Hybrid loader control method, control system and hybrid loader

Abstract

The application belongs to the technical field of loaders, and discloses a hybrid loader control method, a control system and a hybrid loader. The total consumed power of a hydraulic system and a running system in a last period is determined to determine the total consumed electric quantity in the last period. The power generation power of a power generation machine to generate power for a power battery in a current period is adjusted according to the total consumed electric quantity in the last period and the electric quantity change amount of the power battery in the last period. The power demand of the hydraulic system and the running system is met by the electric quantity of the power battery, and the power generation and power consumption are balanced, so that the electric quantity of the power battery is relatively stable in a period of time, the power demand of the whole vehicle operation is met, and the stability, robustness and control accuracy of the hybrid loader are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hybrid loaders, in particular to a hybrid loader control method, a hybrid loader control system and a hybrid loader. BACKGROUND

[0002] The existing pure hybrid loader generally adopts a double-motor system, one of which is a walking motor for the walking system of the hybrid loader, and the walking motor transmits power to the wheels through a transmission structure to make the hybrid loader walk, and the other is a hydraulic motor for the hydraulic system of the hybrid loader, which is used to provide power for the hydraulic pump of the hydraulic system, and a power battery is used to provide power for the walking motor and the hydraulic motor.

[0003] The control method currently adopted by the hybrid loader is a control method based on the maximum discharge power of the power battery, which prioritizes meeting the demand power of the hydraulic system and adjusts the power of the walking motor in real time. In actual application, it is found that this control method is prone to imbalance between power generation and power consumption, resulting in poor fuel economy and short endurance time of the hybrid loader.

[0004] Therefore, there is an urgent need for a hybrid loader control method to solve the above technical problems. SUMMARY

[0005] The present application aims to provide a hybrid loader control method, a hybrid loader control system and a hybrid loader, which can keep the balance between power generation and power consumption to meet the whole vehicle operating power demand.

[0006] To achieve this purpose, the present application adopts the following technical solutions:

[0007] A hybrid loader control method, comprising the following steps:

[0008] Determine the total consumption power of the hydraulic system and the walking system in the last period, total consumption power = consumption power of the hydraulic system + consumption power of the walking system;

[0009] Determine the total consumption power of the last period based on the total consumption power of the last period;

[0010] Determine the power change amount of the power battery in the last period;

[0011] Adjust the power generation power of the generator to the power battery in the current period based on the total consumption power of the last period and the power change amount of the power battery in the last period.

[0012] As an implementable solution of the above hybrid loader control method, the determination of the power change amount of the power battery in the last period comprises the following steps:

[0013] Record the starting residual power of the power battery at the starting moment of each cycle and the ending residual power of the power battery at the ending moment of each cycle;

[0014] Calculate the power change amount of the power battery in the last cycle at the end of the last cycle, the power change amount of the power battery in the last cycle = ending residual power - starting residual power.

[0015] As an implementable solution of the hybrid loader control method, the power generation power of the generator to the power battery in the current cycle is adjusted based on the total consumed power of the last cycle and the power change amount of the power battery in the last cycle, including the following steps:

[0016] When the power change amount of the power battery in the last cycle is greater than zero, the power generation power of the generator to the power battery in the current cycle is reduced.

[0017] As an implementable solution of the hybrid loader control method, the power generation power of the generator to the power battery in the current cycle is reduced, including the following steps:

[0018] Estimate the demand power of the current cycle, the demand power of the current cycle = total consumed power of the last cycle - power change amount of the last cycle;

[0019] The power generation power of the generator to the power battery is controlled based on the estimated demand power of the current cycle.

[0020] As an implementable solution of the hybrid loader control method, the power generation power of the generator to the power battery in the current cycle is adjusted based on the total consumed power of the last cycle and the power change amount of the power battery in the last cycle, and further including the following steps:

[0021] When the power change amount of the power battery in the last cycle is less than zero, the power generation power of the generator to the power battery in the current cycle is increased.

[0022] As an implementable solution of the hybrid loader control method, the power generation power of the generator to the power battery in the current cycle is increased, including the following steps:

[0023] Estimate the demand power of the current cycle, the demand power of the current cycle = total consumed power of the last cycle + power change amount of the last cycle;

[0024] The power generation power of the generator to the power battery is controlled based on the estimated demand power of the current cycle.

[0025] As an implementable solution of the hybrid loader control method, the power generation power of the generator to the power battery is controlled based on the estimated demand power of the current cycle, including the following steps:

[0026] query the power generation power corresponding to the estimated current period demand power based on the correspondence relationship between the demand power and the power generation power of the power generator to the power battery;

[0027] control the power generator to generate power to the power battery, so that the power generation power of the power generator to the power battery reaches the queried power generation power.

