Hybrid electric drive logging vehicle and braking method, medium and computer program product thereof

Abstract

The present application discloses a hybrid electric logging vehicle and its braking method, medium, and computer program product, relating to the field of logging vehicle technology. The present application discloses a braking method for a hybrid electric logging vehicle, including: obtaining the busbar DC voltage value and the operating state of the drive motor of the hybrid electric logging vehicle; when the drive motor is in the power generation mode, determining the target braking mode of the hybrid electric logging vehicle based on the busbar DC voltage value, and braking according to the target braking mode. The target braking mode includes at least one of a regenerative braking mode in which energy is stored by an energy storage device; a chassis engine braking mode in which electrical energy is converted into mechanical energy by a generator controller, a generator, and a chassis engine; and a resistance chopping braking mode in which resistance chopping is performed by a resistance chopping module and the logging drum is stopped when the resistance chopping time is greater than a preset chopping time. The present application can improve the braking efficiency of the electric logging vehicle.

Description

Technical Field

[0001] The present application relates to the specific field of logging vehicle technology, and in particular to a hybrid electric drive logging vehicle and a braking method, medium and computer program product thereof. Background Art

[0002] As an upgraded version of traditional logging vehicles, electric logging vehicles have gained widespread recognition and adoption among operators due to their high-precision control, efficient transmission, sustained durability, energy conservation and environmental friendliness, intelligent operation with minimal human intervention, and environmentally friendly operation. Furthermore, when operating under hybrid-electric drive conditions, the drive motor operates in a generating mode (high-speed inertia mode) while lowering logging instruments, rapidly increasing the bus DC voltage and triggering resistive chopper braking. Due to the high braking power, traditional pure resistive braking often burns out the brake resistor, increasing costs and reducing braking efficiency. Therefore, improving the braking efficiency of electric logging vehicles has become a pressing issue.

[0003] The above content is only used to assist in understanding the technical solution of this application and does not constitute an admission that the above content is prior art. Summary of the Invention

[0004] The main purpose of this application is to provide a hybrid electric-driven logging vehicle and its braking method, medium and computer program product, aiming to solve the technical problem of how to improve the braking efficiency of the electric-driven logging vehicle.

[0005] To achieve the above objectives, the present application proposes a hybrid electric drive logging vehicle, comprising:

[0006] A chassis engine, a generator, a generator controller, a busbar, a drive motor controller, a drive motor and a logging drum connected in sequence; and an energy storage device and a resistance chopper module respectively connected to the busbar;

[0007] Among them, the drive motor controller is used to obtain the working state of the drive motor, and the generator controller is used to obtain the bus DC voltage value of the bus, and when the working state of the drive motor is the power generation condition, the target braking mode of the hybrid electric drive logging vehicle is determined according to the bus DC voltage value, and braking is performed according to the target braking mode. The target braking mode includes a regenerative braking mode for storing energy through an energy storage device, a chassis engine braking mode for converting electrical energy into mechanical energy through a generator controller, a generator and a chassis engine, and a resistance chopping braking mode for performing resistance chopping according to a resistance chopping module, and stopping the logging drum when the resistance chopping time is greater than a preset chopping time.

[0008] In one embodiment, the hybrid electric drive logging vehicle further includes a first mechanical transmission device and a second mechanical transmission device.

[0009] The chassis engine is connected to the generator through the first mechanical transmission device, and the drive motor is connected to the logging drum through the second mechanical transmission device.

[0010] Furthermore, to achieve the above-mentioned purpose, the present application proposes a braking method for a hybrid electric drive logging vehicle, which is applied to the above-mentioned hybrid electric drive logging vehicle, and the method comprises:

[0011] Acquiring a busbar DC voltage value and a working state of a drive motor of the hybrid electric drive logging vehicle, wherein the working state of the drive motor includes a power generation condition;

[0012] When the driving motor is in a power generation condition, a target braking mode of the hybrid electric-driven logging vehicle is determined based on the bus DC voltage value, and braking is performed based on the target braking mode, wherein the target braking mode includes at least one of a regenerative braking mode in which energy is stored through an energy storage device, a chassis engine braking mode in which electrical energy is converted into mechanical energy through a generator controller, a generator, and a chassis engine, and a resistance chopping braking mode in which resistance chopping is performed based on a resistance chopping module and the logging drum is stopped when the resistance chopping time is greater than a preset chopping time.

[0013] In one embodiment, the step of determining a target braking mode of the hybrid electric-driven logging vehicle according to the bus DC voltage value and performing braking according to the target braking mode includes:

[0014] If the bus DC voltage value is less than or equal to a preset first voltage limit threshold, the target braking mode of the hybrid electric drive logging vehicle is determined to be a regenerative braking mode, and the electrical energy generated by the rotation of the drive motor is stored through an energy storage device according to the regenerative braking mode.

[0015] In one embodiment, the step of determining a target braking mode of the hybrid electric-driven logging vehicle according to the bus DC voltage value and performing braking according to the target braking mode further includes:

[0016] If the bus DC voltage value is greater than a preset first voltage limit threshold value and less than or equal to a preset second voltage limit threshold value, determining that the target braking mode of the hybrid electric-driven logging vehicle is a first hybrid braking mode of a regenerative braking mode and a chassis engine braking mode;

[0017] According to the first hybrid braking mode, the working state of the generator controller is switched to a driving state, driving the generator to rotate, thereby driving the chassis engine to convert electrical energy into mechanical energy.

[0018] In one embodiment, after the step of switching the working state of the generator to the driving working state according to the first hybrid braking mode, the method further includes:

[0019] Obtaining the speed and torque of the generator under a driving condition, and calculating the engine exhaust brake power based on the speed and torque;

[0020] When the engine exhaust braking power is greater than a preset reference value, a prompt message for applying a handbrake to the logging drum is output.

