Hybrid power system, control method and mining vehicle

Abstract

The invention relates to a hybrid power system, a control method and a mining vehicle. The method comprises the steps that under the condition that the hybrid power system works in a braking control mode, a first driving motor is controlled to enter an electric feedback mode to generate first electric feedback braking force, and under the condition that the first electric feedback braking force is smaller than a braking force threshold value, a second driving motor is controlled to enter an electric feedback mode to generate second electric feedback braking force; and the second driving motor is controlled to enter the electric feedback mode to generate second electric feedback braking force so as to make up for the deficiency of the electric feedback braking force of the first driving motor, and braking is conducted based on the first electric feedback braking force and the second electric feedback braking force. Therefore, the braking requirement of the vehicle is met, the frequency of mechanical braking is reduced, abrasion of the brake pad can be avoided, the time for frequently replacing the brake pad is saved, the operation efficiency of the vehicle is improved, the maintenance cost is reduced, and the safety risk caused by thermal failure of mechanical braking can be avoided.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a hybrid power system, a control method and a mining vehicle. Background Art

[0002] Off-road mining vehicles usually need to work in complex and harsh working environments and carry heavier loads, so higher requirements are placed on the vehicle's power performance and reliability.

[0003] By combining the advantages of traditional internal combustion engines and electric motors, hybrid systems can achieve the goals of energy conservation, emission reduction and improved power performance. However, traditional mining vehicle hybrid systems usually use a dual-motor drive system, in which one motor is responsible for driving the vehicle and the other is responsible for generating electricity. Although this system can achieve energy recovery and reuse to a certain extent, it also has some problems. For example, during the gear shifting process, the switching of the motor may cause power interruption, which may easily lead to the risk of vehicle loss of control. In addition, during the braking process, if the electric feedback braking force of the drive motor cannot meet the needs of the entire vehicle, mechanical braking is required, which will increase the wear of the brake pads, increase the after-sales maintenance costs, and reduce the vehicle's operating efficiency. Summary of the invention

[0004] Based on this, it is necessary to provide a hybrid power system, a control method and a mining vehicle that can reduce the risk of vehicle loss of control in response to the above technical problems.

[0005] In a first aspect, the present application provides a hybrid power system, including: a vehicle controller, a power battery, a first motor controller, a second motor controller, a first drive motor, a second drive motor, an engine, a generator, an electronically controlled clutch, a shift mechanism, and a transmission shaft;

[0006] The generator is connected to the engine, and the generator is also connected to the power battery through the first motor controller, and the power battery is connected to the vehicle controller; the second motor controller is respectively connected to the power battery, the vehicle controller, the first drive motor and the second drive motor, and the first drive motor is also connected to the transmission shaft through the shift mechanism, the electronically controlled clutch and the second drive motor;

[0007] When the hybrid power system operates in a braking control mode, the second motor controller is used to control the first drive motor to enter an electric feedback mode to generate a first electric feedback braking force, and when the first electric feedback braking force is less than a braking force threshold, control the second drive motor to enter an electric feedback mode to generate a second electric feedback braking force, and brake based on the first electric feedback braking force and the second electric feedback braking force.

[0008] In one of the embodiments, when the hybrid power system operates in the gear shift control mode, the second motor controller is also used to control the electronically controlled clutch to be disconnected, so that the first drive motor is disconnected from the transmission path of the drive shaft, and control the second drive motor to operate to provide gear shifting power, so that the gear shift mechanism can adjust the gear. When the gear adjustment is completed, the second motor controller is also used to control the electronically controlled clutch to close and the second drive motor to stop working.

[0009] In one embodiment, the system further includes a resistance grid heater and a thermal management component, wherein the resistance grid heater is respectively connected to the second motor controller and the thermal management component; the resistance grid heater and the thermal management component are used to reuse the current generated by the second drive motor in the electric feedback mode.

[0010] In one embodiment, the thermal management component includes a thermal management unit, a heat exchanger, an air-cooled radiator and a cooling oil tank; the heat exchanger is respectively connected to the resistance grid heater, the thermal management unit and the air-cooled radiator; the cooling oil tank is respectively connected to the air-cooled radiator and the resistance grid heater; based on the current generated by the second drive motor in the electric feedback mode, the resistance grid heater is controlled to heat to generate heat; when there is a heating demand, the second motor controller controls the heat to enter the thermal management unit through the heat exchanger, and the thermal management unit performs energy management on the heat. If there is residual heat, the second motor controller controls the air-cooled radiator to dissipate the residual heat through cooling oil, and allows the cooling oil to flow back to the cooling oil tank.