[0028] As an implementable solution of the hybrid loader control method, the total consumption power of the last period is determined based on the total consumption power of the last period, including the following steps:

[0029] query the total consumption power corresponding to the determined total consumption power of the last period based on the correspondence relationship between the consumption power and the consumption power, and the total consumption power of the last period is the queried total consumption power.

[0030] In order to achieve the above-mentioned purpose, the application further provides a hybrid loader control system, comprising:

[0031] The control device comprises a walking controller, a battery management system, a hydraulic controller and a total controller, the walking controller is used to control the walking motor of the hybrid loader to work, the battery management system is used to control the power battery of the hybrid loader to work, the hydraulic controller is used to control the hydraulic pump of the hybrid loader to work, and the total controller is used to coordinate the work of the walking controller, the battery management system and the hydraulic controller, and the total controller is also used to execute the hybrid loader control method of any one of the above-mentioned solutions;

[0032] The hydraulic system comprises a hydraulic pump and a hydraulic motor, the hydraulic motor is mechanically connected with the hydraulic pump, and the hydraulic motor is used to provide power for the hydraulic pump;

[0033] The power system comprises a walking motor and a gearbox, the walking motor is mechanically connected with the gearbox, and the walking motor can provide power for the walking of the hybrid loader through the gearbox;

[0034] The power battery is used to provide electric energy for the hydraulic motor and the walking motor.

[0035] In order to achieve the above-mentioned purpose, the application further provides a hybrid loader, comprising the hybrid loader control method.

[0036] The application has the following beneficial effects:

[0037] The hybrid loader control method, control system and hybrid loader provided by the application determine the total consumed power of the last period according to the total consumed power of the hydraulic system and the traveling system in the last period, and then adjust the power generation power of the generator to the power battery in the current period according to the total consumed power of the last period and the power change amount of the power battery in the last period, so that the power of the power battery meets the power demand of the hydraulic system and the traveling system, and the power generation and power consumption are balanced, thereby relatively stabilizing the power of the power battery in a period of time, meeting the power demand of the whole vehicle operation, and improving the stability, robustness and control accuracy of the hybrid loader. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 is a flowchart of the hybrid loader control method provided by the embodiment of the application Figure One ;

[0039] Figure 2 is a flowchart of the hybrid loader control method provided by the embodiment of the application Figure Two ;

[0040] Figure 3 is a block diagram of the hybrid loader control system of the application. DETAILED DESCRIPTION

[0041] The application will be further described in detail below in combination with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the application, but not to limit the application. In addition, it should be noted that, for the convenience of description, only the parts related to the application are shown in the drawings, not all the structures.

[0042] In the description of the application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood in a broad sense, for example, it can be fixedly connected, or detachably connected, or integrated; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction relationship between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0043] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "over" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher in horizontal height than the second feature. The first feature "under", "below" and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is lower in horizontal height than the second feature.

[0044] In the description of the present embodiment, the terms "upper", "lower", "right", "left", and other orientation or position relationships are based on the orientation or position relationships shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used to distinguish in description and have no special meaning.

[0045] As shown in Figure 1 The present embodiment provides a hybrid loader control method, comprising the following steps:

[0046] S1, determining the total consumption power of the hydraulic system and the running system in the last period, the total consumption power = the consumption power of the hydraulic system + the consumption power of the running system;

[0047] S2, determining the total consumption power of the last period based on the total consumption power of the last period;

[0048] S3, determining the power change amount of the power battery in the last period;

[0049] S4, adjusting the power generation power of the generator to the power battery in the current period based on the total consumption power of the last period and the power change amount of the power battery in the last period.

[0050] The hybrid loader control method of the present embodiment determines the total consumption power of the last period according to the total consumption power of the hydraulic system and the running system in the last period, and adjusts the power generation power of the generator to the power battery in the current period according to the total consumption power of the last period and the power change amount of the power battery in the last period, so that the power of the power battery meets the power demand of the hydraulic system and the running system, and the power generation and power consumption are balanced, thereby relatively stabilizing the power of the power battery in a period of time, meeting the power demand of the whole vehicle operation, and improving the stability, robustness and control accuracy of the hybrid loader.

