Hydrogen energy excavator and control system and control method thereof

Abstract

The application discloses a hydrogen energy excavator and a control system and a control method thereof, and comprises a hydrogen fuel engine controller, which is connected with a first control end of a vehicle body controller through a first bus, and is provided with a first DCDC controller and a hydrogen supply system controller on the first bus; the second control end of the vehicle body controller is connected with a first interface of a display device through a second bus; the third control end is connected with a comprehensive controller through a third bus, and a second DCDC controller is connected with a first high-voltage output end of the comprehensive controller, so that the second DCDC controller converts high voltage output by the comprehensive controller into low voltage and outputs the low voltage to water heat dissipation relays and oil heat dissipation relays on the hydrogen energy excavator to control different fans to dissipate heat; a hydrogen fuel engine system is connected with a second high-voltage output end, so that the hydrogen fuel engine system converts high voltage output by the comprehensive controller into low voltage and outputs the low voltage to a hydrogen system heat dissipation relay to control a hydrogen system fan to dissipate heat.

Description

Technical Field

[0001] This invention relates to the field of excavator technology, and in particular to a hydrogen-powered excavator and its control system and control method. Background Technology

[0002] An excavator, also known as excavating machinery or a digger, is an earthmoving machine that uses a bucket to excavate materials above or below the machine's bearing surface and load them into transport vehicles or unload them into a stockpile. The materials excavated by excavators are mainly soil, coal, silt, and pre-loosened soil and rock. Excavators have become one of the most important pieces of construction machinery.

[0003] Environmental pollution and energy shortages have become two major problems in today's society. To seek sustainable development for human society and the automotive industry, hydrogen fuel is recognized as a green energy source that can simultaneously solve both energy and environmental problems. Hydrogen-powered excavators are also recognized as environmentally friendly excavators that can simultaneously address both energy and environmental issues, and represent one of the main directions for future excavator development. However, limitations imposed by hydrogen storage device technology, cost, lifespan, and reliability make it difficult for hydrogen-powered excavators to truly achieve commercialization. Issues such as the high power output required for vehicle starting, transient response characteristics, and the cost of hydrogen fuel systems remain.

[0004] Currently, due to the limited number of hydrogen-powered excavators, existing hydrogen-powered excavators have the following main drawbacks:

[0005] For example, it cannot display the parameters and alarm information of the hydrogen system and hydrogen engine in real time, cannot solve the problem of insufficient power supply to the whole machine when the cooling fan is working, and cannot realize the start-stop and energy management of the hydrogen fuel engine. Summary of the Invention

[0006] To address some or all of the technical problems existing in the prior art, this invention provides a hydrogen-powered excavator and its control system and method, which can display the parameters and alarm information of the hydrogen system and hydrogen engine in real time, solve the problem of insufficient power supply to the whole machine when the cooling fan is working, and realize the start-up, shutdown and energy management control of the hydrogen fuel engine.

[0007] The technical solution of the present invention is as follows:

[0008] In a first aspect, the present invention provides a hydrogen-powered excavator control system, comprising:

[0009] A hydrogen fuel cell engine controller is connected to the first control terminal of the body controller on the hydrogen energy excavator via a first bus, and a first DC-DC controller and a hydrogen supply system controller are provided on the first bus. The first DC-DC controller and the hydrogen supply system controller are respectively connected to the first bus via another bus.

[0010] The second control terminal of the vehicle body controller is connected to the first interface of the display device via a second bus.

[0011] The third control terminal of the vehicle body controller is connected to the integrated controller via a third bus, and a second DC-DC controller is connected to the first high-voltage output terminal of the integrated controller. The second DC-DC controller converts the high voltage output of the integrated controller into a low voltage output to the water cooling relay and oil cooling relay on the hydrogen-powered excavator, which control different cooling fans for cooling. The second high-voltage output terminal of the integrated controller is connected to the hydrogen fuel cell engine system, which converts the high voltage output of the integrated controller into a low voltage output to the hydrogen system cooling relay to control the hydrogen system cooling fan for cooling.

[0012] Furthermore, in the aforementioned hydrogen-powered excavator control system, terminating resistors are respectively provided on the first bus at the control terminal of the hydrogen fuel engine controller and the first control terminal of the body controller.