[0011] In one of the embodiments, the first motor controller is specifically used to: detect the state of charge of the power battery; if the state of charge is less than a set threshold, control the engine to start, so as to drive the generator to generate electricity and charge the power battery.

[0012] In one embodiment, the system also includes an accelerator pedal and a brake pedal; the vehicle controller is connected to the accelerator pedal and the brake pedal respectively, and the vehicle controller is used to perform braking control according to an input signal of the brake pedal, or to control the first drive motor for drive control according to an input signal of the accelerator pedal, or to perform gear shift control according to a gear shift signal.

[0013] In a second aspect, the present application provides a control method for a hybrid power system, which is applied to the hybrid power system of the first aspect, and the method includes:

[0014] When it is determined that the hybrid power system operates in a braking control mode, controlling the first drive motor to enter an electric feedback mode to generate a first electric feedback braking force;

[0015] When it is determined that the first electric feedback braking force is less than a braking force threshold, controlling the second drive motor to enter an electric feedback mode to generate a second electric feedback braking force;

[0016] Braking is performed based on the first electric regenerative braking force and the second electric regenerative braking force.

[0017] In one of the embodiments, the method further includes: when it is determined that the hybrid power system is operating in a gear shift control mode, controlling the electronically controlled clutch to be disconnected so that the first drive motor is disconnected from the transmission path of the drive shaft; and controlling the second drive motor to operate to provide gear shifting power so that the gear shift mechanism performs gear adjustment; when it is determined that the gear adjustment is completed, controlling the electronically controlled clutch to be closed and the second drive motor to stop operating.

[0018] In one embodiment, the method further includes: obtaining the current generated by the second drive motor in the electric feedback mode, and reusing the current.

[0019] In one embodiment, the reuse of the current includes: controlling the resistance grid heater to heat based on the current to generate heat; when it is determined that there is a heating demand, controlling the heat to enter the thermal management unit through the heat exchanger, and the thermal management unit performs energy management on the heat, and if there is residual heat, controlling the air-cooled radiator to dissipate the residual heat through cooling oil, and allowing the cooling oil to flow back to the cooling oil tank.

[0020] In one of the embodiments, the method further includes: detecting the state of charge of the power battery; if the state of charge is less than a set threshold, controlling the engine to start to drive the generator to generate electricity to charge the power battery.

[0021] In one embodiment, the method further includes: controlling the hybrid power system to enter the braking control mode when an input signal from the brake pedal is detected; controlling the hybrid power system to enter the shifting control mode when a shifting signal is detected; and controlling the hybrid power system to enter the driving control mode when an input signal from the accelerator pedal is detected so as to control driving of the first driving motor.

[0022] In a third aspect, the present application provides a mining vehicle, comprising the hybrid power system of the first aspect.

[0023] The hybrid power system, control method and mining vehicle described above, when it is determined that the hybrid power system is working in the braking control mode, controls the first drive motor to enter the electric feedback mode to generate the first electric feedback braking force, and when it is determined that the first electric feedback braking force is less than the braking force threshold, controls the second drive motor to enter the electric feedback mode to generate the second electric feedback braking force to make up for the deficiency of the electric feedback braking force of the first drive motor, and brakes based on the first electric feedback braking force and the second electric feedback braking force. Thus, the braking requirements of the vehicle are met, the frequency of mechanical braking is reduced, and the wear of the brake pads can be avoided, the time of frequent replacement of brake pads can be saved, the vehicle operation efficiency can be improved, the maintenance cost can be reduced, and the safety risks caused by thermal failure of mechanical braking can be avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 It is a schematic diagram of the structure of a conventional off-highway mining vehicle hybrid power system;

[0026] Figure 2 is a schematic structural diagram of a hybrid power system in one embodiment;

[0027] Figure 3 is a flow chart of a control method of a hybrid power system in one embodiment;

[0028] Figure 4 FIG. 4 is a flow chart of a control method of a hybrid power system in another embodiment.