[0021] In one embodiment, the step of determining a target braking mode of the hybrid electric-driven logging vehicle according to the bus DC voltage value and performing braking according to the target braking mode further includes:

[0022] If the bus DC voltage value is greater than a preset second voltage limit threshold value, determining that the target braking mode of the hybrid electric drive logging vehicle is a second hybrid braking mode of the regenerative braking mode, the chassis engine braking mode, and the resistance chopper braking mode;

[0023] The resistance chopping module is controlled to perform resistance chopping according to the second hybrid braking mode, and the logging drum is braked when the resistance chopping time is longer than the preset chopping time.

[0024] In one embodiment, the working state of the drive motor includes a driving condition. After the step of obtaining the bus DC voltage value of the hybrid electric drive logging vehicle and the working state of the drive motor, the following steps are included:

[0025] When the driving motor is in the driving state and the bus DC voltage value is greater than the preset second voltage limit threshold, braking is performed according to the resistance chopper braking mode.

[0026] In addition, to achieve the above-mentioned purpose, the present application also proposes an electronic device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the braking method of the hybrid electric drive logging vehicle as described above.

[0027] In addition, to achieve the above-mentioned purpose, the present application also proposes a medium, which is a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the braking method of the hybrid electric drive logging vehicle as described above are implemented.

[0028] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the braking method of the hybrid electric drive logging vehicle as described above are implemented.

[0029] An embodiment of the present application provides a hybrid electric logging vehicle, comprising a chassis engine, a generator, a generator controller, a bus, a drive motor controller, a drive motor, and a logging drum connected in sequence, as well as an energy storage device and a resistor chopper module, each connected to the bus. Furthermore, by obtaining the bus DC voltage value and the operating state of the drive motor of the hybrid electric logging vehicle, and when the operating state of the drive motor is a power generation condition, determining the target braking mode of the hybrid electric logging vehicle based on the bus DC voltage value, and braking according to the target braking mode, it is possible to select an appropriate target braking mode for braking in real time according to the actual environmental scenario of the hybrid electric logging vehicle, thereby improving braking efficiency. Furthermore, since this is performed when the operating state of the drive motor is a power generation condition, and the target braking mode is determined based on the bus DC voltage value, it is possible to ensure that the selected target braking mode corresponds to the actual environmental scenario. The target braking mode includes at least one of a regenerative braking mode that stores energy through an energy storage device, a chassis engine braking mode that drives the chassis engine to convert electrical energy into mechanical energy, and a resistance chopper braking mode that performs resistance chopping based on a resistance chopper module and stops the logging drum when the resistance chopping duration exceeds a preset chopping duration. This allows for electromechanical combined braking of the hybrid electric logging vehicle, avoiding the potential for burnout of the brake resistor and increased costs associated with solely using resistance chopper braking. When the drive motor is operating in a generating state, the target braking mode can be determined based on different bus DC voltage values ​​by selecting at least one of the regenerative braking mode, chassis engine braking mode, and resistance chopper braking mode. The hybrid electric logging vehicle can then be controlled to perform different operations based on different target braking modes, such as electromechanical combined braking corresponding to the chassis engine braking mode. This allows for the selection of different braking modes based on the actual environment of the electric logging vehicle, improving braking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0031] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0032] Figure 1 This is a schematic diagram of the architecture of an electric-driven logging vehicle;

[0033] Figure 2 This is a schematic diagram of the architecture of the hybrid electric drive logging vehicle of this application;

[0034] Figure 3 A schematic flow chart of a first embodiment of a braking method for a hybrid electric drive logging vehicle of the present application;

[0035] Figure 4 This is a schematic diagram of the overall process of the braking method of the hybrid electric drive logging vehicle of the present application;

[0036] Figure 5 Schematic diagram of the equipment structure of the hardware operating environment involved in the braking method of the hybrid electric drive logging vehicle in the embodiment of the present application.

[0037] Description of Figure Numbers:

[0038]

[0039] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0040] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0041] In order to better understand the technical solutions of this application, the following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0042] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), such directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0043] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme in which A and B are satisfied at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0044] Under the oil-electric drive condition, for an electric logging vehicle, the drive motor will operate in the power generation state (high-speed inertia state) during the lowering of the logging instrument, and quickly increase the bus DC voltage to trigger the resistor chopper braking. Due to the high braking power, the traditional pure resistor braking mode often burns out the brake resistor; and the heat generated during the chopping process also significantly increases the system heat dissipation cost design. Figure 1 As shown, the electric logging vehicle includes two control modules: tension control and current control. It also includes a PLC, a frequency converter, a motor, a reducer, a drum, a tensiometer, cables, and logging instruments. The reducer is connected to the drum via a chain drive. A Hall effect sensor is installed on the motor, providing current feedback to the current control module. The tensiometer also provides tension feedback to the tension control module, which then responds accordingly. Because the electric logging vehicle utilizes only resistor chopper braking, it suffers from the following drawbacks: insufficient chopper power. Due to insufficient braking power, the brake resistor often burns out during the resistor chopper braking mode. The heat generated during the chopper braking process significantly increases the system's heat dissipation costs. A poor braking experience is also present. Due to the limited resistor braking power, frequent handbrake engagement is required, resulting in jerks during logging due to insufficient or excessive braking force, creating a poor user experience. Low operational efficiency is also present. Frequent handbrake engagement and high braking intensity place operators in a state of high tension, severely impacting logging efficiency and potentially introducing safety hazards.

[0045] The hybrid electric logging vehicle in the embodiment of the present application utilizes chopper resistor braking and mechanical braking during braking, while also providing additional braking torque through motor kinetic energy recovery and chassis engine exhaust braking. By organically combining the traditional mechanical system with the electric drive system, the generator's power output is utilized to assist and optimize the braking process, achieving electromechanical composite braking control. This effectively addresses the long braking time (down to a depth of up to 12,000 meters), high braking power requirements (the test instrument plus load-bearing steel cable can exceed 10,000 kg), and high braking intensity during the lowering of logging instruments, effectively avoiding the increased cost associated with braking on the electric logging vehicle. Therefore, the hybrid electric logging vehicle in this embodiment, while avoiding the aforementioned drawbacks, can also significantly reduce the frequency of overvoltage protection triggered by busbar DC voltage exceeding the limit, thereby improving the continuity of logging operations and enhancing the operational experience. Furthermore, based on the full utilization of the existing hardware resources of the hybrid electric drive logging vehicle, the goals of saving hardware design costs, ensuring braking effects, increasing braking power, improving operating efficiency, enhancing operating process experience, simplifying operating thresholds, and reducing safety hazards in operations can be achieved.

