Vehicle-mounted waste heat recovery system, waste heat recovery temperature control method and vehicle

Abstract

The invention relates to the field of vehicle waste heat recovery, and particularly discloses a vehicle-mounted waste heat recovery system, a waste heat recovery temperature control method and a vehicle. Periodically collecting working medium temperature and working medium pressure at an outlet of the flue gas evaporator through a temperature sensor and a pressure sensor based on the sampling time interval; and according to the collected working medium temperature and working medium pressure, the rotating speed of a working medium pump is adjusted based on a PID algorithm so as to adjust the waste heat recovery temperature. Based on the collected real-time working medium parameters, the rotating speed of the working medium pump is controlled through the PID algorithm, then the waste heat recovery temperature is adjusted, and automatic and efficient control over the waste heat recovery temperature is achieved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle waste heat recovery, and in particular to a vehicle-mounted waste heat recovery system and a waste heat recovery temperature control method, and a vehicle. Background Art

[0002] When the engine is working, usually only a part of the fuel energy is converted into useful power, while most of the energy is dissipated into the surrounding environment in the form of waste heat. The waste heat recovery system can capture this part of the waste heat and use the organic Rankine cycle (ORC) to convert it into additional power through low-boiling-point organic working fluids, thereby improving energy efficiency and reducing emissions. In the ORC waste heat recovery system, precise temperature control can enable the waste heat recovery system to better adapt to different heat source conditions and maintain efficient operation under different engine load conditions, which directly affects the overall efficiency, stability and economy of the system.

[0003] However, most of the current research on vehicle-mounted waste heat recovery systems is at the laboratory level, which is carried out by connecting a simulated engine heat source and a waste heat recovery system or a real engine and a waste heat recovery system. This laboratory-level research basically relies on manually adjusting valves or working fluid pump speeds to control system temperature, and lacks an automatic and safe temperature control method suitable for vehicle-mounted waste heat recovery systems on the entire vehicle. Summary of the invention

[0004] To solve the above problems, the present invention provides a vehicle-mounted waste heat recovery system, a waste heat recovery temperature control method, and a vehicle. Based on the collected real-time working fluid parameters, the working fluid pump speed is controlled by a PID algorithm to adjust the waste heat recovery temperature, thereby achieving automatic and efficient control of the waste heat recovery temperature.

[0005] In a first aspect, the technical solution of the present invention provides a vehicle-mounted waste heat recovery system, including a preheater for heat exchange with engine cylinder water, a flue gas evaporator for heat exchange with engine exhaust gas, a high-speed turbine expander for outputting work, a regenerator for absorbing the heat of high-temperature exhaust steam at the outlet of the expander, a working fluid pump for circulating system working fluid, a liquid storage tank for storing working fluid, and a condenser for system heat dissipation; Among them, the inlet and outlet of the preheater are connected to the cylinder jacket water pipeline of the engine, and the inlet and outlet of the flue gas evaporator are connected to the exhaust pipeline of the engine through the turbocharger; the liquid storage tank, the working fluid pump, the cold side of the regenerator, the preheater, the flue gas evaporator, the turbine expander, the hot side of the regenerator, and the condenser are connected in sequence through rigid pipelines; A temperature sensor and a pressure sensor for detecting the working medium temperature and working medium pressure at the outlet of the flue gas evaporator are arranged on the pipeline between the flue gas evaporator and the turbo expander; The system also includes a controller, which is electrically connected to the temperature sensor, the pressure sensor, and the working fluid pump respectively. According to the collected temperature and pressure, the speed of the working fluid pump is adjusted based on a PID algorithm to adjust the waste heat recovery temperature.

[0006] In an optional embodiment, a first electrically controlled ball valve is provided on the pipeline between the flue gas evaporator and the turbine expander, and a second electrically controlled ball valve is provided on the pipeline between the turbine expander and the hot side of the regenerator.

[0007] In an optional embodiment, the flue gas evaporator is connected to the hot side of the regenerator, and a third electrically controlled ball valve is provided on the connecting pipeline.