[0029] Description of reference numerals:

[0030] 10. Engine;

[0031] 11. Generator;

[0032] 12. Motor controller;

[0033] 13. Power battery;

[0034] 14. Driving motor;

[0035] 15. Gear shifting mechanism;

[0036] 16. Transmission shaft;

[0037] 17. Vehicle controller;

[0038] 18. Accelerator pedal;

[0039] 19. Brake pedal;

[0040] 22. A first motor controller;

[0041] 23. A second motor controller;

[0042] 24. A first drive motor;

[0043] 25. A second drive motor;

[0044] 26. Electronically controlled clutch;

[0045] 30. Resistance grid heater;

[0046] 40. Thermal management components;

[0047] 41. Thermal management unit;

[0048] 42. Heat exchanger;

[0049] 43. Air-cooled radiator;

[0050] 44. Radiator oil tank. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0052] Figure 1 The schematic diagram of the structure of the traditional off-road mining vehicle hybrid system is shown in Figure 2. Figure 1 As shown, the system includes: an engine 10, a generator 11, a motor controller 12, a power battery 13, a drive motor 14, a shift mechanism 15, a transmission shaft 16, a vehicle controller 17, and an accelerator pedal 18 and a brake pedal 19. The motor controller 12 is respectively connected to the generator 11, the power battery 13, the drive motor 14 and the vehicle controller 17, the generator 11 is also connected to the engine 10, the vehicle controller 17 is also respectively connected to the power battery 13, the accelerator pedal 18 and the brake pedal 19, and the drive motor 14 is connected to the transmission shaft 16 through the shift mechanism 15.

[0053] Specifically, in this system, when the gearbox shifts, the gear is first changed to neutral, at which time the power is interrupted, and the gear shifting condition is achieved by adjusting the speed of the drive motor, and the gear is shifted to the required gear. In this process, since the vehicle has no power drive and is in an uncontrolled state, if it is going uphill or downhill, the vehicle speed is also changing in real time, which makes it difficult to shift gears and easily leads to the risk of vehicle loss of control.

[0054] In addition, due to the matching limitation of battery energy, when the whole vehicle brakes, the braking force of the drive motor energy feedback will be less than the maximum braking force of the whole vehicle. When the braking force of the energy feedback cannot meet the real-time braking force of the whole vehicle, traditional mechanical brakes are required to intervene in the braking. In this case, on the one hand, the use of mechanical brakes increases the wear rate of the brake pads, and replacing the brake pads will cause economic losses, and during the process of replacing the brake pads, the vehicle cannot operate normally, thereby reducing the vehicle's operating efficiency. On the other hand, frequent use of brake pads will cause the mechanical brake system to heat up. If the brake system fails due to thermal failure, it will also bring safety risks.

[0055] Based on this, the present application provides a hybrid power system, such as Figure 2 As shown, the system includes: an engine 10, a generator 11, a first motor controller 22, a second motor controller 23, a power battery 13, a first drive motor 24, a second drive motor 25, a shift mechanism 15, an electronically controlled clutch 26, a transmission shaft 16, and a vehicle controller 17. The generator 11 is connected to the engine 10, and the generator 11 is also connected to the power battery 13 through the first motor controller 22, and the power battery 13 is connected to the vehicle controller 17; the second motor controller 23 is respectively connected to the power battery 13, the vehicle controller 17, the first drive motor 24, and the second drive motor 25, and the first drive motor 24 is also connected to the transmission shaft 16 through the shift mechanism 15, the electronically controlled clutch 26, and the second drive motor 25. Specifically, the second drive motor 25 has the characteristics of large instantaneous power and short working time under instantaneous power.

[0056] In this embodiment, the hybrid system operates in a series range-extending mode. In this mode, the engine 10 does not directly drive the wheels, but indirectly drives the vehicle by charging the power battery 13. Specifically, the energy generated by the engine 10 is first converted into electrical energy by the generator 11, and then the electrical energy is stored in the power battery 13, and finally the wheels are driven by the first drive motor 24. This mode can provide a driving experience close to that of a pure electric vehicle under low-speed conditions, with the advantages of low noise, no frustration, and no mileage anxiety.

