric excavator's power system include:

[0015] Get the first data within a preset time period;

[0016] The first data includes input data and tag data of the input data; the tag data of the input data corresponds to the time information of the input data; the input data includes the third key data of the hydraulic system sent by the hydraulic system controller and the fourth key data of the battery system sent by the battery controller; the tag data of the input data includes the fifth key data of the motor sent by the motor controller.

[0017] Initialize the model parameters of the initial model;

[0018] The third key data of the hydraulic system sent by the hydraulic system controller and the fourth key data of the battery system sent by the battery controller within the preset time period are used as inputs to the initial model, and the fifth key data of the motor sent by the motor controller is used as label information to train the initial model and obtain the corrected model parameters.

[0019] The rotational speed prediction model is determined based on the corrected model parameters.

[0020] Optionally, the third key data of the hydraulic system is the displacement of the first electric control handle, the angle of the first electric control handle, and the first required power of the electric excavator at least at one moment within a preset time period; the fourth key data of the battery system is the state of charge (SOC) of the battery at each of the aforementioned moments; and the fifth key data of the motor is the motor speed and motor torque at each of the aforementioned moments.

[0021] Optionally, the method further includes:

[0022] The working condition type of the electric excavator is determined based on the displacement of the electric control handle; the working condition type of the electric excavator includes at least one of the following: digging state, traveling state, and energy recovery state;

[0023] When the working condition of the electric excavator is digging, the first motor speed reference value is determined according to the power demand of the electric excavator at the current moment;

[0024] Based on the current reference value of the first motor speed, the state of charge of the battery, and the angle of the electric control handle, the motor speed is predicted using the speed prediction model of the electric excavator power system to obtain the target motor speed at the current moment.

[0025] When the electric excavator is in driving mode, the maximum speed of the motor is determined as the second motor speed reference value.

[0026] Based on the current reference value of the second motor speed and the angle of the electric control handle, the motor speed is predicted using the speed prediction model of the electric excavator power system to obtain the target motor speed at the current moment.

[0027] When the electric excavator is in energy recovery mode, the minimum speed of the motor is determined as the third motor speed reference value.

[0028] Based on the current reference value of the third motor speed and the angle of the electric control handle, the motor speed is predicted using the speed prediction model of the electric excavator power system to obtain the target motor speed at the current moment.

[0029] Secondly, the present invention also provides a speed control system for an electric excavator power system, the speed control system for the electric excavator power system including a vehicle controller, instruments and meters, a motor controller, a hydraulic system controller and a battery controller;

[0030] The instrument is used to send a switching signal for the automatic transmission mode to the vehicle controller when it is determined that the electric excavator is in automatic transmission mode; the automatic transmission mode is used to indicate that the electric excavator is in a mode where the speed is controlled by the speed control system.

[0031] The vehicle controller is used to respond to receiving the automatic transmission mode switching signal, obtain the target data at the current moment from the hydraulic system controller and the battery controller, and predict the motor speed using the speed prediction model of the electric excavator power system based on the target data at the current moment, so as to obtain the target motor speed at the current moment.

[0032] Send the target speed of the motor at the current moment to the motor controller;

[0033] The motor controller is used to adjust the working gear of the electric excavator according to the target speed of the motor at the current moment.

[0034] Optionally, the hydraulic system controller is used to collect first key data of the hydraulic system and send the first key data of the hydraulic system to the vehicle controller via a communication bus; the first key data of the hydraulic system includes the displacement of the electric control handle, the angle of the electric control handle, and the power required by the electric excavator.

[0035] The battery controller is used to collect the second key data of the battery system and send the second key data of the battery system to the vehicle controller through the communication bus; the second key data of the battery system is the battery state of charge (SOC).

[0036] The motor controller is also used to collect the motor speed and motor torque of the motor, and send the motor speed and motor torque of the motor to the vehicle controller through the communication bus.

[0037] Thirdly, the present invention also provides a speed control device for an electric excavator power system, applied to a vehicle controller in a speed control system for an electric excavator power system. The speed control system for the electric excavator power system includes the vehicle controller, instruments, a motor controller, a hydraulic system controller, and a battery controller. The device includes:

[0038] The processing module is configured to respond to the automatic transmission mode switching signal sent by the instrument, acquire the target data at the current moment from the hydraulic system controller and the battery controller, and predict the motor speed based on the target data at the current moment using the speed prediction model of the electric excavator power system to obtain the target motor speed at the current moment; wherein, the automatic transmission mode is used to indicate that the electric excavator is in a mode of speed control using the speed control system, and the automatic transmission mode switching signal is sent by the instrument when it determines that the electric excavator is in automatic transmission mode;

[0039] The sending module is used to send the target speed of the motor at the current moment to the motor controller; wherein, the target speed of the motor at the current moment is used by the motor controller to adjust the working gear of the electric excavator according to the target speed of the motor at the current moment.

[0040] Fourthly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the speed control method for the electric excavator power system as described above.

[0041] Fifthly, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the speed control method for the power system of an electric excavator as described above.

[0042] Sixthly, the present invention also provides an electric construction machinery, wherein the electric construction machinery uses any of the above-described methods for controlling the speed of an electric excavator power system, or the electric construction machinery includes a speed control system for the electric excavator power system, or the electric construction machinery includes a speed control device for the electric excavator power system, or the electric construction machinery includes the electronic equipment, or the electric construction machinery includes the non-transitory computer-readable storage medium.

[0043] The present invention provides a method and system for controlling the speed of an electric excavator's power system. This method is applied to the vehicle controller within the speed control system of the electric excavator's power system. The speed control system includes a vehicle controller, instruments, a motor controller, a hydraulic system controller, and a battery controller. First, in response to an automatic transmission mode switching signal sent by the instruments, target data for the current moment is obtained from the hydraulic system controller and the battery controller. Based on this target data, the motor speed is predicted using the electric excavator's power system speed prediction model to obtain the target motor speed for the current moment. The automatic transmission mode indicates that the electric excavator is in a mode where the speed is controlled using the speed control system. The automatic transmission mode switching signal is sent by the instruments when the electric excavator is determined to be in automatic transmission mode. Then, the target motor speed for the current moment is sent to the motor controller. This target motor speed is used by the motor controller to adjust the electric excavator's operating gear according to the target motor speed.

[0044] The method provided in this invention is applied to the vehicle controller. First, in response to the automatic transmission mode switching signal sent by the instruments, it obtains the target data for the current moment from the hydraulic system controller and the battery controller. Based on this target data, it uses the electric excavator's power system speed prediction model to predict the motor speed, obtaining the target motor speed for the current moment. Then, it sends the target motor speed to the motor controller, which adjusts the electric excavator's operating gear according to the target motor speed. This invention eliminates the need for additional speed control devices, achieving real-time speed control of the electric excavator's power system. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0046] Figure 1 This is one of the flowcharts illustrating the speed control method for the power system of an electric excavator provided by the present invention;

[0047] Figure 2 This is a schematic diagram illustrating the principle of the speed control method for the power system of an electric excavator provided by the present invention;

[0048] Figure 3 This is the second flowchart illustrating the speed control method for the power system of an electric excavator provided by the present invention;

[0049] Figure 4 This is a schematic diagram of the speed control system of the electric excavator power system provided by the present invention;

[0050] Figure 5 This is a schematic diagram of the speed control device of the electric excavator power system provided by the present invention;

[0051] Figure 6 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0053] The following is combined with Figures 1 to 6 This invention describes the speed control method and system for the power system of an electric excavator.