[0051] Further, the determination of the power change amount of the power battery in the last period comprises the following steps:

[0052] record the starting residual power of the power battery at the starting moment of each cycle and the ending residual power of the power battery at the ending moment of each cycle;

[0053] calculate the power change amount of the power battery in the last cycle at the ending moment of the last cycle, the power change amount of the power battery in the last cycle = the ending residual power - the starting residual power.

[0054] It should be noted that the total consumption power of the hydraulic system and the travel system refers to the sum of the consumption powers of all power-consuming components in the hydraulic system and the travel system. How to calculate the power of a power-consuming component is prior art in the field, and will not be specifically introduced herein.

[0055] In order to avoid the record of the starting residual power and the ending residual power of each cycle occupying a large amount of memory and to improve the cost of the hybrid loader, in the embodiment, any three adjacent cycles are recorded as a first cycle, a second cycle and a third cycle arranged in time sequence. When recording the starting residual power and the ending residual power of the third cycle, the starting residual power and the ending residual power of the third cycle are used to replace the starting residual power and the ending residual power of the first cycle respectively. In this way, only hardware capable of recording data of two cycles is needed, and the hardware of the hybrid loader does not need to be improved, and the hardware cost of the electric loader will not be increased.

[0056] Further, the power generation power of the generator for generating power to the power battery in the current cycle is adjusted based on the total consumption power of the last cycle and the power change amount of the power battery in the last cycle, including the following steps:

[0057] When the power change amount of the power battery in the last cycle is greater than zero, the power generation power of the generator for generating power to the power battery in the current cycle is reduced.

[0058] When the power change amount of the power battery in the last cycle is greater than zero, it means that not only the power generation power of the generator for generating power to the power battery in the last cycle is greater than the total consumption power of the hydraulic system and the travel system, but also the sum of the powers of all power-consuming components powered by the power battery in the last cycle is less than the power generation power of the generator for generating power to the power battery in the last cycle, so that the residual power of the power battery is increased after the last cycle. In order to avoid the residual power of the power battery from continuing to increase and causing overcharging of the power battery, the power generation power of the generator for generating power to the power battery in the current cycle is reduced.

[0059] Specifically, the power generation power of the generator for generating power to the power battery in the current cycle is reduced, including the following steps:

[0060] estimate the demand power of the current cycle, the demand power of the current cycle = the total consumption power of the last cycle - the power change amount of the last cycle.

[0061] controlling the power generation of the generator to the power battery based on the estimated current period demand power.

[0062] Further, the step of adjusting the power generation of the generator to the power battery in the current period based on the total consumed power of the last period and the power change amount of the power battery in the last period further comprises the steps of:

[0063] When the power change amount of the power battery in the last period is less than zero, increasing the power generation of the generator to the power battery in the current period.

[0064] When the power change amount of the power battery in the last period is less than zero, it means that the sum of the powers of all power consumption components powered by the power battery in the last period is greater than the power generation of the generator to the power battery in the last period, so that the remaining power of the power battery decreases after the last period. In order to avoid the remaining power of the power battery from continuing to decrease and causing the power battery to have a low power, the power generation of the generator to the power battery in the current period is increased.

[0065] Specifically, the step of increasing the power generation of the generator to the power battery in the current period comprises the steps of:

[0066] estimating the current period demand power, the current period demand power = the total consumed power of the last period + the power change amount of the last period;

[0067] controlling the power generation of the generator to the power battery based on the estimated current period demand power.

[0068] Further, the step of adjusting the power generation of the generator to the power battery in the current period based on the total consumed power of the last period and the power change amount of the power battery in the last period further comprises the steps of:

[0069] When the power change amount of the power battery in the last period is equal to zero, estimating the current period demand power, the current period demand power = the total consumed power of the last period, and controlling the power generation of the generator to the power battery based on the estimated current period demand power.

[0070] When the power change amount of the power battery in the last period is equal to zero, it means that the sum of the powers of all power consumption components powered by the power battery in the last period is equal to the power generation of the generator to the power battery in the last period, so that the remaining power of the power battery does not change after the last period. For a hybrid loader, the hydraulic system and the traveling system are core power consumption components, and the power consumption of other power consumption components powered by the power battery is not large, so when the power change amount of the power battery in the last period is equal to zero, the power generation of the generator to the power battery is only controlled based on the total consumed power of the last period.

[0071] Further, the method comprises the following steps of controlling the generator to generate power for the power battery based on the estimated current period demand power:

[0072] querying the power generated by the generator for the power battery corresponding to the estimated current period demand power based on a corresponding relationship between the demand power and the power generated by the generator for the power battery;

[0073] controlling the generator to generate power for the power battery, so that the power generated by the generator for the power battery reaches the queried power.