[0046] The present application proposes a hybrid electric drive logging vehicle.

[0047] Please refer to Figure 2 In the first embodiment of the hybrid electric drive logging vehicle proposed in this application, the hybrid drive logging vehicle includes:

[0048] The chassis engine 100, generator 300, generator controller 400, busbar 500, drive motor controller 600, drive motor 700 and logging drum 900 are connected in sequence; and the energy storage device 510 and resistance chopper module 520 are respectively connected to the busbar.

[0049] It should be noted that the drive motor controller 600 is used to obtain the working state of the drive motor 700, and the generator controller 400 is used to obtain the bus DC voltage value of the bus 500. When the working state of the drive motor 700 is the power generation condition, the target braking mode of the hybrid electric drive logging vehicle is determined according to the bus DC voltage value, and braking is performed according to the target braking mode. The target braking mode includes a regenerative braking mode for storing energy through the energy storage device 510, a chassis engine braking mode for converting electrical energy into mechanical energy through the generator controller 400, the generator 300 and the chassis engine 100, and at least one braking mode of the resistance chopping braking mode according to the resistance chopping module 520, and when the resistance chopping time is greater than the preset chopping time, the logging drum 900 is stopped.

[0050] Optionally, chassis engine 100 can be a diesel engine, i.e., a chassis diesel engine, or another engine. Optionally, energy storage device 510 can be a battery or a supercapacitor. Generator controller 400 can be an analog-to-digital converter capable of converting alternating current (AC) and direct current (DC). Drive motor controller 600 can be an analog-to-digital converter capable of converting alternating current (AC) and direct current (DC).

[0051] Optionally, the resistance chopping module 520 may include a DC chopping controller and a chopping resistor electrically connected to each other, and the number of the chopping resistors may be multiple.

[0052] It should be noted that, in the normal logging working mode, the hybrid electric drive logging vehicle in this embodiment mainly operates in the logging instrument lifting working condition and the logging instrument lowering working condition.

[0053] To raise the logging instrument, the chassis engine 100 in the hybrid electric logging vehicle drives the generator 300, converting mechanical energy into electrical energy. The AC power output by the generator 300 is rectified into busbar DC power by the generator controller 400, and then appropriately stored in the energy storage device 510. The drive motor controller 600 inverts the busbar DC power into variable-frequency and variable-voltage AC power, which drives the drive motor 700 to rotate, converting electrical energy into mechanical energy. The drive motor 700 then drives the logging drum 900 in reverse rotation, ultimately lifting the logging instrument via the logging wireline.

[0054] During the logging instrument lowering operation, if the drive motor 700 is operating in a power generation state (i.e., a high-speed inertia state), different braking modes can be employed. These include a regenerative braking mode that uses the energy storage device 510 to store energy; a chassis engine braking mode that converts electrical energy into mechanical energy via the generator controller 400, the generator 300, and the chassis engine 100; and a resistance chopping braking mode that uses the resistance chopping module 50 to perform resistance chopping, stopping the logging drum when the resistance chopping duration exceeds a preset chopping duration.

[0055] Optionally, when the control system of the hybrid electric logging vehicle activates regenerative braking mode, the operating state of the drive motor controller 600 switches from an inverter state (i.e., a state capable of performing inverter functions) to a rectifier charging state. The energy storage device 510 recovers the electrical energy generated by the passive rotation of the drive motor 700 for energy storage. Optionally, when the control system of the hybrid electric logging vehicle activates chassis engine braking mode, the operating state of the generator controller 400 switches from a rectifier charging state to an inverter state. The generator controller 400 drives the generator 300 to rotate, driving the chassis engine 100 to passively rotate, thereby converting electrical energy into mechanical energy. Optionally, when the control system of the hybrid electric logging vehicle activates resistance chopping braking mode, the resistance chopping module 520 is triggered, and resistance chopping is performed according to the resistance chopping module 520. If the resistance chopping duration exceeds a preset chopping duration, the logging drum 900 is braked. Optionally, the resistance chopping module 520 may perform resistance chopping by connecting the bus 500 and the chopping resistor via a DC chopping controller, and performing resistance chopping on the bus DC voltage value via the chopping resistor.

[0056] In this embodiment, a hybrid electric logging vehicle is provided, comprising a chassis engine 100, a generator 300, a generator controller 400, a bus 500, a drive motor controller 600, a drive motor 700, and a logging drum 900, all connected in sequence, as well as an energy storage device 510 and a resistor chopper module 520, each connected to the bus 500. The drive motor controller 600 is configured to obtain the operating state of the drive motor 700, and the generator controller 400 is configured to obtain the bus DC voltage value of the bus 500. When the drive motor 700 is in a power generation mode, a target braking mode for the hybrid electric logging vehicle is determined based on the bus DC voltage value, and braking is performed according to the target braking mode. This allows the hybrid electric logging vehicle to select an appropriate target braking mode for braking based on its actual environmental scenario, thereby improving braking efficiency. Furthermore, since this is performed when the drive motor 700 is in a power generation mode and the target braking mode is determined based on the bus DC voltage value, it ensures that the selected target braking mode corresponds to the actual environmental scenario. The target braking mode includes at least one of a regenerative braking mode in which energy is stored via the energy storage device 510, a chassis engine braking mode in which electrical energy is converted into mechanical energy via the generator controller 400, the generator 300, and the chassis engine 100, and a resistance chopper braking mode in which resistance chopping is performed by the resistance chopper module 520 and the logging drum 900 is stopped when the resistance chopping duration exceeds a preset chopping duration. This allows for electromechanical combined braking of the hybrid electric logging vehicle, avoiding the cost increase caused by the burnout of the brake resistor by solely utilizing resistance chopper braking. Furthermore, when the drive motor 700 is operating in a generating state, the target braking mode can be determined based on different bus DC voltage values ​​by selecting at least one of the regenerative braking mode, the chassis engine braking mode, and the resistance chopper braking mode. The hybrid electric logging vehicle can then be controlled to perform different operations based on different target braking modes, such as electromechanical combined braking corresponding to the chassis engine braking mode. Furthermore, different braking modes can be selected based on the actual environment of the electric logging vehicle, improving braking efficiency.