[0054] Figure 1 This is one of the flowcharts illustrating the speed control method for the power system of an electric excavator provided by the present invention. It is applied to the vehicle controller in the speed control system of the electric excavator power system. The speed control system of the electric excavator power system includes a vehicle controller, instruments, a motor controller, a hydraulic system controller, and a battery controller; for example... Figure 1 As shown, the method includes:

[0055] Step 101: In response to the automatic transmission mode switching signal sent by the instrument, obtain the target data at the current moment from the hydraulic system controller and the battery controller, and predict the motor speed using the speed prediction model of the electric excavator power system based on the target data at the current moment to obtain the target motor speed at the current moment; wherein, the automatic transmission mode is used to characterize the electric excavator in the mode of speed control using the speed control system, and the automatic transmission mode switching signal is sent by the instrument when it determines that the electric excavator is in automatic transmission mode;

[0056] Specifically, the execution subject of this embodiment is the vehicle controller in the speed control system of the electric excavator's power system, which is used to realize real-time speed control of the electric excavator's power system. The application scenario of this embodiment is introduced using an electric excavator as an example.

[0057] The speed control system of an electric excavator's power system includes a vehicle control unit (VCU), an instrument control unit (ICU), a motor control unit (MCU), a hydraulic control unit (HCU), and a battery control unit (BCU). The VCU, as the central control unit of the electric excavator, is the core of the entire control system. The motor control unit primarily receives torque message commands from the VCU and then controls the speed and direction of the drive motor. The hydraulic control unit in the hydraulic system regulates the flow direction, pressure, and flow rate of the hydraulic fluid, enabling the actuators and their driven mechanisms to obtain the required direction of motion, thrust (torque), and speed (rotational speed).

[0058] First, in response to the automatic transmission mode switching signal sent by the instrumentation, the system obtains the target data for the current moment from the hydraulic system controller and the battery controller. The instrumentation determines whether the electric excavator is in automatic transmission mode based on user commands. If it determines that the electric excavator is in automatic transmission mode, it sends an automatic transmission mode switching signal to the vehicle controller. Automatic transmission mode indicates that the electric excavator is in a mode where speed control is performed using the speed control system. After receiving the switching signal, the vehicle controller obtains the target data from the hydraulic controller and the battery controller respectively, for subsequent prediction of the motor's target speed. The target data sent by the hydraulic controller is key data for the hydraulic system, such as the electric control handle displacement and angle, and the electric excavator's power requirement. The target data sent by the battery controller is key data for the battery system, such as the battery's state of charge, i.e., the remaining battery power.

[0059] Furthermore, based on the target data at the current moment, the motor speed can be predicted using the speed prediction model of the electric excavator's power system to obtain the target motor speed at the current moment. It can be understood that the speed prediction model of the electric excavator's power system can predict the target motor speed based on the above input parameters (target data at the current moment).

[0060] Step 102: Send the target speed of the motor at the current moment to the motor controller; wherein, the target speed of the motor at the current moment is used to enable the motor controller to adjust the working gear of the electric excavator according to the target speed of the motor at the current moment.

[0061] Specifically, after predicting the target speed of the motor using a speed prediction model of the electric excavator's power system, the target speed of the motor at the current moment is then sent to the motor controller. This target speed is used by the motor controller to adjust the electric excavator's operating gear based on the target speed. By obtaining input parameters from multiple moments, the target speed of the motor and the operating gear of the electric excavator at each moment can be obtained sequentially, thus achieving automatic speed control.

[0062] In this embodiment, the method is applied to the vehicle controller in the speed control system of an electric excavator's power system. The speed control system of the electric excavator's power system includes a vehicle controller, instruments, a motor controller, a hydraulic system controller, and a battery controller. First, in response to the automatic transmission mode switching signal sent by the instruments, the target data at the current moment is obtained from the hydraulic system controller and the battery controller. Based on the target data at the current moment, the motor speed is predicted using the speed prediction model of the electric excavator's power system to obtain the target motor speed at the current moment. Here, the automatic transmission mode is used to indicate that the electric excavator is in a mode where the speed control system is used for speed control. The automatic transmission mode switching signal is sent by the instruments when they determine that the electric excavator is in automatic transmission mode. Then, the target motor speed at the current moment is sent to the motor controller. Here, the target motor speed at the current moment is used by the motor controller to adjust the working gear of the electric excavator according to the target motor speed at the current moment.

[0063] The method provided in this invention is applied to the vehicle controller. First, in response to the automatic transmission mode switching signal sent by the instruments, it obtains the target data for the current moment from the hydraulic system controller and the battery controller. Based on this target data, it uses the electric excavator's power system speed prediction model to predict the motor speed, obtaining the target motor speed for the current moment. Then, it sends the target motor speed to the motor controller, which adjusts the electric excavator's operating gear according to the target motor speed. This invention eliminates the need for additional speed control devices, achieving real-time speed control of the electric excavator's power system.

[0064] Optionally, the target data includes first key data of the hydraulic system and second key data of the battery system; in response to the automatic transmission mode switching signal sent by the instruments, the target data at the current moment is obtained from the hydraulic system controller and the battery controller, and based on the target data at the current moment, the motor speed is predicted using the speed prediction model of the electric excavator power system to obtain the target motor speed at the current moment, including:

[0065] The first key data of the hydraulic system at the current moment is obtained from the hydraulic system controller. The first key data of the hydraulic system is the displacement of the electric control handle, the angle of the electric control handle, and the power required by the electric excavator.

[0066] The second key data of the battery system at the current moment is obtained from the battery controller. The second key data of the battery system is the battery state of charge (SOC).

[0067] The current displacement and angle of the electric control handle, the power demand of the electric excavator, and the current state of charge (SOC) of the battery are input into the speed prediction model of the electric excavator's power system.

[0068] Using the speed prediction model of the electric excavator's power system, the motor speed is predicted based on the current displacement and angle of the electric control handle, the power demand of the electric excavator, and the current state of charge (SOC) of the battery, thus obtaining the target motor speed at the current moment. The speed prediction model of the electric excavator's power system is obtained by training the initial model using the first data within a preset time period.

[0069] Specifically, in some embodiments, the target data includes first key data of the hydraulic system and second key data of the battery system. Correspondingly, step 101 can be implemented as follows:

[0070] First, the system obtains the key data of the hydraulic system at the current moment from the hydraulic system controller. This key data includes the electric control handle displacement, electric control handle angle, and the required power of the electric excavator. The function of the hydraulic control valve in the hydraulic system is to control and regulate the flow direction, pressure, and flow rate of the hydraulic fluid, enabling the actuators and their driven mechanisms to obtain the required direction of motion, thrust (torque), and speed (rotational speed). In other words, the hydraulic system controller can collect and process relevant data from the hydraulic system. The key data refers to the values ​​of factors that can affect the target speed of the power system, such as the electric control handle displacement, electric control handle angle, and the required power of the electric excavator. The electric control handle refers to the hydraulic system's electric control handle. The mainstream control method for excavators is hydraulic, meaning the main control valve is controlled through the electric control handle, which then completes the machine's operation. The electric control handle displacement and angle are the main input parameters of the electric control handle. The required power of the electric excavator can also be obtained from the relevant data of the hydraulic system. It should be noted that data transmission and sending can be carried out through the CAN communication bus or other methods; this embodiment does not impose any specific limitations.