[0074] It should be noted that the above-mentioned corresponding relationship between the demand power and the power generated by the generator for the power battery is generally a map or a data table determined through repeated experiments, which is not limited here.

[0075] Further, in step S2, the total consumption power of the last period is determined based on the total consumption power of the last period, comprising the following steps:

[0076] querying the total consumption power corresponding to the determined total consumption power of the last period based on a corresponding relationship between the consumption power and the consumption power, and the total consumption power of the last period is the queried total consumption power.

[0077] It should be noted that the above-mentioned corresponding relationship between the consumption power and the consumption power is generally a map or a data table determined through repeated experiments, which is not limited here.

[0078] As shown in Figure 2 The hybrid loader control method provided by the embodiment specifically comprises the following steps:

[0079] S101, determining the total consumption power of the hydraulic system and the walking system in the last period, the total consumption power = the consumption power of the hydraulic system + the consumption power of the walking system;

[0080] S102, determining the total consumption power of the last period based on the total consumption power of the last period;

[0081] S103, determining the power change amount of the power battery at the end time of the last period and the start time of the last period;

[0082] S104, judging whether the power change amount of the power battery in the last period is greater than zero, if yes, executing S105, if not, executing S106;

[0083] S105, reducing the power generated by the generator for the power battery in the current period;

[0084] S106. Determine whether the change in the power battery charge in the previous cycle is less than zero. If yes, proceed to S107; otherwise, proceed to S108.

[0085] S107. Increase the power generation capacity of the generator to generate electricity for the power battery in the current cycle;

[0086] S109. Based on the total power consumption of the previous cycle, control the generator to generate electricity for the power battery.

[0087] like Figure 3 As shown, this embodiment also includes a hybrid loader control system, comprising a control device, a hydraulic system, a power system, and a power battery.

[0088] The control device includes a travel controller, a battery management system, a hydraulic controller, and a main controller. The travel controller controls the operation of the travel motor of the hybrid loader, the battery management system controls the operation of the power battery of the hybrid loader, the hydraulic controller controls the operation of the hydraulic pump of the hybrid loader, and the main controller coordinates the operation of the travel controller, the battery management system, and the hydraulic controller. The main controller is also used to execute the above-mentioned hybrid loader control method.

[0089] The hydraulic system includes a hydraulic pump and a hydraulic motor. The hydraulic motor is mechanically connected to the hydraulic pump and provides power to the hydraulic pump.

[0090] The power system includes a travel motor and a gearbox. The travel motor is mechanically connected to the gearbox, which is connected to the drive axle. The travel motor provides power to the hybrid loader through the gearbox and drive axle. A power battery provides electrical energy to the hydraulic motor and the travel motor.

[0091] It should be understood that the control device in the above device can be implemented in the form of processor calling software. For example, the device includes a processor connected with a memory, and the memory stores instructions. The processor calls the instructions stored in the memory to implement any of the above methods or to implement the functions of the units of the device. The processor can be a general-purpose processor such as a CPU or a microprocessor. The memory can be an internal memory of the device or an external memory of the device. Alternatively, the units in the device can be implemented in the form of hardware circuit. The functions of some or all of the units can be implemented by designing the hardware circuit. The hardware circuit can be one or more processors. For example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all of the units are implemented by designing the logical relationship of elements in the circuit. For another example, in another implementation, the hardware circuit can be implemented by a PLD. Taking an FPGA as an example, it can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by a configuration file, so as to implement the functions of some or all of the units. All units of the above device can be implemented in the form of processor calling software, or all units can be implemented in the form of hardware circuit, or part of the units are implemented in the form of processor calling software, and the remaining part is implemented in the form of hardware circuit.

[0092] In the embodiments of the application, the processor is a circuit with signal processing capability. In one implementation, the processor can be a circuit with instruction reading and running capability, such as a CPU, a microprocessor, a GPU, or a DSP. In another implementation, the processor can implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or can be reconfigured. For example, the processor is an ASIC or a PLD implemented hardware circuit, such as an FPGA. In the reconfigurable hardware circuit, the process of the processor loading a configuration document to implement hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as an NPU, a TPU, a DPU, etc.

[0093] It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as a CPU, a GPU, an NPU, a TPU, a DPU, a microprocessor, a DSP, an ASIC, an FPGA, or a combination of at least two of these processor forms.