[0057] Based on the above first embodiment, the present application also proposes a second embodiment of a hybrid electric drive logging vehicle, please refer to Figure 2 In the second embodiment, the hybrid drive logging vehicle further includes a first mechanical transmission device 200 and a second mechanical transmission device 800.

[0058] It should be noted that the chassis engine 100 is connected to the generator 300 via the first mechanical transmission device 200 , and the drive motor 700 is connected to the logging drum 900 via the second mechanical transmission device 800 .

[0059] Optionally, the first mechanical transmission device 200 may be composed of a diesel engine transmission power take-off, a transmission shaft, etc. The second mechanical transmission device 800 may be composed of a speed reducer and a transmission chain, etc.

[0060] Optionally, for the logging instrument lifting operation, the chassis engine 100 in the hybrid electric logging vehicle drives the generator 300 to rotate via the first mechanical transmission device 200, thereby converting mechanical energy into electrical energy. The AC power output by the generator 300 is rectified into bus DC power by the generator controller 400, and appropriately stored in the energy storage device 510. The drive motor controller 600 inverts the bus DC power into variable-frequency and variable-voltage AC power to drive the drive motor 700 to rotate, thereby converting electrical energy into mechanical energy. The drive motor 700 drives the logging drum 900 to rotate in the opposite direction via the second mechanical transmission device 800, ultimately lifting the logging instrument via the logging wireline cable.

[0061] Regarding the lowering condition of the logging instrument, if the drive motor 700 works in the power generation state, that is, the high-speed inertia condition, the logging instrument is in the lowering state, so it will drive the logging drum 900 to rotate. The logging drum 900 drives the drive motor 700 to rotate through the second mechanical transmission device 800, so that the drive motor 700 is in the power generation state.

[0062] Optionally, when the control system starts the chassis engine braking mode, when the control system in the hybrid electric drive logging vehicle starts the chassis engine braking mode, the working state of the generator controller 400 is switched from the rectification charging state to the inverter state, and the generator 300 is driven to rotate through the generator controller 400, and the generator 300 drives the chassis engine 100 to passively rotate through the first mechanical transmission device 200 to convert electrical energy into mechanical energy.

[0063] In this embodiment, by setting up a first mechanical transmission device 200 and a second mechanical transmission device 800, energy transmission between the chassis engine 100 and the generator 300, and energy transmission between the drive motor 700 and the logging drum 900 can be achieved, which facilitates the subsequent effective execution of the target braking mode and improves the braking efficiency.

[0064] In addition, the present application also provides a braking method for a hybrid electric drive logging vehicle. In the third embodiment of the braking method for a hybrid electric drive logging vehicle, the braking method for a hybrid electric drive logging vehicle is applied to a hybrid electric drive logging vehicle. The hybrid electric drive logging vehicle may be the hybrid drive logging vehicle of the first embodiment or the second embodiment described above. The hybrid drive logging vehicle may be provided with a chassis engine, a generator, a generator controller, an energy storage device, a drive motor controller, a drive motor and a logging drum connected in sequence; and a resistance chopper module connected to the energy storage device. Optionally, a first mechanical transmission device and a second mechanical transmission device may also be provided. The chassis engine is connected to the generator via the first mechanical transmission device, and the drive motor is connected to the logging drum via the second mechanical transmission device.

[0065] It should be noted that the hybrid drive logging vehicle is not limited to the above structure, and may also include other structures, such as a housing, etc., and only the above structure is used for description here.

[0066] Please refer to Figure 3 The braking method of the hybrid electric drive logging vehicle includes steps S10-S20.

[0067] Step S10, obtaining the bus DC voltage value and the working state of the drive motor of the hybrid electric drive logging vehicle;

[0068] It should be noted that the drive motor's operating state includes power generation. This is a high-speed, inertial operating state, meaning it does not directly contribute to lifting the logging drum or other active power output. Instead, it rotates with the load (i.e., the lowered logging instrument and supporting wire cable) due to gravity, passively generating power as the motor rotates. When the drive motor is in power generation mode, it does not output torque or work. Instead, it rotates solely due to gravity during the lowering process, like a generator, converting mechanical energy into electrical energy.

[0069] Optionally, the hybrid electric logging vehicle control system is equipped with corresponding sensors and monitoring modules, which monitor the DC voltage on the bus to obtain the bus DC voltage. Optionally, the bus DC voltage can be monitored in real time to obtain the corresponding bus DC voltage value.

[0070] Optionally, a DC voltage sensor is installed in the control system of the hybrid electric logging vehicle and connected to the busbar to monitor the DC busbar voltage level in real time. The DC voltage sensor converts the detected voltage signal into an electrical signal and performs appropriate processing on the electrical signal, such as amplification and filtering. The processed electrical signal is transmitted via a data bus (such as a CAN bus) to a data acquisition unit (such as a PLC or microcontroller) in the control system. This data acquisition unit can be a generator controller. The electrical signal is digitized in the data acquisition unit, and the specific voltage value is calculated in real time, which is used as the DC busbar voltage value.

[0071] Optionally, a corresponding drive sensor, such as a Hall effect sensor, an encoder, or a resolver, may be provided in the drive motor. The drive sensor collects data from the drive motor, converts the collected data into a digital signal via an analog-to-digital converter, and transmits the digital signal to a control unit, such as a drive motor controller.