[0008] In a second aspect, the technical solution of the present invention provides a waste heat recovery temperature control method, which is implemented based on any of the above-mentioned systems, and the method comprises the following steps: Configure the sampling time interval; Based on the sampling time interval, the working fluid temperature and working fluid pressure at the flue gas evaporator outlet are periodically collected through the temperature sensor and the pressure sensor; According to the collected working fluid temperature and working fluid pressure, the speed of the working fluid pump is adjusted based on the PID algorithm to adjust the waste heat recovery temperature.

[0009] In an optional implementation, according to the collected working fluid temperature and working fluid pressure, the speed of the working fluid pump is adjusted based on a PID algorithm to adjust the waste heat recovery temperature, specifically including: Obtain the working fluid saturation temperature of the current working condition according to the current working fluid pressure; Subtract the working fluid saturation temperature from the current working fluid temperature to obtain the current working fluid superheat; Calculate the current working fluid temperature change rate based on the current working fluid temperature; Calculate the deviation value at the current sampling time according to the current working fluid superheat and working fluid temperature change rate; According to the deviation value between the current sampling moment and the previous two sampling moments, the speed of the working fluid pump is adjusted based on the PID algorithm to adjust the waste heat recovery temperature.

[0010] In an optional implementation, obtaining the working fluid saturation temperature of the current working condition according to the current working fluid pressure specifically includes: Construct a mapping relationship between working fluid pressure and saturation temperature; Storing the mapping relationship in the storage area; In response to the collected working fluid pressure, the working fluid saturation temperature corresponding to the current working fluid pressure is obtained according to the mapping relationship in the storage area.

[0011] In an optional implementation, calculating the current working fluid temperature change rate based on the current working fluid temperature specifically includes: Obtain the working fluid temperature at the previous sampling moment; Calculate the difference between the current working fluid temperature and the working fluid temperature at the previous sampling moment; The calculated difference is divided by the sampling time interval to obtain the current working fluid temperature change rate.

[0012] In an optional implementation, the deviation value at the current sampling time is calculated according to the current working fluid superheat and the working fluid temperature change rate, specifically including: The deviation value error (t i ): error(t i ) = A*x i +B*y i ; In the formula, x i is the working fluid superheat at the i-th sampling moment, y i is the temperature change rate of the working fluid at the i-th sampling moment, A is the superheat deviation coefficient, and B is the temperature change rate deviation coefficient.

[0013] In an optional implementation, according to the deviation value between the current sampling moment and the previous two sampling moments, the speed of the working fluid pump is adjusted based on the PID algorithm to adjust the waste heat recovery temperature, specifically including: Get the proportional, integral and differential gain parameters K of the PID algorithm P , K I and K D ; The speed increment of the working fluid pump at the i-th sampling moment Δu (t i ): Δu(t i )=K P *[error(t i )-error(t i-1 )]+K I *error(t i )+K D *[error(t i )-2*error(t i-1 )+error(t i-2 )]; The working fluid pump speed u (t i ): u(t i ) = u (t i-1 )+Δu(t i ), In the formula, u(t i-1 ) is the speed of the working fluid pump at the i-1th sampling moment; Based on the working fluid pump speed u(t i ) generates control instructions and sends them to the working fluid pump.

[0014] In a third aspect, the technical solution of the present invention provides a vehicle, configured with any of the systems described above, and executing any of the methods described above.

[0015] The vehicle-mounted waste heat recovery system, waste heat recovery temperature control method, and vehicle provided by the present invention have the following beneficial effects compared to the prior art: a temperature sensor and a pressure sensor for detecting the working fluid temperature and working fluid pressure at the outlet of the flue gas evaporator are arranged on the pipeline between the flue gas evaporator and the turbine expander, and the working fluid temperature and working fluid pressure at the outlet of the flue gas evaporator are respectively collected, and then the working fluid pump speed is adjusted through the PID algorithm based on the collected working fluid temperature and working fluid pressure to achieve temperature control. The present invention enables the waste heat recovery system to automatically control the temperature during operation according to the different operating conditions of the vehicle, realizes precise temperature control of the waste heat recovery system, and improves the efficiency of the waste heat recovery system; the PID algorithm is used in combination with a targeted control deviation algorithm to adjust the system temperature in real time, effectively improves the temperature control accuracy, and enhances the stability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic structural diagram of a vehicle-mounted waste heat recovery system provided in an embodiment of the present invention.