[0057] Specifically, when the hybrid system is in the braking control mode, the first drive motor 24 is controlled by the second motor controller 23 to enter the electric feedback mode to generate the first electric feedback braking force. When the first electric feedback braking force is less than the braking force threshold, the second drive motor 25 is controlled to enter the electric feedback mode to generate the second electric feedback braking force, and braking is performed based on the first electric feedback braking force and the second electric feedback braking force. Among them, the braking force threshold can be the minimum braking force required for braking the entire vehicle. It is understandable that the braking force threshold can be set based on the specific situation of the vehicle. In this process, the second drive motor 25 is used as a feedback motor for electric feedback to make up for the lack of electric feedback braking force of the first drive motor 24, thereby meeting the vehicle braking requirements and reducing the frequency of mechanical braking. It can not only avoid the wear of the brake pads, save the time of frequent replacement of brake pads, improve vehicle operating efficiency, reduce maintenance costs, but also avoid safety risks caused by thermal failure of mechanical braking.

[0058] Furthermore, after the vehicle is stopped by braking in the above manner, the mechanical brakes can be controlled to park the vehicle stably, thereby further ensuring the safety of the vehicle.

[0059] In an exemplary embodiment, when the hybrid system is in the shift control mode, the second motor controller 23 can also control the electronically controlled clutch 26 to be disconnected, so that the transmission path between the first drive motor 24 and the transmission shaft 16 is disconnected, and the second drive motor 25 is controlled to work to provide shift power, thereby driving the shift mechanism 15 to adjust the gear position. When the gear position adjustment is completed, the second motor controller 23 can also control the electronically controlled clutch 26 to be closed and the second drive motor 25 to stop working. In this process, by using the second drive motor 25 as the drive motor, since the second drive motor 25 has the characteristics of large instantaneous power and short working time under instantaneous power, it is possible to achieve a short-term drive of the vehicle to provide uninterrupted shift power and achieve uninterrupted shifting.

[0060] In an exemplary embodiment, the first motor controller 22 can be specifically used to: detect the state of charge of the power battery 13; if the state of charge is less than a set threshold, control the engine 10 to start, so as to drive the generator 11 to generate electricity, thereby charging the power battery 13. The state of charge can be the SOC (State of Charge, also known as the remaining power) of the power battery, which indicates the ratio of the remaining dischargeable power after the battery has been used for a period of time or maintained for a long time to its fully charged power, usually expressed as a percentage. The set threshold can be a pre-set SOC scalar value, based on which the SOC scalar value is used as a trigger condition for starting power generation. Specifically, in order to avoid the normal driving of the vehicle being affected by low power, or the frequent charging and discharging of the power battery affecting its service life, the set threshold can be any number greater than or equal to 30% and less than or equal to 40%.

[0061] In an exemplary embodiment, Figure 2 As shown, the hybrid power system may further include an accelerator pedal 18 and a brake pedal 19, wherein the vehicle controller 17 is also connected to the accelerator pedal 18 and the brake pedal 19, respectively. Specifically, the vehicle controller 17 is used to perform brake control according to the input signal of the brake pedal 19, that is, when the input signal of the brake pedal 19 is detected, the control system enters the brake control mode. The vehicle controller 17 is also used to perform drive control according to the input signal of the accelerator pedal 18, that is, when the input signal of the accelerator pedal 18 is detected, the control system enters the drive control mode, in which the vehicle is driven forward by the first drive motor 24. The vehicle controller 17 is also used to detect a shift signal, and when a shift signal is detected, the control system enters the shift control mode. Thereby, the drive control of the corresponding mode is realized according to the operating requirements of the vehicle, so as to achieve the purpose of energy saving, emission reduction and improving power performance.

[0062] In an exemplary embodiment, the hybrid system may further include a resistance grid heater 30 and a thermal management component 40, wherein the resistance grid heater 30 is connected to the second motor controller 23 and the thermal management component 40, respectively. The resistance grid heater 30 and the thermal management component 40 may be used to reuse the current generated by the second drive motor 25 in the electric feedback mode. In this embodiment, the current generated by the second drive motor 25 in the electric feedback mode may be heated by the resistance grid heater 30, and the heat generated by the heating of the resistance grid heater 30 may be managed by the thermal management component 40, thereby achieving efficient use of energy.