[0072] Optionally, the drive motor controller analyzes the received digital signal to determine the current operating state of the drive motor. For example, when the output current of the drive motor is positive and the speed is greater than zero, the drive motor is in the driving state, i.e., the driving condition. If the drive motor rotates without external drive, generating reverse current, the drive motor is determined to be in the charging state, i.e., the generating condition.

[0073] Step S20: When the driving motor is in a power generation state, a target braking mode of the hybrid electric drive logging vehicle is determined according to the bus DC voltage value, and braking is performed according to the target braking mode.

[0074] It should be noted that the target braking mode includes at least one braking mode of a regenerative braking mode that stores energy through an energy storage device, a chassis engine braking mode that converts electrical energy into mechanical energy through a generator controller, a generator and a chassis engine braking mode, and a resistance chopping braking mode that performs resistance chopping based on a resistance chopping module and stops the logging drum when the resistance chopping time is greater than a preset chopping time.

[0075] Optionally, when determining that the driving motor is in a power generation state, the bus DC voltage value needs to be detected so as to determine different target braking modes according to different bus DC voltage values, and then brake the hybrid drive logging vehicle according to the target braking mode.

[0076] Optionally, since the target braking mode includes at least one of a regenerative braking mode, a chassis engine braking mode, and a resistance chopper braking mode, and the hybrid-drive logging vehicle can perform different operations in each braking mode, different target braking modes can be adopted according to different bus DC voltage values ​​to perform different braking operations on the hybrid-drive logging vehicle.

[0077] Optionally, different priorities can be set for the regenerative braking mode, chassis engine braking mode, and resistor chopper braking mode, for example, the regenerative braking mode has the lowest priority and the resistor chopper braking mode has the highest priority. Optionally, for example, as the bus DC voltage value increases, the regenerative braking mode is activated first, then the chassis engine braking mode is activated, and finally the resistor chopper braking mode is activated. Optionally, if the bus DC voltage value is small, the regenerative braking mode can be activated to brake the hybrid drive logging vehicle, that is, the electrical energy generated by the drive motor is recovered through the energy storage device in the bus DC link to achieve the purpose of energy storage. If the bus DC voltage value is large but does not reach the voltage safety threshold, the chassis engine braking mode can be activated on the basis of the regenerative braking mode, and the chassis engine can be driven to rotate based on the electrical energy stored in the energy storage device to convert the electrical energy into mechanical energy. Optionally, if the bus DC voltage value is very large and exceeds the voltage safety threshold, the resistance chopping braking mode can be started on the basis of the regenerative braking mode and the chassis engine braking mode, and the corresponding resistor can be started through the resistance chopping module to chop the bus DC voltage. When the resistance chopping time is longer than the preset chopping time, the preset emergency mechanical brake will be triggered to stop the logging drum through the emergency mechanical brake.

[0078] Furthermore, in a feasible embodiment, the working state of the drive motor includes a driving condition. After obtaining the bus DC voltage value of the hybrid electric drive logging vehicle and the working state of the drive motor in step S10, step S30 is included.

[0079] Step S30: When the driving motor is in the driving state and the bus DC voltage is greater than a preset second voltage-limiting threshold, braking is performed according to the resistance chopper braking mode.

[0080] Optionally, the second voltage limiting threshold may be a voltage safety threshold, which is set in advance by the user. When the bus DC voltage is greater than the voltage safety threshold, there is a risk of burning out various devices in the hybrid electric drive logging vehicle.

[0081] Optionally, when the drive motor is in the driving state, the bus DC voltage is monitored in real time. If the bus DC voltage is greater than a preset second voltage-limiting threshold, the bus DC voltage overvoltage protection function is activated, and the resistor chopping voltage reduction function is initiated. That is, the resistor chopping module activates the corresponding resistor to chop the bus DC voltage. When the resistor chopping duration exceeds a preset chopping duration, a preset emergency mechanical brake is triggered to stop the logging drum. When the bus DC voltage is less than or equal to the preset second voltage-limiting threshold, normal operation continues.

[0082] In this embodiment, when the driving motor is in the driving state and the bus DC voltage value is greater than the second voltage limit threshold, braking is performed according to the resistance chopper braking mode, thereby effectively avoiding the phenomenon of component burning caused by excessive bus DC voltage in the hybrid electric drive logging vehicle.

[0083] In this embodiment, by acquiring the bus DC voltage value and the operating state of the drive motor of the hybrid electric logging vehicle, and determining the target braking mode of the hybrid electric logging vehicle based on the bus DC voltage value when the drive motor is in the generating mode, and braking is performed according to the target braking mode, it is possible to select an appropriate target braking mode for braking in real time according to the actual environmental scenario of the hybrid electric logging vehicle, thereby improving braking efficiency. Furthermore, since this is performed when the drive motor is in the generating mode and the target braking mode is determined based on the bus DC voltage value, it is possible to ensure that the selected target braking mode corresponds to the actual environmental scenario. Furthermore, the target braking modes include at least one of a regenerative braking mode that stores energy via an energy storage device, a chassis engine braking mode that drives a chassis engine to convert electrical energy into mechanical energy, and a resistance chopping braking mode that performs resistance chopping using a resistance chopping module and stops the logging drum when the resistance chopping duration exceeds a preset chopping duration. Therefore, it is possible to achieve electromechanical combined braking of the hybrid electric logging vehicle, avoiding the phenomenon of burning out the brake resistor and increasing costs due to the use of only resistor chopper braking. When the drive motor is in the power generation mode, it can be achieved that when the working state of the drive motor is the power generation mode, at least one of the regenerative braking mode, chassis engine braking mode and resistor chopper braking mode can be selected according to different bus DC voltage values ​​to determine the target braking mode. Then, according to different target braking modes, the hybrid electric logging vehicle is controlled to perform different operations, such as vehicle electromechanical combined braking corresponding to the chassis engine braking mode. In addition, different braking modes can be selected according to the actual environment of the electric logging vehicle, thereby improving braking efficiency.