[0071] Furthermore, the second key data of the battery system at the current moment is obtained from the battery controller. This second key data is the battery state of charge (SOC). The battery controller's function is to ensure the safe and reliable use of the battery, control the charging and discharging of the power battery pack, and report basic parameters and fault information of the power battery system to the vehicle control unit (VCU). The battery controller is a core component for battery protection and management. The second key data of the battery system refers to the values ​​of factors that can affect the target speed of the power system, such as the battery state of charge, which is the remaining charge capacity. It represents the ratio of the remaining dischargeable capacity to the fully charged capacity after a period of use or long-term storage, and is generally used to represent the charging rate of lithium batteries. It is usually expressed as a one-byte hexadecimal percentage, i.e., a two-digit value ranging from 0 to 100, with a full charge being 100% SOC. It should be noted that data transmission and transmission can be carried out via the CAN communication bus or other methods; this embodiment does not impose specific limitations.

[0072] Furthermore, after the vehicle control unit (VCU) acquires key data such as the current displacement and angle of the electric control handle, the power demand of the electric excavator, and the current state of charge (SOC) of the battery, it inputs this data into the speed prediction model of the electric excavator's power system. This allows the model to predict the target motor speed based on the key data. It should be noted that data transmission and sending can be achieved via the CAN communication bus or other methods; this embodiment does not impose specific limitations.

[0073] Furthermore, it can be understood that the speed prediction model of the electric excavator's power system is obtained by training an initial model using first data within a preset time period. The type of speed prediction model for the electric excavator's power system is, for example, a Markov chain model. A Markov chain is a discrete-time stochastic process in mathematics that possesses the Markov property. In this process, given current knowledge or information, the past (i.e., historical states before the current period) is irrelevant to predicting the future (i.e., future states after the current period). A Markov process where both time and state are discrete is called a Markov chain. A Markov model (Hidden Markov Model, HMM) is a statistical model used to describe a Markov process containing hidden unknown parameters. The difficulty lies in determining the hidden parameters of the process from the observable parameters. These parameters are then used for further analysis, such as pattern recognition. It should be noted that other models applicable to speed prediction can also be used to predict speed.

[0074] After obtaining the key data at the current moment, the motor speed can be predicted using the speed prediction model of the electric excavator's power system. This prediction can be based on the first key data of the hydraulic system, such as the current displacement and angle of the electric control handle and the power demand of the electric excavator, as well as the second key data of the battery system, such as the current state of charge (SOC) of the battery.

[0075] In the method provided in this embodiment, firstly, the first key data of the hydraulic system at the current moment is obtained from the hydraulic system controller. The first key data of the hydraulic system includes the displacement and angle of the electric control handle and the power demand of the electric excavator. Then, the second key data of the battery system at the current moment is obtained from the battery controller. The second key data of the battery system is the state of charge (SOC) of the battery. Next, the current displacement and angle of the electric control handle, the power demand of the electric excavator, and the current SOC of the battery are input into the speed prediction model of the electric excavator's power system. Using the speed prediction model of the electric excavator's power system, the motor speed is predicted based on the current displacement and angle of the electric control handle, the power demand of the electric excavator, and the current SOC of the battery, thus obtaining the target motor speed at the current moment. This invention utilizes the first data within a preset time period to train an initial model for speed prediction of the electric excavator's power system. Based on the current displacement and angle of the electric control handle of the hydraulic system, the power demand of the electric excavator, and the current state of charge (SOC) of the battery system, the target motor speed is predicted using the speed prediction model of the electric excavator's power system. This improves the accuracy of speed prediction and enables real-time speed control of the electric excavator's power system.

[0076] Optionally, the training steps for the speed prediction model of the electric excavator's power system include:

[0077] Get the first data within a preset time period;

[0078] The first data includes input data and its tag data; the tag data of the input data corresponds to the time information of the input data; the input data includes the third key data of the hydraulic system sent by the hydraulic system controller and the fourth key data of the battery system sent by the battery controller; the tag data of the input data includes the fifth key data of the motor sent by the motor controller.

[0079] Initialize the model parameters of the initial model;

[0080] The third key data of the hydraulic system sent by the hydraulic system controller and the fourth key data of the battery system sent by the battery controller within a preset time period are used as inputs to the initial model, and the fifth key data of the motor sent by the motor controller is used as label information to train the initial model and obtain the corrected model parameters.

[0081] Based on the corrected model parameters, the speed prediction model is determined.

[0082] Specifically, in some embodiments, the training steps of the rotational speed prediction model include:

[0083] First, the first data within a preset time period is acquired. This preset time period can be customized according to actual needs, such as within 7 days, 3 days, or 24 hours. The first data includes input data and its label data, with the label data corresponding to the time information of the input data. The input data includes the third key data of the hydraulic system sent by the hydraulic system controller and the fourth key data of the battery system sent by the battery controller. The label data includes the fifth key data of the motor sent by the motor controller. In other words, the input data and its labels can be used together to train the speed prediction model, using the first data within the preset time period as the model's training samples. The fifth key data of the motor includes, for example, motor speed and motor torque. The third key data of the hydraulic system sent by the hydraulic system controller and the fourth key data of the battery system sent by the battery controller are similar in data type to those acquired during model prediction, differing only in the time period they occupy. They need to correspond to the time information of the fifth key data of the motor, which will not be elaborated further here.

[0084] Then, the model parameters of the initial model are initialized; the initial model is, for example, the original Markov chain model. A Markov model is used to describe a Markov process with hidden unknown parameters, and the model parameters are the hidden parameters of the process determined from the observable parameters. Furthermore, these parameters can be used for further analysis, such as speed prediction and pattern recognition.

[0085] Furthermore, the third key data of the hydraulic system sent by the hydraulic system controller and the fourth key data of the battery system sent by the battery controller within a preset time period are used as inputs to the initial model, and the fifth key data of the motor sent by the motor controller is used as label information to train the initial model and obtain the corrected model parameters. During the continuous iterative optimization of the model, the corrected model parameters can be obtained when the termination condition of the iteration is met.

[0086] Furthermore, based on the corrected model parameters, the speed prediction model is determined. For example, the corrected model parameters are determined as the model parameters of the speed prediction model, thus obtaining the trained model, which is the speed prediction model.

[0087] In the method provided in this embodiment, the first data within a preset time period is used as sample data. The first data includes input data and label data of the input data. The initial model is trained using the sample data to obtain the corrected model parameters, thereby obtaining a trained speed prediction model. Based on the speed prediction model, the target speed of the motor can be predicted in real time with high accuracy.