[0018] Figure 2 It is a schematic flow chart of a waste heat recovery temperature control method provided by an embodiment of the present invention.

[0019] In the figure, 1-cylinder jacket water pipeline, 2-engine, 3-air pipeline, 4-exhaust pipeline, 5-turbocharger, 6-three-way valve, 7-pressure sensor, 8-temperature sensor, 9-preheater, 10-flue gas evaporator, 11-first electric control ball valve, 12-second electric control ball valve, 13-third electric control ball valve, 14-turbine expander, 15-regenerator, 16-working fluid pump, 17-liquid storage tank, 18-condenser, 19-controller. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0022] Figure 1 is a schematic diagram of the structure of a vehicle-mounted waste heat recovery system provided by an embodiment of the present invention. The system is a single-stage waste heat recovery system based on an organic Rankine cycle. Figure 1 As shown, the system includes a preheater 9 for heat exchange with the cylinder jacket water of engine 2, a flue gas evaporator 10 for heat exchange with the exhaust gas of engine 2, a high-speed turbine expander 14 for outputting work, a regenerator 15 for absorbing the heat of high-temperature exhaust steam at the outlet of the expander 14, a working fluid pump 16 for circulating the working fluid of the system, a liquid storage tank 17 for storing the working fluid, and a condenser 18 for system heat dissipation. In addition, there are an electric control ball valve for controlling the circuit of the expander 14, a temperature sensor 8 and a pressure sensor 7 for monitoring the temperature and pressure of the working fluid at the outlet of the flue gas evaporator 10.

[0023] The on-board waste heat recovery system is connected to the vehicle system heat source through a pipeline, the cylinder jacket water pipeline 1 of the engine 2 is connected to the inlet and outlet of the preheater 9, and the exhaust pipeline 4 of the engine 2 in the exhaust gas turbocharger 5 system is connected to the flue gas inlet and outlet of the flue gas evaporator 10.

[0024] In the working fluid circuit, the liquid storage tank 17, the working fluid pump 16, the cold side of the regenerator 15, the preheater 9, the flue gas evaporator 10, the turbine expander 14, the hot side of the regenerator 15, and the condenser 18 are sequentially connected through rigid pipelines.

[0025] Taking the organic working fluid R245fa as an example of the circulating working fluid, the working process is as follows: the low-temperature and low-pressure liquid working fluid in the liquid storage tank 17 is converted into a high-pressure and low-temperature liquid under the pressure-boosting effect of the working fluid pump 16, and then enters the low-temperature side of the regenerator 15 to absorb the heat of the working fluid on the high-temperature side, and then enters the preheater 9 to absorb the heat of the cylinder jacket water, and then enters the flue gas evaporator 10 to absorb the exhaust heat and become a high-temperature and high-pressure gas, and then enters the turbine expander 14 to flow and expand, driving the impeller to rotate and thereby driving the coaxial generator to output electricity. The high-temperature and low-pressure exhaust gas after expansion and work enters the high-temperature side of the regenerator 15 to release heat, and then enters the condenser 18 to be absorbed by cold water, and finally becomes a low-temperature and low-pressure liquid and returns to the liquid storage tank 17, thus completing a working cycle.

[0026] In terms of electrical control, a temperature sensor 8 and a pressure sensor 7 are provided on the pipeline between the flue gas evaporator 10 and the turbo expander 14 to detect the working fluid temperature and working fluid pressure at the outlet of the flue gas evaporator 10. The waste heat recovery system is electrically connected to the controller 19. Specifically, the controller 19 is electrically connected to the temperature sensor 8, the pressure sensor 7, and the working fluid pump 16 respectively. According to the collected temperature and pressure, the speed of the working fluid pump 16 is adjusted based on the PID algorithm to adjust the waste heat recovery temperature. In an optional implementation, the vehicle-mounted waste heat recovery system converts key system thermodynamic information records into signals through the equipped temperature and pressure sensors 7 and transmits them to the upper-level data acquisition module, and then forwards them to the controller 19 through the data repeater. The controller 19 generates control instructions based on the embedded algorithm combined with the real-time state parameters, and then sends them to the data repeater, and then transmits them to the working fluid pump 16 inverter of the vehicle-mounted waste heat recovery system to adjust and control the system state.