[0084] Based on the third embodiment of the present application, in the fourth embodiment of the present application, the same or similar contents as those in the third embodiment can be referred to above and will not be repeated hereafter. On this basis, in step S20, the target braking mode of the hybrid electric-driven logging vehicle is determined based on the bus DC voltage value, and the braking is performed based on the target braking mode, including step S21.

[0085] In step S21, if the bus DC voltage value is less than or equal to the preset first voltage limit threshold, the target braking mode of the hybrid electric drive logging vehicle is determined to be the regenerative braking mode, and the electric energy generated by the rotation of the drive motor is stored through the energy storage device according to the regenerative braking mode.

[0086] Optionally, the first voltage limit threshold may be a voltage threshold set in advance by the user, and may be set according to the energy storage condition of the energy storage device or according to user needs. The first voltage limit threshold is smaller than the voltage safety threshold, that is, smaller than the second voltage limit threshold.

[0087] Optionally, when the working state of the drive motor is the power generation condition, the bus DC voltage value is monitored in real time. When it is monitored that the bus DC voltage value is less than or equal to the preset first voltage limit threshold value, the target braking mode of the hybrid electric drive logging vehicle is determined to be the regenerative braking mode. The control system of the hybrid electric drive logging vehicle starts the regenerative braking mode. In this mode, the working state of the drive motor controller is switched from the inverter state to the rectifier charging state, and in the bus DC link, the electric energy generated by the passive rotation of the drive motor is recovered through the energy storage device. It should be noted that the passive rotation of the drive motor is due to the fact that the logging instrument is in the lowering condition. Under this condition, due to the weight of the logging instrument itself, the logging drum will be driven to rotate in the opposite direction, thereby driving the passive rotation of the drive motor.

[0088] In this embodiment, when the bus DC voltage value is less than or equal to the first voltage limit threshold, the target braking mode is determined to be the regenerative braking mode, and the energy storage device stores the electric energy generated by the rotation of the drive motor, thereby avoiding energy waste.

[0089] Furthermore, in step S20, the target braking mode of the hybrid electric drive logging vehicle is determined according to the bus DC voltage value, and the braking is performed according to the target braking mode, including steps S22-S23.

[0090] Step S22: If the bus DC voltage value is greater than a preset first voltage limit threshold and less than or equal to a preset second voltage limit threshold, determining the target braking mode of the hybrid electric logging vehicle to be a first hybrid braking mode of the regenerative braking mode and the chassis engine braking mode;

[0091] In step S23 , the working state of the generator controller is switched to a driving state according to the first hybrid braking mode, and the generator is driven to rotate, thereby driving the chassis engine to convert electrical energy into mechanical energy.

[0092] In this embodiment, when the drive motor is operating in a power generation mode, the bus DC voltage is monitored in real time. If the monitored bus DC voltage is greater than a preset first voltage limit threshold and less than or equal to a second voltage limit threshold, the target braking mode of the hybrid electric logging vehicle is determined to be a combination of a regenerative braking mode and a chassis engine braking mode, and this combination is used as the first hybrid braking mode.

[0093] Optionally, the control system of the hybrid electric logging vehicle activates a first hybrid braking mode. In this mode, the generator controller switches from a rectifier charging state to an inverter state, driving the generator to rotate. Simultaneously, the first mechanical transmission device drives the chassis engine to passively rotate, thereby converting electrical energy into mechanical energy for dynamic braking. In other words, the electrical energy stored in the energy storage device is converted into mechanical energy through the generator controller, generator, first mechanical transmission device, and chassis engine.

[0094] Optionally, to increase braking power, the chassis engine will operate in an in-cylinder exhaust brake mode. Optionally, to prevent damage to the chassis engine due to excessive generator drive torque, the control system will preset a limit on the maximum output torque under generator drive conditions based on the maximum torque that the chassis engine exhaust brake can withstand.

[0095] Optionally, after the first hybrid braking mode is activated, the electric energy generated by the passive rotation of the drive motor can also be stored by the energy storage device.

[0096] In this embodiment, when the bus DC voltage value is greater than the first voltage limit threshold and less than or equal to the second voltage limit threshold, the target braking mode is determined to be a first hybrid braking mode of the regenerative braking mode and the chassis engine braking mode. The working state of the generator controller is switched to the driving condition, driving the generator to rotate to drive the chassis engine to convert electrical energy into mechanical energy, thereby effectively protecting the hybrid electric drive logging vehicle and improving braking efficiency.

[0097] In a feasible embodiment, in step S23, after the step of switching the working state of the generator to the driving working state according to the first hybrid braking mode, steps a10-a20 are further included.

[0098] Step a10, obtaining the speed and torque of the generator under the driving condition, and calculating the engine exhaust brake power based on the speed and torque;

[0099] Step a20: When the engine exhaust braking power is greater than a preset reference value, output a prompt message for applying a handbrake to the logging drum.

[0100] It should be noted that the control system of the hybrid electric logging vehicle can activate chassis engine braking modes, such as the first hybrid braking mode. Sensors are used to collect real-time speed and torque data under generator-driven conditions. Optionally, the preset reference value can be a user-set power threshold that indicates a power limit is about to be exceeded.

[0101] Alternatively, the speed can directly affect the amount of electrical energy generated by the generator, and thus the amount of electrical energy converted into mechanical energy. Torque is a measure of the magnitude of the generator's output torque and is directly related to the generator's power generation capacity and the braking effect of the chassis engine.

[0102] Alternatively, the engine exhaust brake power can be calculated based on the speed and torque using the following formula: P1 = M*n / 9550. Where P1 is the engine exhaust brake power, M is the torque, and n is the speed. Alternatively, other methods can be used to determine the engine exhaust brake power, which are not limited here.

[0103] Optionally, the engine exhaust braking power is compared with a preset reference value. If the engine exhaust braking power is greater than the preset reference value, a prompt message for the user to apply the handbrake will be output so that the user can appropriately intervene to apply the handbrake to the logging drum based on operational experience.