[0094] In addition, all or part of each unit in the above apparatus can be integrated together or can be independently implemented. In one implementation, the units are integrated together to be implemented in the form of a SOC. The SOC can include at least one processor for implementing the functions of any of the above methods or implementing the functions of each unit of the apparatus. The at least one processor can be of different types, such as including a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, and the like.

[0095] Embodiments of the present application also provide a hybrid loader, comprising the hybrid loader control system described above. The hybrid loader, which belongs to the same inventive concept as the hybrid loader control system provided by the above embodiments of the present application, can execute the hybrid loader control system provided by the above embodiments of the present application and has the same beneficial effects as the hybrid loader control method. Technical details not described in detail in the present embodiment can be referred to the specific processing content of the hybrid loader control method provided by the above embodiments of the present application, which will not be described here.

[0096] Obviously, the above embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the implementation modes of the present application. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the scope of the present application. It is unnecessary and impossible to enumerate all the implementation modes here. Any modification, equivalent substitution and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A control method for a hybrid loader, characterized in that, Includes the following steps: Determine the total power consumption of the hydraulic system and the travel system in the previous cycle. Total power consumption = power consumption of the hydraulic system + power consumption of the travel system. The total power consumption of the previous cycle is determined based on the total power consumption of the previous cycle; Determine the change in battery charge at the end of the previous cycle and the beginning of the previous cycle; The generator's output power to the power battery in the current cycle is adjusted based on the total power consumption of the previous cycle and the change in power consumption in the previous cycle. Determining the change in battery charge at the end of the previous cycle and the beginning of the previous cycle includes the following steps: recording the initial remaining charge of the battery at the beginning of each cycle and the final remaining charge of the battery at the end of each cycle; calculating the change in battery charge at the end of the previous cycle, where the change in battery charge = final remaining charge - initial remaining charge. Adjusting the generator's power output to the battery in the current cycle based on the total power consumption and power change in the previous cycle includes the following steps: when the power change in the previous cycle is greater than zero, reduce the generator's power output to the battery in the current cycle; when the power change in the previous cycle is less than zero, increase the generator's power output to the battery in the current cycle.

2. The hybrid loader control method according to claim 1, characterized in that, Reducing the power output of the generator to the battery in the current cycle includes the following steps: Estimated electricity demand for the current cycle: Current cycle electricity demand = Total electricity consumption in the previous cycle - Change in electricity consumption in the previous cycle; The generator's output power is controlled based on the estimated current cycle electricity demand.

3. The hybrid loader control method according to claim 1, characterized in that, Increasing the power generation capacity of the generator to power the battery within the current cycle includes the following steps: Estimated electricity demand for the current cycle: Current cycle electricity demand = Total electricity consumption of the previous cycle + Change in electricity consumption of the previous cycle; The generator's output power is controlled based on the estimated current cycle electricity demand.

4. The hybrid loader control method according to claim 2 or 3, characterized in that, The generator's power output to the battery is controlled based on the estimated current cycle electricity demand, including the following steps: Based on the correspondence between the demand for electricity and the power generation capacity of the generator to generate electricity from the power battery, query the power generation capacity corresponding to the estimated demand for electricity in the current cycle. Control the generator to generate electricity from the power battery, so that the generator's power output reaches the queried power output.

5. The hybrid loader control method according to any one of claims 1 to 3, characterized in that, Determining the total power consumption of the previous cycle based on the total power consumption of the previous cycle includes the following steps: Based on the correspondence between power consumption and electricity consumption, the total electricity consumption corresponding to the total power consumption of the previous period is queried, and the total electricity consumption of the previous period is the total electricity consumption found.

6. A hybrid loader control system, characterized in that, include: A control device, comprising a travel controller, a battery management system, a hydraulic controller, and a main controller, wherein the travel controller controls the operation of the travel motor of the hybrid loader, the battery management system controls the operation of the power battery of the hybrid loader, the hydraulic controller controls the operation of the hydraulic pump of the hybrid loader, and the main controller coordinates the operation of the travel controller, the battery management system, and the hydraulic controller, and the main controller is also used to execute the hybrid loader control method as described in any one of claims 1 to 5; A hydraulic system, comprising a hydraulic pump and a hydraulic motor, wherein the hydraulic motor is mechanically connected to the hydraulic pump and is used to provide power to the hydraulic pump; The power system includes a travel motor and a gearbox, the travel motor being mechanically connected to the gearbox, and the travel motor being able to provide power for the movement of the hybrid loader through the gearbox; A power battery is provided to supply electrical energy to the hydraulic motor and the walking motor.

7. A hybrid loader, characterized in that, Includes the hybrid loader control system as described in claim 6.

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