[0013] Furthermore, in the aforementioned hydrogen-powered excavator control system, the second bus also connects the hydrogen-powered excavator's diagnostic interface, control panel, electric control handle, electric control foot pedal, T-box, and power management module.

[0014] Furthermore, in the aforementioned hydrogen-powered excavator control system, an air conditioning compressor controller, a WPTC controller, an air conditioning controller, and a radio controller are connected to the second interface of the display device via a seventh bus.

[0015] Furthermore, in the aforementioned hydrogen-powered excavator control system, a terminating resistor is integrated within the body controller, and two terminating resistors are integrated within the display device.

[0016] Furthermore, in the aforementioned hydrogen-powered excavator control system, a battery management system and a battery heat dissipation control system are connected to the third bus. The battery management system is connected to the charging socket of the hydrogen-powered excavator via a fourth bus and to the lithium battery pack of the hydrogen-powered excavator via a sixth bus, so that the high-voltage charging box in the battery management system can be charged by connecting to an external power source through the charging socket or by the lithium battery pack.

[0017] Furthermore, in the aforementioned hydrogen-powered excavator control system, a debugging interface is connected to the integrated controller via a fifth bus.

[0018] Furthermore, in the aforementioned hydrogen-powered excavator control system, terminating resistors are provided at the input terminals of the radio controller, the third control terminal of the body controller, and the input terminal of the integrated controller.

[0019] Secondly, the present invention also provides a hydrogen-powered excavator, wherein the hydrogen-powered excavator is equipped with a hydrogen-powered excavator control system as described above.

[0020] Thirdly, the present invention also provides a hydrogen-powered excavator control method using the above-mentioned hydrogen-powered excavator control system, comprising:

[0021] A hydrogen fuel engine controller, a first DC-DC controller, and a hydrogen supply system controller are installed on the hydrogen energy excavator, and the hydrogen fuel engine controller, the first DC-DC controller, and the hydrogen supply system controller are connected to the first control terminal of the body controller on the hydrogen energy excavator.

[0022] A display device is provided at the second control terminal of the body controller, and the display device is connected to the body controller via a second bus;

[0023] An integrated controller is installed on the third control terminal of the body controller, and the integrated controller is connected to the body controller via a third bus.

[0024] A second DC-DC controller is installed on the first high-voltage output terminal of the integrated controller, so that the second DC-DC controller converts the high voltage output of the integrated controller into a low voltage output to the water cooling relay and oil cooling relay on the hydrogen energy excavator, and controls different cooling fans to dissipate heat respectively;

[0025] A hydrogen fuel cell engine system is installed at the second high-voltage output terminal of the integrated controller, so that the hydrogen fuel cell engine system converts the high voltage output of the integrated controller into a low voltage output to the hydrogen system cooling relay to control the hydrogen system cooling fan for heat dissipation.

[0026] The main advantages of the technical solution of this invention are as follows:

[0027] The hydrogen-powered excavator and its control system of the present invention connect a hydrogen fuel engine controller, a first DC-DC controller, and a hydrogen supply system controller via a bus on the body controller of the hydrogen-powered excavator to control the start-up, shutdown, and energy management of the hydrogen fuel engine. A second DC-DC controller is set on the control terminal of the integrated controller to convert high voltage to low voltage, solving the problem of insufficient power supply to the entire hydrogen-powered excavator when the cooling fan is working. By setting a display device on the control terminal of the body controller, the display device can display the parameters of the hydrogen system and the hydrogen fuel engine and alarm information in real time, thereby realizing real-time monitoring of the hydrogen-powered excavator. Attached Figure Description

[0028] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and constitute a part of this invention, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0029] Figure 1 This is a schematic diagram of the structure of a hydrogen-powered excavator control system according to an embodiment of the present invention;

[0030] Figure 2 This is a power supply system diagram corresponding to a hydrogen-powered excavator control system provided in an embodiment of the present invention;

[0031] Figure 3 This is a flowchart illustrating a hydrogen-powered excavator control method according to an embodiment of the present invention.