[0063] In one embodiment, the thermal management component 40 may further include a thermal management unit 41, a heat exchanger 42, an air-cooled radiator 43 and a heat dissipation oil tank 44, wherein the heat exchanger 42 is respectively connected to the resistance grid heater 30, the thermal management unit 41 and the air-cooled radiator 43, and the heat dissipation oil tank 44 is respectively connected to the air-cooled radiator 43 and the resistance grid heater 30. Specifically, since the second drive motor 25 generates a certain current when performing electrical feedback as a feedback motor, in this embodiment, the resistance grid heater 30 can be controlled to heat based on the current, so as to reuse the current. In this process, for the heat generated by the heating of the resistance grid heater 30, when there is a heating demand, for example, when the cab needs to be heated in winter, the heat can be controlled by the second motor controller 23 to enter the thermal management unit 41 through the heat exchanger 42, and the thermal management unit 41 performs unified energy management on the heat, so as to realize energy reuse. If there is residual heat, the second motor controller 23 can also control the air-cooled radiator 43 to dissipate the residual heat through the heat dissipation oil, and make the heat dissipation oil flow back to the heat dissipation oil tank 44, so as to achieve the purpose of energy saving and emission reduction.

[0064] In one scenario, when there is no heating demand, the heat generated by the resistance grid heater 30 can be controlled by the second motor controller 23 to exchange or dissipate heat through the heat exchanger 42 or the air-cooled radiator 43, so as to adapt to environmental requirements while saving energy and improving user experience.

[0065] Based on the same inventive concept, the present application also provides a control method for a hybrid power system, which is applied to the hybrid power system described in any of the above embodiments. Figure 3 As shown, the method comprises the following steps:

[0066] Step 302 : When it is determined that the hybrid power system operates in the braking control mode, the first driving motor is controlled to enter the electric feedback mode to generate a first electric feedback braking force.

[0067] The electric feedback mode is a mode that converts kinetic energy into electrical energy. When the vehicle brakes, electrical energy is recovered through electric feedback to provide braking force for the vehicle. In this embodiment, when the vehicle needs to be braked, the hybrid power system is triggered to enter the braking control mode, and the first drive motor is controlled to enter the electric feedback mode to generate a first electric feedback braking force, which is used to brake the vehicle.

[0068] Step 304 : When it is determined that the first electric feedback braking force is less than the braking force threshold, control the second drive motor to enter the electric feedback mode to generate a second electric feedback braking force.

[0069] The braking force threshold may be the minimum braking force required for braking the entire vehicle. In this embodiment, when it is determined that the first electric feedback braking force is less than the braking force threshold, the second drive motor is further controlled to enter the electric feedback mode to generate a second electric feedback braking force, which is used to compensate for the deficiency of the first electric feedback braking force to meet the vehicle braking demand.

[0070] Step 306 , braking is performed based on the first electric feedback braking force and the second electric feedback braking force.

[0071] Specifically, the vehicle is braked based on the first electric regenerative braking force generated by the first drive motor and the second electric regenerative braking force generated by the second drive motor.

[0072] In this embodiment, when the hybrid power system operates in the braking control mode, the first drive motor generates a first electric feedback braking force. When the first electric feedback braking force is less than the braking force threshold, the second drive motor is used as a feedback motor to generate a second electric feedback braking force to compensate for the deficiency of the electric feedback braking force of the first drive motor, thereby meeting the braking needs of the vehicle and reducing the frequency of mechanical braking. This can not only avoid the wear of the brake pads, save time for frequent replacement of brake pads, improve vehicle operating efficiency, and reduce maintenance costs, but also avoid safety risks caused by thermal failure of mechanical brakes.

[0073] In an exemplary embodiment, Figure 4 As shown, the above method may also include:

[0074] Step 402: When it is determined that the hybrid power system is operating in the shift control mode, the electronically controlled clutch is controlled to be disconnected.

[0075] Depend on Figure 2 It can be seen that the transmission path between the first drive motor and the transmission shaft can be disconnected based on the disconnection of the electronically controlled clutch. In this embodiment, when the vehicle needs to shift gears, the hybrid power system can be triggered to enter the shift control mode, and the electronically controlled clutch can be controlled to disconnect, so that the transmission path between the first drive motor and the transmission shaft is disconnected.

[0076] Step 404: Control the second drive motor to operate to provide shifting power, so that the shifting mechanism can adjust the gear position.

[0077] Specifically, during the above control, the second drive motor is simultaneously controlled to operate to provide shifting power, thereby driving the shifting mechanism to adjust the gear position and achieve uninterrupted shifting.

[0078] Step 406 , when it is determined that the gear adjustment is completed, the electronically controlled clutch is controlled to close and the second drive motor is stopped.