[0088] Optionally, the third key data of the hydraulic system is the displacement of the first electric control handle, the angle of the first electric control handle, and the first required power of the electric excavator at least at one moment within a preset time period; the fourth key data of the battery system is the state of charge (SOC) of the battery at each moment; and the fifth key data of the motor is the motor speed and motor torque at each moment.

[0089] Specifically, in some embodiments, the third key data of the hydraulic system refers to the values ​​of factors that can be used to affect the target speed of the power system from the relevant data of the hydraulic system at various moments within a preset time period. For example, the first electric control handle displacement, the first electric control handle angle, and the first required power of the electric excavator at at least one moment within the preset time period. Here, the electric control handle refers to the electric control handle of the hydraulic system. The mainstream control method of the excavator is hydraulic, that is, the main control valve is controlled by the electric control handle of the hydraulic system, and then the machine operation is completed by the main control valve. The electric control handle displacement and electric control handle angle are the main input parameters of the electric control handle. The first required power of the electric excavator can also be obtained from the relevant data of the hydraulic system.

[0090] The fourth key data point of the battery system is the battery's State of Charge (SOC) at various times within a preset time period. The battery's state of charge, also known as remaining capacity, represents the ratio of remaining dischargeable capacity to fully charged capacity after a period of use or long-term storage. It is generally used to represent the charging rate of lithium batteries. It is usually expressed as a one-byte hexadecimal percentage, a two-digit number ranging from 0 to 100, with a full charge being 100% SOC. This fourth key data point of the battery system is transmitted to the vehicle controller via the communication bus, enabling the vehicle controller to train a speed prediction model based on various inputs.

[0091] The fifth key data point for an electric motor is its speed and torque at various times within a preset time period. Motor speed, referring to the rotational speed of the motor, is one of its most important performance indicators, directly affecting its output power, efficiency, and lifespan. Motor speed is related not only to the motor's structure and parameters but also to factors such as power supply voltage, load characteristics, motor temperature, and rotor inertia. Motor torque, also known as the motor's output torque, is one of the fundamental parameters of an electric motor. It refers to the torque that the motor can generate to rotate mechanical components. In the International System of Units (SI), the unit of measurement for motor shaft output torque is Newton-meter (N*m). The output torque of a motor is related to its speed and power. When the motor speed is at its rated speed, it may experience power overload, which can only last for a very short time, depending on the motor design.

[0092] The method provided in this embodiment facilitates the vehicle controller to train the speed prediction model based on various data, thereby improving the accuracy of the speed prediction model.

[0093] Optionally, the method further includes:

[0094] The working condition type of the electric excavator is determined based on the displacement of the electric control handle; the working condition type of the electric excavator includes at least one of the following: digging state, traveling state, and energy recovery state;

[0095] When the working condition of the electric excavator is digging, the reference value of the first motor speed is determined according to the power demand of the electric excavator at the current moment.

[0096] Based on the current reference value of the first motor speed, the battery state of charge, and the angle of the electric control handle, the motor speed is predicted using the speed prediction model of the electric excavator's power system, and the target motor speed at the current moment is obtained.

[0097] When the electric excavator is in driving mode, the maximum speed of the motor is determined as the second motor speed reference value.

[0098] Based on the current reference value of the second motor speed and the angle of the electric control handle, the motor speed is predicted using the speed prediction model of the electric excavator power system, and the target motor speed at the current moment is obtained.

[0099] When the electric excavator is in energy recovery mode, the minimum speed of the motor is set as the reference value for the third motor speed.

[0100] Based on the current reference value of the third motor speed and the angle of the electric control handle, the motor speed is predicted using the speed prediction model of the electric excavator's power system, thus obtaining the target motor speed at the current moment.

[0101] Specifically, in some embodiments, the method further includes determining the operating condition type of the electric excavator, for example, determining the operating condition type of the electric excavator based on the displacement of the electric control handle.

[0102] The working conditions of the electric excavator include at least one of the following: digging state, traveling state, and energy recovery state. Specifically, when the electric control handle moves to issue a forward or backward command, the electric excavator is determined to be in traveling state; when the electric control handle moves to issue a boom lowering command, the electric excavator is determined to be in energy recovery state; when the electric control handle moves to issue a digging command, the electric excavator is determined to be in digging state; or when the power demand of the electric excavator is detected to suddenly increase compared to the previous moment, it is determined that the excavator is digging. At this time, the load fluctuation is large, and the preset strategy should control the motor speed to follow the power change.

[0103] Correspondingly, the process of determining the target speed of the motor in step 101 under different operating conditions is illustrated in the following examples:

[0104] First, when the electric excavator is in digging mode, the reference value for the first motor speed is determined based on the current power demand of the electric excavator; for example, the reference value for the first motor speed is determined based on the percentage of the input power demand to the rated power. Then, when the battery state of charge (SOC) is above 10%, the speed prediction model of the electric excavator's power system is used. Using the current reference value for the first motor speed as the reference value, the motor speed is predicted based on the acceleration fluctuation value determined by the angle of the electric control handle, thereby determining the target speed of the motor at the current moment, i.e., the motor output speed; for example, the motor's rated power is 50kW, the operating speed range is 1000rpm-2000rpm, the current power demand is 25kW, and the output speed is 1450rpm. It can be understood that when the SOC is below 10%, the minimum output speed is used to ensure the excavator can work for as long as possible and maintain its range.

[0105] Furthermore, when the electric excavator is in a traveling state, the maximum speed of the motor is determined as the second motor speed reference value. Because in a traveling state, to ensure the excavator quickly reaches the work site, the output speed should be based on the maximum speed; therefore, the maximum speed of the motor is determined as the second motor speed reference value. Then, using the speed prediction model of the electric excavator's power system, the current second motor speed reference value is used as the benchmark, and combined with the percentage of the electric control handle angle, the motor speed is predicted to obtain the target motor speed at the current moment, that is, to determine the motor output speed.

[0106] Furthermore, when the electric excavator is operating in energy recovery mode, the minimum motor speed is determined as the third motor speed reference value. Specifically, when the electric excavator is operating in energy recovery mode, the gravitational potential energy of the working device (boom + stick + bucket) is converted into kinetic energy, so the motor does not need to provide much power. Therefore, the motor can be preset to operate at its minimum speed under this condition, which is defined as the third motor speed reference value. Then, based on the current third motor speed reference value and the electric control handle angle, the motor speed is predicted using the electric excavator power system speed prediction model to obtain the target motor speed at the current moment.

[0107] In the method provided by the embodiments of the present invention, the working condition type of the electric excavator is first determined according to the displacement of the electric control handle. Then, the motor speed reference value is determined according to the working condition type of the electric excavator. Subsequently, the motor speed is predicted using the speed prediction model of the electric excavator power system based on the motor speed reference value under different working conditions. The speed prediction accuracy is high, and real-time speed control of the electric excavator power system is achieved.