[0104] In this embodiment, the engine exhaust braking power is calculated based on the speed and torque under the generator driving condition, and when the engine exhaust braking power is greater than a preset reference value, a prompt message for applying the handbrake to the logging drum is output, so as to achieve effective braking of the hybrid electric drive logging vehicle.

[0105] Furthermore, in step S20, the target braking mode of the hybrid electric drive logging vehicle is determined according to the bus DC voltage value, and the step of braking according to the target braking mode includes steps S24-S25.

[0106] Step S24: If the bus DC voltage value is greater than the preset second voltage limit threshold, determining the target braking mode of the hybrid electric logging vehicle to be a second hybrid braking mode of the regenerative braking mode, the chassis engine braking mode, and the resistance chopper braking mode;

[0107] In step S25 , the resistance chopping module is controlled to perform resistance chopping according to the second hybrid braking mode, and the logging drum is braked when the resistance chopping time is longer than the preset chopping time.

[0108] In this embodiment, when the drive motor is operating in a power generation mode, the bus DC voltage is monitored in real time. If the bus DC voltage is greater than a preset second voltage-limiting threshold, the target braking mode of the hybrid electric logging vehicle is determined to be a combination of regenerative braking, chassis engine braking, and resistor chopper braking, and this combination is used as the second hybrid braking mode.

[0109] Optionally, the control system of the hybrid electric drive logging vehicle starts a second hybrid braking mode. In this mode, the resistance chopping module will start the corresponding resistor to chop the bus DC voltage, and when the resistance chopping time is greater than the preset chopping time, it will trigger the preset emergency mechanical brake to stop the logging drum through the emergency mechanical brake.

[0110] Optionally, after the second hybrid braking mode is activated, the energy storage device can also be used to store the electric energy generated by the passive rotation of the drive motor, and the working state of the generator can be switched to the driving state to drive the chassis engine to convert the electric energy into mechanical energy.

[0111] In this embodiment, when the bus DC voltage exceeds a second voltage-limiting threshold, the target braking mode is determined to be a second hybrid braking mode consisting of regenerative braking, chassis engine braking, and resistance chopping braking. The resistance chopping module is controlled to perform resistance chopping, and the logging drum is braked when the resistance chopping duration exceeds a preset chopping duration. This effectively protects the hybrid electric logging vehicle and improves braking efficiency.

[0112] In addition, to assist in understanding the braking principle of the hybrid electric drive logging vehicle in this embodiment, an example is given below.

[0113] For example, Figure 4 As shown, the control system of the hybrid electric logging vehicle obtains the bus DC voltage and the drive motor operating state (driving or generating), which can be either driving or generating. It also obtains the generator speed and torque under the generator driving condition. It then determines whether the drive motor is operating in generating mode. If not, when the bus DC voltage exceeds the second voltage limit, the system initiates braking resistor chopping to reduce the voltage. If the resistor chopping exceeds a set time limit, the system triggers emergency protection mode.

[0114] If so, when the drive motor is operating in a generating mode, the system will promptly initiate regenerative braking, recovering the motor's generated energy through an energy storage device (battery or supercapacitor) in the bus DC link. When the bus DC voltage exceeds the first voltage limit, the system will initiate a combined braking mode of chassis engine braking and regenerative braking. In this mode, the generator switches to a driving mode and drives the chassis engine, converting electrical energy into mechanical energy for dynamic braking. When the bus DC voltage exceeds the second voltage limit, while maintaining chassis engine braking and regenerative braking, resistor chopper braking is initiated. If the resistor chopper braking exceeds the set time limit, the control system will directly trigger the emergency mechanical brake on the logging drum, stopping the drum.

[0115] Optionally, the control system of the hybrid electric drive logging vehicle can improve the effective braking power through the above process. Compared with conventional resistor chopper braking, it can achieve an order of magnitude increase in braking power under the same hardware conditions. It can also meet the braking needs of logging while reducing the frequent intervention of the handbrake, effectively solving the setbacks caused by insufficient or excessive braking force during the logging process, and significantly improving the operation experience. It can also accurately determine the optimal braking method based on the logging working conditions or partial conditions, effectively improving the efficiency and safety of logging braking. By making full use of the product resource platform, the resistor braking power requirements and the system heat dissipation power requirements of the entire vehicle are reduced by orders of magnitude.

[0116] In addition, the present application provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the braking method of the hybrid electric drive logging vehicle in the above-mentioned embodiment one.

[0117] Reference below Figure 5 , which shows a schematic diagram of the structure of an electronic device suitable for implementing the embodiments of the present application. The electronic devices in the embodiments of the present application may include, but are not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (such as in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 5 The electronic device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0118] like Figure 5As shown, the electronic device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in a read-only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. RAM 1004 also stores various programs and data required for device operation. Processing device 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to I / O interface 1006: input devices 1007, such as a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008, such as a liquid crystal display (LCD), speaker, vibrator, etc.; storage device 1003, such as a magnetic tape or hard disk; and communication device 1009. The communication device 1009 can allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows an electronic device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have instead.

[0119] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0120] The electronic device provided in this application utilizes the braking method for the hybrid electric logging vehicle described in the aforementioned embodiment to improve the braking efficiency of the electric logging vehicle. Compared to the prior art, the electronic device provided in this application achieves the same beneficial effects as the braking method for the hybrid electric logging vehicle described in the aforementioned embodiment. Other technical features of the electronic device are the same as those disclosed in the aforementioned embodiment and are not further detailed here.

[0121] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0122] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0123] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, a computer program) stored thereon, wherein the computer-readable program instructions are used to execute the braking method of the hybrid electric drive logging vehicle in the above embodiment.

[0124] The computer-readable storage medium provided herein may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems, or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including, but not limited to, wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0125] The computer-readable storage medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0126] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by an electronic device, the electronic device can execute the steps of the braking method of the hybrid electric drive logging vehicle.

[0127] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0128] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0129] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0130] The computer-readable storage medium provided in this application stores computer-readable program instructions (i.e., a computer program) for executing the aforementioned braking method for a hybrid electric logging vehicle, thereby improving the braking efficiency of the electric logging vehicle. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are similar to those of the braking method for a hybrid electric logging vehicle provided in the aforementioned embodiment, and are not further elaborated here.