[0079] Since the second drive motor has the characteristics of high instantaneous power and short working time under instantaneous power, it can only drive the vehicle for a short time. Based on this, when it is determined that the gear adjustment is completed, the electronically controlled clutch is further controlled to close and the second drive motor stops working, that is, the vehicle is switched to be driven by the first drive motor, thereby achieving uninterrupted gear shifting and providing uninterrupted drive for the vehicle.

[0080] In an exemplary embodiment, the method may further include: detecting the state of charge of the power battery; if the state of charge is less than a set threshold, controlling the engine to start to drive the generator to generate electricity to charge the power battery.

[0081] The state of charge may be the SOC of the power battery, that is, the remaining power. The set threshold may be a pre-set SOC scalar value, based on which the SOC scalar value is used as a trigger condition for starting power generation. Specifically, in this embodiment, when it is detected that the state of charge of the power battery is less than the set threshold, the engine can be triggered to start, so as to drive the generator to generate electricity, thereby charging the power battery, so as to avoid low power and affect the normal driving of the vehicle.

[0082] In an exemplary embodiment, the above method may also include: when an input signal from the brake pedal is detected, for example, if it is detected that the opening of the brake pedal is less than a certain set value, it can be determined that the input signal from the brake pedal is detected. At this time, the hybrid power system can be controlled to enter a braking control mode, thereby performing braking control based on the above method.

[0083] In one scenario, when a gear shift signal is detected, for example, when the vehicle controller determines that gear adjustment is required based on the vehicle operating status (such as climbing, downhill, vehicle speed, throttle and other parameters) and the driver's operating intention, it can be determined that a gear shift signal is detected. At this time, the hybrid power system can be controlled to enter the gear shift control mode, thereby performing gear shift control based on the above method.

[0084] In one scenario, when an input signal from the accelerator pedal is detected, for example, if the opening of the accelerator pedal is detected to be less than a certain set value, it can be determined that the input signal from the accelerator pedal is detected. At this time, the hybrid power system can be controlled to enter a drive control mode. Specifically, the first drive motor can be controlled to operate to drive the vehicle.

[0085] In an exemplary embodiment, the method may further include: obtaining the current generated by the second drive motor in the electric feedback mode, and reusing the current. Since the second drive motor generates a certain current when performing electric feedback as a feedback motor in the braking control mode, in this embodiment, the resistor grid heater can be controlled based on the current for heating, and the heat generated by the heating can be uniformly managed, thereby achieving efficient use of energy.

[0086] In an exemplary embodiment, the above-mentioned reuse of electric current may specifically include: heating the resistance grid heater based on the current, thereby reusing the electric current. In this process, for the heat generated by the resistance grid heater, when there is a heating demand, for example, when the cab needs to be heated in winter, the heat can be controlled by the second motor controller to enter the thermal management unit through the heat exchanger, and the thermal management unit performs unified energy management on the heat, thereby realizing energy reuse. If there is residual heat, the second motor controller can also control the air-cooled radiator to dissipate the residual heat through the cooling oil, and make the cooling oil return to the cooling oil tank, so as to achieve the purpose of energy saving and emission reduction.

[0087] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0088] Based on the same inventive concept, an embodiment of the present application further provides a vehicle, which includes a hybrid power system as described in any of the above embodiments. The hybrid power system can be applied to various vehicles, especially off-road mining vehicles. The hybrid power system operates in a series range-extending mode, can provide a non-power interruption shift control mode and a feedback compensation braking control mode, and is applicable to various road conditions. The control process of various modes can refer to the above-mentioned embodiments of the hybrid power control method, and will not be repeated in this embodiment.

[0089] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0090] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0091] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A hybrid power system, characterized in that: include: Vehicle controller, power battery, first motor controller, second motor controller, first drive motor, second drive motor, engine, generator, electronically controlled clutch, shift mechanism and transmission shaft; The generator is connected to the engine, and the generator is also connected to the power battery through the first motor controller, and the power battery is connected to the vehicle controller; the second motor controller is respectively connected to the power battery, the vehicle controller, the first drive motor and the second drive motor, and the first drive motor is also connected to the transmission shaft through the shift mechanism, the electronically controlled clutch and the second drive motor; When the hybrid power system operates in a braking control mode, the second motor controller is used to control the first drive motor to enter an electric feedback mode to generate a first electric feedback braking force, and when the first electric feedback braking force is less than a braking force threshold, control the second drive motor to enter an electric feedback mode to generate a second electric feedback braking force, and brake based on the first electric feedback braking force and the second electric feedback braking force.