[0027] In this embodiment, a first electrically-controlled ball valve 11 is provided on the pipeline between the flue gas evaporator 10 and the turbine expander 14, and a second electrically-controlled ball valve 12 is provided on the pipeline between the turbine expander 14 and the hot side of the regenerator 15. The first electrically-controlled ball valve 11 and the second electrically-controlled ball valve 12 can be electrically connected to a controller 19 respectively, and the controller 19 adjusts the flow rate of the working fluid according to the opening of the two ball valves according to the operating conditions.

[0028] In this embodiment, the flue gas evaporator 10 is connected to the hot side of the regenerator 15, and a third electrically controlled ball valve 13 is arranged on the connecting pipeline. The third electrically controlled ball valve 13 is electrically connected to the controller 19. The controller 19 sets the switching state of the ball valve according to actual needs to control whether the expander 14 circuit is involved in the waste heat recovery system.

[0029] Figure 2 It is a flow chart of a waste heat recovery temperature control method provided by an embodiment of the present invention. The method is implemented based on the system of the above embodiment. When the vehicle starts normally and there is no other abnormality in the waste heat recovery system, the control method is executed to set the appropriate speed of the working fluid pump 16 according to the current system state, thereby controlling the waste heat recovery temperature, and realizing corresponding temperature control adjustment according to the actual measured temperature value, so as to maintain it within a certain range and realize precise control.

[0030] like Figure 2 As shown, the method includes the following steps.

[0031] S1, configure the sampling time interval.

[0032] In this embodiment, the working fluid temperature and working fluid pressure are collected periodically. According to the sampling requirements, the sampling time interval is pre-configured. Exemplarily, the refresh frequency is 1 second / time, and the working fluid temperature and working fluid pressure are collected once every 1 second.

[0033] S2, periodically collecting the working medium temperature and working medium pressure at the outlet of the flue gas evaporator 10 through the temperature sensor 8 and the pressure sensor 7 based on the sampling time interval.

[0034] A temperature sensor 8 and a pressure sensor 7 are provided on the pipeline between the flue gas evaporator 10 and the turbo expander 14, and periodic sampling is performed according to a set sampling time interval.

[0035] S3, according to the collected working fluid temperature and working fluid pressure, the speed of the working fluid pump 16 is adjusted based on the PID algorithm to adjust the waste heat recovery temperature.

[0036] S3.1, obtaining the working fluid saturation temperature of the current working condition according to the current working fluid pressure.

[0037] This embodiment takes the working medium superheat at the outlet of the flue gas evaporator 10 as the core control target, and then gives the adjustment instruction of the speed of the working medium pump 16 according to the current system working medium thermal state and the change of diesel engine working condition. First, the saturation temperature is obtained according to the pressure, and then the superheat is determined according to the saturation temperature.

[0038] S3.1.1, construct a mapping relationship between working fluid pressure and saturation temperature.

[0039] S3.1.2, storing the mapping relationship in a storage area.

[0040] S3.1.3, in response to the collected working fluid pressure, obtain the working fluid saturation temperature corresponding to the current working fluid pressure according to the mapping relationship in the storage area.

[0041] In this embodiment, a mapping relationship between the working fluid pressure and the saturation temperature is constructed in advance based on experiments. In actual operation, the corresponding saturation temperature is obtained according to the mapping relationship.

[0042] S3.2, subtract the working fluid saturation temperature from the current working fluid temperature to obtain the current working fluid superheat.

[0043] In this embodiment, the superheat degree of the working medium at the outlet of the flue gas evaporator 10 is obtained by subtracting the saturation temperature from the working medium temperature at the outlet of the flue gas evaporator 10 in the current state.

[0044] S3.3, calculating the current working fluid temperature change rate based on the current working fluid temperature.

[0045] The time change rate dT / dt of the working medium temperature at the outlet of the flue gas evaporator 10 is obtained by subtracting the working medium temperature at the previous sampling time from the current working medium temperature at the outlet of the flue gas evaporator 10 and dividing the result by the sampling time.