[0131] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned braking method for a hybrid electric drive logging vehicle when the computer program is executed by a processor.

[0132] The computer program product provided in this application can improve the braking efficiency of an electric-driven logging vehicle. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the braking method for a hybrid electric-driven logging vehicle provided in the above embodiment, and will not be elaborated here.

[0133] The above description is only part of the embodiments of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A hybrid electric drive logging vehicle, characterized in that: The hybrid electric drive logging vehicle comprises: A chassis engine, a generator, a generator controller, a busbar, a drive motor controller, a drive motor and a logging drum connected in sequence; and an energy storage device and a resistance chopper module respectively connected to the busbar; The drive motor controller is used to obtain the working state of the drive motor, and the generator controller is used to obtain the bus DC voltage value of the bus. When the working state of the drive motor is the power generation condition, the target braking mode of the hybrid electric drive logging vehicle is determined according to the bus DC voltage value, and braking is performed according to the target braking mode. The target braking mode includes at least one of a regenerative braking mode in which energy is stored by an energy storage device, a chassis engine braking mode in which electrical energy is converted into mechanical energy by the generator controller, the generator, and the chassis engine, and a resistance chopping braking mode in which resistance chopping is performed according to a resistance chopping module and the logging drum is stopped when the resistance chopping time is greater than a preset chopping time. The target braking mode of the hybrid electric drive logging vehicle is determined according to the bus DC voltage value, and braking is performed according to the target braking mode, including: If the bus DC voltage value is greater than a preset first voltage limit threshold and less than or equal to a preset second voltage limit threshold, determining that the target braking mode of the hybrid electric-driven logging vehicle is a first hybrid braking mode of a regenerative braking mode and a chassis engine braking mode, and switching the operating state of the generator controller to a driving state according to the first hybrid braking mode to drive the generator to rotate, thereby driving the chassis engine to convert electrical energy into mechanical energy; If the bus DC voltage value is greater than a preset second voltage limiting threshold value, the target braking mode of the hybrid electric drive logging vehicle is determined to be a second hybrid braking mode of the regenerative braking mode, the chassis engine braking mode and the resistance chopping braking mode. The resistance chopping module is controlled to perform resistance chopping according to the second hybrid braking mode, and the logging drum is stopped when the resistance chopping time is greater than the preset chopping time.

2. The hybrid electric drive logging vehicle according to claim 1, characterized in that: The hybrid electric drive logging vehicle further includes a first mechanical transmission device and a second mechanical transmission device. The chassis engine is connected to the generator through the first mechanical transmission device, and the drive motor is connected to the logging drum through the second mechanical transmission device.

3. A braking method for a hybrid electric drive logging vehicle, characterized in that: Applied to the hybrid electric drive logging vehicle according to claim 1, the method comprises: Acquiring a busbar DC voltage value and a working state of a drive motor of the hybrid electric drive logging vehicle, wherein the working state of the drive motor includes a power generation condition; When the driving motor is in a power generation mode, a target braking mode of the hybrid electric-driven logging vehicle is determined based on the bus DC voltage value, and braking is performed based on the target braking mode, wherein the target braking mode includes at least one of a regenerative braking mode in which energy is stored by an energy storage device, a chassis engine braking mode in which electrical energy is converted into mechanical energy by a generator controller, a generator, and a chassis engine, and a resistance chopping braking mode in which resistance chopping is performed by a resistance chopping module and the logging drum is stopped when the resistance chopping time is greater than a preset chopping time. The step of determining a target braking mode of the hybrid electric drive logging vehicle according to the bus DC voltage value and performing braking according to the target braking mode further includes: If the bus DC voltage value is greater than a preset first voltage limit threshold and less than or equal to a preset second voltage limit threshold, determining that the target braking mode of the hybrid electric-driven logging vehicle is a first hybrid braking mode of a regenerative braking mode and a chassis engine braking mode, and switching the operating state of the generator controller to a driving state according to the first hybrid braking mode to drive the generator to rotate, thereby driving the chassis engine to convert electrical energy into mechanical energy; If the bus DC voltage value is greater than a preset second voltage limiting threshold value, the target braking mode of the hybrid electric drive logging vehicle is determined to be a second hybrid braking mode of the regenerative braking mode, the chassis engine braking mode and the resistance chopping braking mode. The resistance chopping module is controlled to perform resistance chopping according to the second hybrid braking mode, and the logging drum is stopped when the resistance chopping time is greater than the preset chopping time.

4. The method according to claim 3, wherein The step of determining a target braking mode of the hybrid electric drive logging vehicle according to the bus DC voltage value and performing braking according to the target braking mode includes: If the bus DC voltage value is less than or equal to a preset first voltage limit threshold, the target braking mode of the hybrid electric drive logging vehicle is determined to be a regenerative braking mode, and the electrical energy generated by the rotation of the drive motor is stored through an energy storage device according to the regenerative braking mode.

5. The method according to claim 3, wherein After the step of switching the working state of the generator controller to the driving working state according to the first hybrid braking mode, the method further includes: Obtaining the speed and torque of the generator under a driving condition, and calculating the engine exhaust brake power based on the speed and torque; When the engine exhaust braking power is greater than a preset reference value, a prompt message for applying a handbrake to the logging drum is output.

6. The method according to claim 3, wherein The working state of the drive motor includes a driving condition. After the step of obtaining the bus DC voltage value of the hybrid electric drive logging vehicle and the working state of the drive motor, the following steps are included: When the driving motor is in the driving state and the bus DC voltage value is greater than the preset second voltage limit threshold, braking is performed according to the resistance chopper braking mode.

7. A medium, characterized in that The medium is a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the braking method of the hybrid electric drive logging vehicle according to any one of claims 3 to 6 are implemented.

8. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the braking method for a hybrid electric drive logging vehicle according to any one of claims 3 to 6 are implemented.

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