[0108] Figure 2 This is a schematic diagram illustrating the principle of the speed control method for the power system of an electric excavator provided by the present invention, as shown below. Figure 2 As shown, the hydraulic system controller (HCU) can send the displacement, angle, and required power of the hydraulic system's electric control handle within a preset time period to the data storage module of the vehicle controller (VCU). The motor controller (MCU) sends the motor speed and torque of the motor within a preset time period to the data storage module of the vehicle controller (VCU). The battery controller (BMS) sends the battery state of charge (SOC) within a preset time period to the data storage module of the vehicle controller (VCU). The data storage module of the vehicle controller (VCU) then uses the data within the preset time period to train the speed prediction model, thus obtaining the speed prediction model of the electric excavator's power system.

[0109] Furthermore, the hydraulic system controller (HCU) can transmit the current displacement, angle, and power demand of the hydraulic system's electric control handle, and the battery controller (BMS) can transmit the current state of charge (SOC) of the battery to the vehicle controller (VCU). The vehicle controller (VCU) uses the acquired key data at the current moment to predict the target speed of the motor, obtains the target speed, and then sends the target speed to the actuator module for gear adjustment based on the target speed of the motor.

[0110] Figure 3 This is the second flowchart illustrating the speed control method for the power system of an electric excavator provided by the present invention, as shown below. Figure 3 As shown, the method includes:

[0111] Step 301: Determine that the electric excavator is in automatic transmission mode;

[0112] If the result of step 301 is negative, proceed to step 303.

[0113] If the result of step 301 is yes, then proceed to step 302;

[0114] Step 302: Determine whether the user has worked for N hours after the first login.

[0115] If the result of step 302 is negative, proceed to step 308.

[0116] If the result of step 301 is yes, then proceed to step 305;

[0117] Step 303: Select manual shift mode;

[0118] Step 304: Collect and store data;

[0119] Step 305: Read the work data from the previous N hours;

[0120] Step 306: Data optimization;

[0121] Step 307: Generate and modify the speed prediction model of the electric excavator's power system;

[0122] Step 308: Preset speed control.

[0123] Figure 4 This is a schematic diagram of the speed control system of the electric excavator power system provided by the present invention, as shown in the figure. Figure 4 As shown, the speed control system of the electric excavator power system includes a vehicle controller 410, an instrumentation unit 420, a motor controller 430, a hydraulic system controller 440, and a battery controller 450.

[0124] The instrument is used to send a switching signal for the automatic transmission mode to the vehicle controller when it is determined that the electric excavator is in automatic transmission mode; the automatic transmission mode is used to indicate that the electric excavator is in a mode where the speed is controlled by the speed control system.

[0125] Specifically, the subject of this invention is the speed control system of the electric excavator power system. The speed control system of the electric excavator power system includes a vehicle controller 410, an instrumentation unit 420, a motor controller 430, a hydraulic system controller 440, and a battery controller 450. The various modules in the speed control system of the electric excavator power system transmit data through a communication bus.

[0126] The instrument is used to send a switching signal for the automatic transmission mode to the vehicle controller when it is determined that the electric excavator is in automatic transmission mode. For example, determining that the electric excavator is in automatic transmission mode can be triggered by the operator through the instrument panel, such as clicking the corresponding mode button, double-clicking the mode button, or sliding the automatic transmission mode button to the right. This embodiment does not limit the way to trigger the automatic transmission mode.

[0127] The automatic transmission mode is used to indicate that the electric excavator is in a mode where the speed is controlled by the speed control system, that is, it enters a mode where the speed is controlled by the vehicle controller.

[0128] The vehicle controller is used to respond to receiving the automatic transmission mode switching signal, obtain the target data at the current moment from the hydraulic system controller and the battery controller, and predict the motor speed using the speed prediction model of the electric excavator power system based on the target data at the current moment, so as to obtain the target motor speed at the current moment.

[0129] Send the target speed of the motor at the current moment to the motor controller;

[0130] Specifically, after receiving the switching signal from the instrumentation, the vehicle controller obtains the target data for the current moment from the hydraulic system controller and the battery controller. Based on the target data, it uses the speed prediction model of the electric excavator's power system to predict the motor speed, thus obtaining the target motor speed for the current moment. After predicting the target speed, the vehicle controller sends the target motor speed to the motor controller.

[0131] The motor controller is used to adjust the working gear of the electric excavator according to the target speed of the motor at the current moment.

[0132] Specifically, the motor controller, upon receiving the target speed of the motor from the vehicle controller, adjusts the working gear of the electric excavator according to the target speed of the motor at the current moment.

[0133] The speed control system of the electric excavator power system provided by this invention includes a vehicle controller, instruments, a motor controller, a hydraulic system controller, and a battery controller. The instruments send a switching signal to the vehicle controller when the electric excavator is determined to be in automatic transmission mode, wherein the automatic transmission mode indicates that the electric excavator is in a mode where speed control is performed using the speed control system. The vehicle controller, in response to receiving the switching signal, obtains the target data for the current moment from the hydraulic system controller and the battery controller, and based on the target data, predicts the motor speed using the speed prediction model of the electric excavator power system to obtain the target motor speed for the current moment; it then sends the target motor speed to the motor controller; the motor controller adjusts the working gear of the electric excavator according to the target motor speed for the current moment.

[0134] The speed control system for the electric excavator's power system provided in this invention involves the instrumentation sending a switching signal to the vehicle controller when the electric excavator is determined to be in automatic transmission mode. The vehicle controller, in response to receiving the switching signal, obtains the target data for the current moment from the hydraulic system controller and battery controller, and uses the electric excavator's power system speed prediction model to predict the motor speed, obtaining the target motor speed for the current moment. This target motor speed is then sent to the motor controller, which adjusts the electric excavator's operating gear according to the target motor speed. This invention eliminates the need for additional speed control devices, achieving real-time speed control of the electric excavator's power system.

[0135] Optionally, the hydraulic system controller is used to collect first key data of the hydraulic system and send the first key data of the hydraulic system to the vehicle controller via a communication bus; the first key data of the hydraulic system includes the displacement of the electric control handle, the angle of the electric control handle, and the power required by the electric excavator.

[0136] The battery controller is used to collect the second key data of the battery system and send the second key data of the battery system to the vehicle controller through the communication bus; the second key data of the battery system is the battery state of charge (SOC).

[0137] The motor controller is also used to collect the motor speed and motor torque of the motor, and send the motor speed and motor torque of the motor to the vehicle controller through the communication bus.

[0138] Specifically, in some embodiments, the hydraulic system controller can be used to collect first key data of the hydraulic system and send the first key data of the hydraulic system to the vehicle controller via a communication bus.

[0139] Specifically, the hydraulic system controller first collects the first key data of the hydraulic system. This first key data refers to the values ​​of factors in the relevant data of the hydraulic system that can affect the target speed of the power system. This data can be from multiple points in time or from a single point in time, depending on actual needs. For example, the first key data of the hydraulic system might include the displacement and angle of the electric control handle, and the required power of the electric excavator. The electric control handle refers to the hydraulic system's electric control handle. The mainstream control method for excavators is hydraulic, meaning the main control valve is controlled by the electric control handle, which then completes the machine's operation. The electric control handle displacement and angle are the main input parameters of the electric control handle. The required power of the electric excavator can also be obtained from the relevant data of the hydraulic system. Then, after collecting the first key data, the hydraulic system controller can send it to the vehicle controller via a communication bus. This allows the vehicle controller to predict the target speed of the power system, such as the motor, based on various inputs.