[0046] In an optional implementation, the working fluid temperature at the previous sampling moment is obtained, the difference between the current working fluid temperature and the working fluid temperature at the previous sampling moment is calculated, and the calculated difference is divided by the sampling time interval to obtain the current working fluid temperature change rate.

[0047] S3.4, calculate the deviation value at the current sampling time according to the current working fluid superheat and working fluid temperature change rate.

[0048] This embodiment constructs a deviation value model of the following formula, and uses the deviation value as the control object of the PID algorithm.

[0049] Specifically, the deviation value error (t i ): error(t i ) = A*x i +B*y i ; In the formula, x i is the working fluid superheat at the i-th sampling moment, y i is the temperature change rate of the working fluid at the i-th sampling moment, A is the superheat deviation coefficient, and B is the temperature change rate deviation coefficient.

[0050] The control deviation calculation of this embodiment includes two parts: superheat and working fluid temperature change rate, which can obtain a working fluid superheat that changes smoothly and slowly and is within a set range. The values ​​of A and B can be dispatched and allocated according to the specific state of the working fluid. For example, A=1, B=5.

[0051] S3.5, according to the deviation value between the current sampling moment and the previous two sampling moments, the speed of the working fluid pump 16 is adjusted based on the PID algorithm to adjust the waste heat recovery temperature.

[0052] S3.5.1, obtain the proportional, integral and differential gain parameters K of the PID algorithm P , K I and K D .

[0053] S3.5.2, calculate the speed increment Δu (t i ): Δu(t i )=K P *[error(t i )-error(t i-1 )]+K I *error(t i )+K D *[error(t i )-2*error(t i-1)+error(t i-2 )].

[0054] S3.5.3, calculate the speed u (t i ): u(t i ) = u (t i-1 )+Δu(t i ), In the formula, u(t i-1 ) is the speed of the working fluid pump 16 at the i-1th sampling moment.

[0055] S3.5.4, based on the speed u (t i ) generates a control instruction and sends it to the working fluid pump 16.

[0056] The core of the temperature control of this embodiment is the gain-scheduled incremental PID algorithm. The PID gain parameter is an empirical value. For example, K is set according to the temperature and pressure of the working fluid and the rate of change. P The value is 20, K I The value is 0.2, K D The value is 5.

[0057] Combined with the deviation error (t i ) and PID three parameters, and substitute them into the incremental PID algorithm calculation formula to obtain the speed adjustment increment of the working fluid pump 16, and then update the speed u (t i ) is equal to the speed u of the working fluid pump 16 at the previous sampling time (t i-1 ) and the speed adjustment increment Δu (t i ), and by updating the speed of the working fluid pump 16, the temperature of the control system is adjusted to maintain it within the target setting range, thereby achieving the purpose of precise temperature control.

[0058] The above disclosure is only a preferred embodiment of the present invention, but the present invention is not limited thereto. Any non-creative changes that can be thought of by a person skilled in the art, as well as several improvements and modifications made without departing from the principle of the present invention, should fall within the protection scope of the present invention.

Claims

1. A vehicle-mounted waste heat recovery system, It is characterized in that It includes a preheater for heat exchange with the engine cylinder water, a flue gas evaporator for heat exchange with the engine exhaust gas, a high-speed turbine expander for outputting work, a regenerator for absorbing the heat of high-temperature exhaust steam at the expander outlet, a working fluid pump for circulating the working fluid of the system, a liquid storage tank for storing the working fluid, and a condenser for system heat dissipation; Among them, the inlet and outlet of the preheater are connected to the cylinder jacket water pipeline of the engine, and the inlet and outlet of the flue gas evaporator are connected to the exhaust pipeline of the engine through the turbocharger; the liquid storage tank, the working fluid pump, the cold side of the regenerator, the preheater, the flue gas evaporator, the turbine expander, the hot side of the regenerator, and the condenser are connected in sequence through rigid pipelines; A temperature sensor and a pressure sensor for detecting the working medium temperature and working medium pressure at the outlet of the flue gas evaporator are arranged on the pipeline between the flue gas evaporator and the turbo expander; The system also includes a controller, which is electrically connected to the temperature sensor, the pressure sensor, and the working fluid pump respectively. According to the collected temperature and pressure, the speed of the working fluid pump is adjusted based on a PID algorithm to adjust the waste heat recovery temperature.