2. The system according to claim 1, characterized in that When the hybrid power system operates in the gear shift control mode, the second motor controller is also used to control the electronically controlled clutch to be disconnected, so that the first drive motor is disconnected from the transmission path of the drive shaft, and control the second drive motor to operate to provide gear shifting power, so that the gear shift mechanism can adjust the gear. When the gear adjustment is completed, the second motor controller is also used to control the electronically controlled clutch to close and the second drive motor to stop working.

3. The system according to claim 1, characterized in that The system further comprises a resistance grid heater and a thermal management component, wherein the resistance grid heater is connected to the second motor controller and the thermal management component respectively; The resistive grid heater and the thermal management assembly are used to recycle the current generated by the second drive motor in the electrical regenerative mode.

4. The system according to claim 3, characterized in that The thermal management component includes a thermal management unit, a heat exchanger, an air-cooled radiator and a heat dissipation oil tank; the heat exchanger is respectively connected to the resistance grid heater, the thermal management unit and the air-cooled radiator; the heat dissipation oil tank is respectively connected to the air-cooled radiator and the resistance grid heater; Based on the current generated by the second drive motor in the electric feedback mode, the resistance grid heater is controlled to heat to generate heat; when there is a heating demand, the second motor controller controls the heat to enter the thermal management unit through the heat exchanger, and the thermal management unit performs energy management on the heat. If there is residual heat, the second motor controller controls the air-cooled radiator to dissipate the residual heat through cooling oil, and allows the cooling oil to flow back to the cooling oil tank.

5. The system according to any one of claims 1 to 4, characterized in that: The first motor controller is specifically used for: Detecting the state of charge of the power battery; If the state of charge is less than a set threshold, the engine is controlled to start to drive the generator to generate electricity to charge the power battery.

6. The system according to any one of claims 1 to 4, characterized in that: The system also includes an accelerator pedal and a brake pedal; The vehicle controller is connected to the accelerator pedal and the brake pedal respectively, and is used to perform braking control according to an input signal from the brake pedal, or to control the first drive motor for drive control according to an input signal from the accelerator pedal, or to perform gear shift control according to a gear shift signal.

7. A control method for a hybrid power system, characterized in that: Applied to the hybrid power system according to any one of claims 1 to 6, the method comprises: When it is determined that the hybrid power system operates in a braking control mode, controlling the first drive motor to enter an electric feedback mode to generate a first electric feedback braking force; When it is determined that the first electric feedback braking force is less than a braking force threshold, controlling the second drive motor to enter an electric feedback mode to generate a second electric feedback braking force; Braking is performed based on the first electric regenerative braking force and the second electric regenerative braking force.

8. The method according to claim 7, characterized in that The method further comprises: When it is determined that the hybrid power system operates in the shift control mode, controlling the electronically controlled clutch to be disconnected so as to disconnect the transmission path of the first drive motor and the transmission shaft; and controlling the second drive motor to operate to provide shifting power so that the shifting mechanism can adjust the gear position; When it is determined that the gear adjustment is completed, the electronically controlled clutch is controlled to close and the second drive motor is stopped.

9. The method according to claim 7, characterized in that: The method further comprises: The current generated by the second drive motor in the electric feedback mode is obtained and the current is reused.

10. The method according to claim 9, characterized in that The reusing of the current comprises: controlling the resistance grid heater to heat based on the current to generate heat; When it is determined that there is a demand for heating, the heat is controlled to enter the thermal management unit through the heat exchanger, and the thermal management unit performs energy management on the heat. If there is residual heat, the air-cooled radiator is controlled to dissipate the residual heat through the cooling oil, and the cooling oil is returned to the cooling oil tank.

11. The method according to any one of claims 7 to 10, characterized in that: The method further comprises: Detecting the state of charge of the power battery; If the state of charge is less than a set threshold, the engine is controlled to start to drive the generator to generate electricity to charge the power battery.

12. The method according to any one of claims 8 to 10, characterized in that The method further comprises: When an input signal from the brake pedal is detected, controlling the hybrid power system to enter the brake control mode; When a shift signal is detected, controlling the hybrid power system to enter the shift control mode; When the input signal of the accelerator pedal is detected, the hybrid power system is controlled to enter a driving control mode so that the first driving motor performs driving control.

13. A mining vehicle, characterized in that: Comprising a hybrid power system as claimed in any one of claims 1 to 6.

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