[0140] In some embodiments, the battery controller is used to collect second key data of the battery system and send the second key data of the battery system to the vehicle controller via a communication bus.

[0141] Specifically, the battery controller first collects the second key data of the battery system. This second key data refers to the values ​​of factors within the battery system's relevant data that can influence the target speed of the powertrain. This data can be from multiple points in time or from a single point in time, depending on actual needs. For example, the second key data of the battery system is the State of Charge (SOC), which represents the remaining charge capacity. It indicates the ratio of the remaining dischargeable capacity to the fully charged capacity after a period of use or long-term storage, and is generally used to represent the charging rate of lithium batteries. It is usually expressed as a one-byte hexadecimal percentage, a two-digit value ranging from 0 to 100, with a full charge being 100% SOC. Then, after collecting the battery's state of charge, the battery controller can send this second key data to the vehicle controller via the communication bus, allowing the vehicle controller to predict the target speed of the powertrain, such as the motor, based on various inputs.

[0142] In some embodiments, the motor controller can also be used to collect the motor speed and motor torque of the motor, and send the motor speed and motor torque of the motor to the vehicle controller via a communication bus.

[0143] Specifically, the motor controller first collects the motor speed and torque data, which can be data from multiple moments or a single moment, depending on actual needs. Motor speed refers to the rotational speed of the motor, one of its important performance indicators, directly affecting its output power, efficiency, and lifespan. The motor speed is related not only to the motor's structure and parameters but also to factors such as power supply voltage, load characteristics, motor temperature, and rotor inertia. Motor torque, also known as the motor's output torque, is one of the motor's fundamental parameters. It refers to the torque that the motor can generate to rotate mechanical components. In the International System of Units (SI), the unit of measurement for the output torque at the motor shaft end is Newton-meter (N*m). The output torque of the motor is related to its speed and power. When the motor speed is at its rated speed, it may experience power overload, which can only last for a very short time, depending on the motor design.

[0144] Then, after collecting the motor speed and motor torque of the motor, the motor controller can send the motor speed and motor torque to the vehicle controller through the communication bus. This allows the vehicle controller to train a speed prediction model based on the various inputs and the motor speed and motor torque, thereby improving the accuracy of the speed prediction model.

[0145] In the speed control system of the electric excavator power system provided by this invention, the hydraulic system controller collects first key data of the hydraulic system and sends it to the vehicle controller via a communication bus; the battery controller collects second key data of the battery system and sends it to the vehicle controller via a communication bus; the motor controller collects the motor speed and torque and sends them to the vehicle controller via a communication bus. This facilitates the vehicle controller in training a speed prediction model based on the various data, thereby improving the accuracy of the speed prediction model.

[0146] The following describes the speed control device for the electric excavator power system provided by the present invention. The speed control device for the electric excavator power system described below can be referred to in correspondence with the speed control method for the electric excavator power system described above.

[0147] Figure 5 This is a schematic diagram of the speed control device for an electric excavator power system provided by the present invention. This device is applied to the vehicle controller in a speed control system of an electric excavator power system. The speed control system of the electric excavator power system includes the vehicle controller, instruments, a motor controller, a hydraulic system controller, and a battery controller. Figure 5 As shown, the device includes:

[0148] The processing module 510 is configured to, in response to the automatic transmission mode switching signal sent by the instrument, acquire the target data at the current moment from the hydraulic system controller and the battery controller, and, based on the target data at the current moment, predict the motor speed using the speed prediction model of the electric excavator power system to obtain the target motor speed at the current moment; wherein, the automatic transmission mode is used to indicate that the electric excavator is in a mode of speed control using the speed control system, and the automatic transmission mode switching signal is sent by the instrument when it determines that the electric excavator is in automatic transmission mode;

[0149] The sending module 520 is used to send the target speed of the motor at the current moment to the motor controller; wherein, the target speed of the motor at the current moment is used by the motor controller to adjust the working gear of the electric excavator according to the target speed of the motor at the current moment.

[0150] The device provided by this invention is applied to the vehicle controller in the speed control system of an electric excavator's power system. The speed control system of the electric excavator's power system includes a vehicle controller, instruments, a motor controller, a hydraulic system controller, and a battery controller. First, the processing module 510 is used to respond to the automatic transmission mode switching signal sent by the instruments, obtain the target data at the current moment from the hydraulic system controller and the battery controller, and predict the motor speed using the speed prediction model of the electric excavator's power system based on the target data at the current moment to obtain the target motor speed at the current moment. Herein, the automatic transmission mode is used to indicate that the electric excavator is in a mode of speed control using the speed control system, and the automatic transmission mode switching signal is sent by the instruments when they determine that the electric excavator is in automatic transmission mode. Then, the sending module 520 is used to send the target motor speed at the current moment to the motor controller. Herein, the target motor speed at the current moment is used by the motor controller to adjust the working gear of the electric excavator according to the target motor speed at the current moment.

[0151] The device provided in this invention is applied to the vehicle controller. First, in response to the automatic transmission mode switching signal sent by the instruments, it obtains the target data for the current moment from the hydraulic system controller and the battery controller. Based on this target data, it uses the electric excavator's power system speed prediction model to predict the motor speed, obtaining the target motor speed for the current moment. Then, it sends the target motor speed to the motor controller, which adjusts the electric excavator's operating gear according to the target motor speed. This invention eliminates the need for additional speed control devices, achieving real-time speed control of the electric excavator's power system.

[0152] Optionally, the target data includes first key data of the hydraulic system and second key data of the battery system;

[0153] The processing module 510 is specifically used for:

[0154] The first key data of the hydraulic system at the current moment is obtained from the hydraulic system controller. The first key data of the hydraulic system is the displacement of the electric control handle, the angle of the electric control handle, and the power required by the electric excavator.

[0155] The second key data of the battery system at the current moment is obtained from the battery controller, and the second key data of the battery system is the battery state of charge (SOC).

[0156] The current displacement and angle of the electric control handle, the power demand of the electric excavator, and the current state of charge (SOC) of the battery are input into the speed prediction model of the electric excavator's power system.

[0157] Using the speed prediction model of the electric excavator power system, the motor speed is predicted based on the current displacement and angle of the electric control handle, the power demand of the electric excavator, and the current state of charge (SOC) of the battery, to obtain the target motor speed at the current moment; the speed prediction model of the electric excavator power system is obtained by training an initial model using first data within a preset time period.

[0158] Optionally, the processing module 510 is further configured to:

[0159] Get the first data within a preset time period;

[0160] The first data includes input data and tag data of the input data; the tag data of the input data corresponds to the time information of the input data; the input data includes the third key data of the hydraulic system sent by the hydraulic system controller and the fourth key data of the battery system sent by the battery controller; the tag data of the input data includes the fifth key data of the motor sent by the motor controller.

[0161] Initialize the model parameters of the initial model;

[0162] The third key data of the hydraulic system sent by the hydraulic system controller and the fourth key data of the battery system sent by the battery controller within the preset time period are used as inputs to the initial model, and the fifth key data of the motor sent by the motor controller is used as label information to train the initial model and obtain the corrected model parameters.