2. The vehicle-mounted waste heat recovery system according to claim 1, It is characterized in that A first electrically controlled ball valve is arranged on the pipeline between the flue gas evaporator and the turbine expander, and a second electrically controlled ball valve is arranged on the pipeline between the turbine expander and the hot side of the regenerator.

3. The vehicle-mounted waste heat recovery system according to claim 1, It is characterized in that The flue gas evaporator is connected to the hot side of the regenerator, and a third electrically controlled ball valve is arranged on the connecting pipeline.

4. A waste heat recovery temperature control method, It is characterized in that Based on the system implementation according to any one of claims 1 to 3, the method comprises the following steps: Configure the sampling time interval; Based on the sampling time interval, the working fluid temperature and working fluid pressure at the flue gas evaporator outlet are periodically collected through the temperature sensor and the pressure sensor; According to the collected working fluid temperature and working fluid pressure, the speed of the working fluid pump is adjusted based on the PID algorithm to adjust the waste heat recovery temperature.

5. The waste heat recovery temperature control method according to claim 4, It is characterized in that According to the collected working fluid temperature and working fluid pressure, the speed of the working fluid pump is adjusted based on the PID algorithm to adjust the waste heat recovery temperature, specifically including: Obtain the working fluid saturation temperature of the current working condition according to the current working fluid pressure; Subtract the working fluid saturation temperature from the current working fluid temperature to obtain the current working fluid superheat; Calculate the current working fluid temperature change rate based on the current working fluid temperature; Calculate the deviation value at the current sampling time according to the current working fluid superheat and working fluid temperature change rate; According to the deviation value between the current sampling moment and the previous two sampling moments, the speed of the working fluid pump is adjusted based on the PID algorithm to adjust the waste heat recovery temperature.

6. The waste heat recovery temperature control method according to claim 5, It is characterized in that The working fluid saturation temperature of the current working condition is obtained according to the current working fluid pressure, specifically including: Construct a mapping relationship between working fluid pressure and saturation temperature; Storing the mapping relationship in the storage area; In response to the collected working fluid pressure, the working fluid saturation temperature corresponding to the current working fluid pressure is obtained according to the mapping relationship in the storage area.

7. The waste heat recovery temperature control method according to claim 5, It is characterized in that The current working fluid temperature change rate is calculated based on the current working fluid temperature, specifically including: Obtain the working fluid temperature at the previous sampling moment; Calculate the difference between the current working fluid temperature and the working fluid temperature at the previous sampling moment; The calculated difference is divided by the sampling time interval to obtain the current working fluid temperature change rate.

8. The waste heat recovery temperature control method according to claim 5, It is characterized in that According to the current working fluid superheat and working fluid temperature change rate, calculate the deviation value at the current sampling time, including: The deviation value error (t i ): error(t i )=A*x i +B*y i ; In the formula, x i is the working fluid superheat at the i-th sampling moment, y i is the temperature change rate of the working fluid at the i-th sampling moment, A is the superheat deviation coefficient, and B is the temperature change rate deviation coefficient.

9. The waste heat recovery temperature control method according to claim 5, It is characterized in that According to the deviation between the current sampling time and the previous two sampling times, the speed of the working fluid pump is adjusted based on the PID algorithm to adjust the waste heat recovery temperature, specifically including: Get the proportional, integral and differential gain parameters K of the PID algorithm P , K I and K D ; The speed increment of the working fluid pump at the i-th sampling moment Δu (t i ): Δu(t i )=K P *[error(t i )-error(t i-1 )]+K I *error(t i )+K D *[error(t i )-2*error(t i-1 )+error(t i-2 )]; The working fluid pump speed u (t i ): u(t i )=u(t i-1 )+Δu(t i ) In the formula, u(t i-1 ) is the speed of the working fluid pump at the i-1th sampling moment; Based on the working fluid pump speed u(t i ) generates control instructions and sends them to the working fluid pump.

10. A vehicle, It is characterized in that The system described in any one of claims 1 to 3 is configured to perform the method described in any one of claims 4 to 9.

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