[0163] The rotational speed prediction model is determined based on the corrected model parameters.

[0164] Optionally, the third key data of the hydraulic system is the displacement of the first electric control handle, the angle of the first electric control handle, and the first required power of the electric excavator at least at one moment within a preset time period; the fourth key data of the battery system is the state of charge (SOC) of the battery at each of the aforementioned moments; and the fifth key data of the motor is the motor speed and motor torque at each of the aforementioned moments.

[0165] Optionally, the processing module 510 is further configured to:

[0166] The working condition type of the electric excavator is determined based on the displacement of the electric control handle; the working condition type of the electric excavator includes at least one of the following: digging state, traveling state, and energy recovery state;

[0167] When the working condition of the electric excavator is digging, the first motor speed reference value is determined according to the power demand of the electric excavator at the current moment;

[0168] Based on the current reference value of the first motor speed, the state of charge of the battery, and the angle of the electric control handle, the motor speed is predicted using the speed prediction model of the electric excavator power system to obtain the target motor speed at the current moment.

[0169] When the electric excavator is in driving mode, the maximum speed of the motor is determined as the second motor speed reference value.

[0170] Based on the current reference value of the second motor speed and the angle of the electric control handle, the motor speed is predicted using the speed prediction model of the electric excavator power system to obtain the target motor speed at the current moment.

[0171] When the electric excavator is in energy recovery mode, the minimum speed of the motor is determined as the third motor speed reference value.

[0172] Based on the current reference value of the third motor speed and the angle of the electric control handle, the motor speed is predicted using the speed prediction model of the electric excavator power system to obtain the target motor speed at the current moment.

[0173] The present invention also provides an electric construction machinery, wherein the electric construction machinery uses any of the above-described speed control methods for the electric excavator power system, or the electric construction machinery includes a speed control system for the electric excavator power system, or the electric construction machinery includes a speed control device for the electric excavator power system, or the electric construction machinery includes the electronic equipment, or the electric construction machinery includes the non-transitory computer-readable storage medium.

[0174] Figure 6 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 6 As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630, and a communication bus 640, wherein the processor 610, the communication interface 620, and the memory 630 communicate with each other through the communication bus 640. The processor 610 can call logical instructions in the memory 630 to execute a speed control method for the electric excavator's power system. This method is applied to the vehicle controller in the speed control system of the electric excavator's power system. The speed control system of the electric excavator's power system includes the vehicle controller, instruments, a motor controller, a hydraulic system controller, and a battery controller. The method includes:

[0175] In response to the automatic transmission mode switching signal sent by the instrument, the target data at the current moment is obtained from the hydraulic system controller and the battery controller, and based on the target data at the current moment, the motor speed is predicted using the speed prediction model of the electric excavator power system to obtain the target motor speed at the current moment.

[0176] The automatic transmission mode is used to indicate that the electric excavator is in a mode where the speed is controlled by the speed control system. The automatic transmission mode switching signal is sent by the instrument when it determines that the electric excavator is in automatic transmission mode.

[0177] The target speed of the motor at the current moment is sent to the motor controller; wherein, the target speed of the motor at the current moment is used by the motor controller to adjust the working gear of the electric excavator according to the target speed of the motor at the current moment.

[0178] Furthermore, the logical instructions in the aforementioned memory 630 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0179] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, wherein when the program instructions are executed by a computer, the computer is able to execute the speed control method for the electric excavator power system provided by the above methods, the method being applied to the vehicle controller in the speed control system of the electric excavator power system, the speed control system of the electric excavator power system comprising the vehicle controller, instruments, motor controller, hydraulic system controller, and battery controller; the method comprising:

[0180] In response to the automatic transmission mode switching signal sent by the instrument, the target data at the current moment is obtained from the hydraulic system controller and the battery controller, and based on the target data at the current moment, the motor speed is predicted using the speed prediction model of the electric excavator power system to obtain the target motor speed at the current moment.

[0181] The automatic transmission mode is used to indicate that the electric excavator is in a mode where the speed is controlled by the speed control system. The automatic transmission mode switching signal is sent by the instrument when it determines that the electric excavator is in automatic transmission mode.

[0182] The target speed of the motor at the current moment is sent to the motor controller; wherein, the target speed of the motor at the current moment is used by the motor controller to adjust the working gear of the electric excavator according to the target speed of the motor at the current moment.

[0183] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the speed control methods for the electric excavator power systems described above. This method is applied to the vehicle controller in the speed control system of the electric excavator power system, wherein the speed control system of the electric excavator power system includes the vehicle controller, instruments, a motor controller, a hydraulic system controller, and a battery controller; the method includes:

[0184] In response to the automatic transmission mode switching signal sent by the instrument, the target data at the current moment is obtained from the hydraulic system controller and the battery controller, and based on the target data at the current moment, the motor speed is predicted using the speed prediction model of the electric excavator power system to obtain the target motor speed at the current moment.

[0185] The automatic transmission mode is used to indicate that the electric excavator is in a mode where the speed is controlled by the speed control system. The automatic transmission mode switching signal is sent by the instrument when it determines that the electric excavator is in automatic transmission mode.

[0186] The target speed of the motor at the current moment is sent to the motor controller; wherein, the target speed of the motor at the current moment is used by the motor controller to adjust the working gear of the electric excavator according to the target speed of the motor at the current moment.

[0187] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0188] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0189] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling the speed of a power system in an electric excavator, characterized in that, The method is applied to the vehicle controller in the speed control system of an electric excavator's power system. The speed control system of the electric excavator's power system includes the vehicle controller, instrumentation, motor controller, hydraulic system controller, and battery controller. In response to the automatic transmission mode switching signal sent by the instrument, the target data for the current moment is obtained from the hydraulic system controller and the battery controller. Based on the target data for the current moment, the motor speed is predicted using the speed prediction model of the electric excavator power system to obtain the target motor speed for the current moment. The automatic transmission mode is used to characterize the electric excavator in a mode where speed control is performed using the speed control system. The automatic transmission mode switching signal is sent by the instrument when it determines that the electric excavator is in automatic transmission mode. The target data includes first key data of the hydraulic system and second key data of the battery system. The first key data of the hydraulic system includes the electric control handle displacement, electric control handle angle, and the power demand of the electric excavator. The second key data of the battery system is the battery state of charge (SOC). The training steps of the speed prediction model include: obtaining pre-... Let there be first data within a time period; wherein the first data includes input data and label data of the input data; the label data of the input data corresponds to the time information of the input data; the input data includes the third key data of the hydraulic system sent by the hydraulic system controller and the fourth key data of the battery system sent by the battery controller; the label data of the input data includes the fifth key data of the motor sent by the motor controller; initialize the model parameters of the initial model; use the third key data of the hydraulic system sent by the hydraulic system controller and the fourth key data of the battery system sent by the battery controller within the preset time period as the input of the initial model, and use the fifth key data of the motor sent by the motor controller as the label information to train the initial model and obtain the corrected model parameters; determine the speed prediction model based on the corrected model parameters; The target speed of the motor at the current moment is sent to the motor controller; wherein, the target speed of the motor at the current moment is used by the motor controller to adjust the working gear of the electric excavator according to the target speed of the motor at the current moment.

2. The speed control method for the power system of an electric excavator according to claim 1, characterized in that, In response to the automatic transmission mode switching signal sent by the instrument, the system obtains the target data for the current moment from the hydraulic system controller and the battery controller, and based on the target data for the current moment, predicts the motor speed using the speed prediction model of the electric excavator power system to obtain the target motor speed for the current moment, including: Obtain the first key data of the hydraulic system at the current moment from the hydraulic system controller; Obtain the second key data of the battery system at the current moment from the battery controller; The current displacement and angle of the electric control handle, the power demand of the electric excavator, and the current state of charge (SOC) of the battery are input into the speed prediction model of the electric excavator's power system. Using the speed prediction model of the electric excavator power system, the motor speed is predicted based on the current displacement and angle of the electric control handle, the power demand of the electric excavator, and the current state of charge (SOC) of the battery, to obtain the target motor speed at the current moment; the speed prediction model of the electric excavator power system is obtained by training an initial model using first data within a preset time period.

3. The speed control method for the power system of an electric excavator according to claim 1, characterized in that, The third key data of the hydraulic system is the displacement of the first electric control handle, the angle of the first electric control handle, and the first required power of the electric excavator at least at one moment within a preset time period. The fourth key data of the battery system is the state of charge (SOC) of the battery at each of the aforementioned moments. The fifth key data of the motor is the motor speed and motor torque at each of the aforementioned moments.

4. The speed control method for the power system of an electric excavator according to claim 2, characterized in that, The method further includes: The working condition type of the electric excavator is determined based on the displacement of the electric control handle; the working condition type of the electric excavator includes at least one of the following: digging state, traveling state, and energy recovery state; When the working condition of the electric excavator is digging, the first motor speed reference value is determined according to the power demand of the electric excavator at the current moment; Based on the current reference value of the first motor speed, the state of charge of the battery, and the angle of the electric control handle, the motor speed is predicted using the speed prediction model of the electric excavator power system to obtain the target motor speed at the current moment. When the electric excavator is in driving mode, the maximum speed of the motor is determined as the second motor speed reference value. Based on the current reference value of the second motor speed and the angle of the electric control handle, the motor speed is predicted using the speed prediction model of the electric excavator power system to obtain the target motor speed at the current moment. When the electric excavator is in energy recovery mode, the minimum speed of the motor is determined as the third motor speed reference value. Based on the current reference value of the third motor speed and the angle of the electric control handle, the motor speed is predicted using the speed prediction model of the electric excavator power system to obtain the target motor speed at the current moment.

5. A speed control system for the power system of an electric excavator, characterized in that, The speed control system of the electric excavator power system includes a vehicle controller, instrumentation, motor controller, hydraulic system controller, and battery controller. The instrument is used to send a switching signal for the automatic transmission mode to the vehicle controller when it is determined that the electric excavator is in automatic transmission mode; the automatic transmission mode is used to indicate that the electric excavator is in a mode where the speed is controlled by the speed control system. The vehicle controller is configured to, in response to receiving the automatic transmission mode switching signal, acquire the target data for the current moment from the hydraulic system controller and the battery controller, and, based on the target data for the current moment, predict the motor speed using the electric excavator power system speed prediction model to obtain the target motor speed for the current moment; the target data includes first key data of the hydraulic system and second key data of the battery system; the first key data of the hydraulic system is the electric control handle displacement, electric control handle angle, and the power demand of the electric excavator; the second key data of the battery system is the battery state of charge (SOC); The training steps of the speed prediction model include: acquiring first data within a preset time period; wherein the first data includes input data and label data of the input data; the label data of the input data corresponds to the time information of the input data; the input data includes third key data of the hydraulic system sent by the hydraulic system controller and fourth key data of the battery system sent by the battery controller; the label data of the input data includes fifth key data of the motor sent by the motor controller; initializing the model parameters of the initial model; using the third key data of the hydraulic system sent by the hydraulic system controller and the fourth key data of the battery system sent by the battery controller within the preset time period as input to the initial model, and using the fifth key data of the motor sent by the motor controller as label information, training the initial model to obtain corrected model parameters; and determining the speed prediction model based on the corrected model parameters. Send the target speed of the motor at the current moment to the motor controller; The motor controller is used to adjust the working gear of the electric excavator according to the target speed of the motor at the current moment.

6. The speed control system of the electric excavator power system according to claim 5, characterized in that, The hydraulic system controller is used to collect the first key data of the hydraulic system and send the first key data of the hydraulic system to the vehicle controller through the communication bus; The battery controller is used to collect the second key data of the battery system and send the second key data of the battery system to the vehicle controller through the communication bus; The motor controller is also used to collect the motor speed and motor torque of the motor, and send the motor speed and motor torque of the motor to the vehicle controller through the communication bus.

7. A speed control device for the power system of an electric excavator, characterized in that, The device is applied to a vehicle controller in the speed control system of an electric excavator power system. The speed control system of the electric excavator power system includes the vehicle controller, instruments, a motor controller, a hydraulic system controller, and a battery controller. The device includes: The processing module is configured to respond to the automatic transmission mode switching signal sent by the instrument, acquire the target data at the current moment from the hydraulic system controller and the battery controller, and predict the motor speed using the speed prediction model of the electric excavator power system based on the target data at the current moment, thereby obtaining the target motor speed at the current moment; wherein, the automatic transmission mode is used to characterize the electric excavator in a mode where the speed is controlled by the speed control system, and the automatic transmission mode switching signal is sent by the instrument when it determines that the electric excavator is in automatic transmission mode; the target data includes first key data of the hydraulic system and second key data of the battery system; the first key data of the hydraulic system is the electric control handle displacement, electric control handle angle, and the power demand of the electric excavator; the second key data of the battery system is the battery state of charge (SOC); the training steps of the speed prediction model include: Acquire first data within a preset time period; wherein the first data includes input data and label data of the input data; the label data of the input data corresponds to the time information of the input data; the input data includes the third key data of the hydraulic system sent by the hydraulic system controller and the fourth key data of the battery system sent by the battery controller; the label data of the input data includes the fifth key data of the motor sent by the motor controller; initialize the model parameters of the initial model; use the third key data of the hydraulic system sent by the hydraulic system controller and the fourth key data of the battery system sent by the battery controller within the preset time period as the input of the initial model, and use the fifth key data of the motor sent by the motor controller as the label information to train the initial model and obtain the corrected model parameters; determine the speed prediction model based on the corrected model parameters; The sending module is used to send the target speed of the motor at the current moment to the motor controller; wherein, the target speed of the motor at the current moment is used by the motor controller to adjust the working gear of the electric excavator according to the target speed of the motor at the current moment.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the speed control method for the power system of the electric excavator as described in any one of claims 1-4.

9. An electric engineering machine, characterized in that, The electric construction machinery uses the speed control method of the electric excavator power system as described in any one of claims 1-4, or the electric construction machinery includes the speed control system of the electric excavator power system as described in claim 5 or 6, or the electric construction machinery includes the speed control device of the electric excavator power system as described in claim 7, or the electric construction machinery includes the electronic equipment as described in claim 8.

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