[0032] Explanation of reference numerals in the attached figures:

[0033] 10. Hydrogen fuel cell engine controller; 11. First DC-DC controller; 12. Hydrogen supply system controller; 13. Vehicle body controller;

[0034] 20. Diagnostic interface; 21. First button panel; 22. Second button panel; 23. Left electric control handle; 24. Right electric control handle; 25. Electric foot pedal; 26. T-box; 27. Power management module;

[0035] 30. Battery Management System; 31. Battery Thermal Control System; 32. Integrated Controller;

[0036] 40. Charging socket;

[0037] 50. Debugging interface;

[0038] 60. Lithium battery pack;

[0039] 70. Display device; 71. Air conditioner compressor controller; 72. WPTC controller; 73. Air conditioner controller; 74. Radio controller. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0041] The following is in conjunction with the appendix Figure 1-3 The technical solutions provided in the embodiments of the present invention will be described in detail.

[0042] As attached Figure 1-2 As shown, an embodiment of the present invention provides a control system for a hydrogen-powered excavator, the system comprising:

[0043] The hydrogen fuel cell engine controller 10 is connected to the first control terminal of the body controller 13 on the hydrogen excavator via a first bus. A first DC-DC controller 11 and a hydrogen supply system controller 12 (HCU) are mounted on the first bus. The first DC-DC controller 11 and the hydrogen supply system controller 12 are each connected to the first bus via another bus. The second control terminal of the body controller 13 is connected to the first interface of the display device 70 via a second bus. The third control terminal of the body controller 13 is connected to the integrated controller 32 via a third bus. A second DC-DC controller is connected to the first high-voltage output terminal of the integrated controller 32, so that the second DC-DC controller converts the high voltage output of the integrated controller 32 into a low voltage output to the water cooling relay and oil cooling relay on the hydrogen excavator, respectively controlling different cooling fans for heat dissipation. The hydrogen fuel cell engine system (specifically a DCL, a component of the hydrogen fuel cell engine system used for voltage conversion) is connected to the second high-voltage output terminal of the integrated controller 32, so that the hydrogen fuel cell engine system converts the high voltage output of the integrated controller 32 into a low voltage output to the hydrogen system cooling relay, controlling the hydrogen system cooling fan for heat dissipation.

[0044] Therefore, the hydrogen-powered excavator and its control system of the present invention, by connecting the hydrogen fuel engine controller 10, the first DC-DC controller 11 and the hydrogen supply system controller 12 on the body controller 13 of the hydrogen-powered excavator via a bus, realizes the control of the start-up and shutdown of the hydrogen fuel engine, energy management and other functions. A second DC-DC controller is set on the control terminal of the integrated controller 32 to convert high voltage to low voltage, which solves the problem of insufficient power supply of the whole machine of the hydrogen-powered excavator when the cooling fan is working. By setting a display device 70 on the control terminal of the body controller 13, the display device 70 can display the parameters of the hydrogen system and the hydrogen fuel engine and alarm information in real time, thereby realizing real-time monitoring of the hydrogen-powered excavator.

[0045] Specifically, the aforementioned bus includes the CAN bus.

[0046] In some optional implementations of this embodiment, the display device 70 described above includes a display screen or monitor. The hydrogen fuel cell engine controller 10 includes a hydrogen fuel cell controller (FCCU), which can also be simply referred to as FCU.

[0047] Specifically, in the hydrogen-powered excavator control system of the present invention, a diagnostic interface 20, a control panel (such as a first button panel 21 and a second button panel 22), an electric control handle (such as a left electric control handle 23 and a right electric control handle 24), an electric foot pedal 25, a T-box 26, and a power management module 27 of the hydrogen-powered excavator are also connected to the second bus. An air conditioning compressor controller 71, a WPTC controller 72, an air conditioning controller 73, and a radio controller 74 are connected to the second interface of the display device 70 via a seventh bus.

[0048] Specifically, in combination Figure 1 As shown, in the hydrogen-powered excavator control system of the present invention, terminating resistors are respectively provided at the control terminals of the hydrogen fuel engine controller 10 and the first control terminal of the body controller 13 on the first bus. One terminating resistor is integrated within the body controller 13, and two terminating resistors are integrated within the display device 70, one acting on the second bus and the other on the seventh bus. Terminating resistors are also provided at the input terminals of the radio controller 74, the third control terminal of the body controller 13, and the input terminals of the integrated controller 32.

[0049] By setting the aforementioned terminating resistor, the voltage level on the bus can be adjusted, improving anti-interference capability, ensuring the bus quickly enters the recessive state, improving signal quality, suppressing signal reflection and echo, and avoiding ringing.

[0050] In some optional implementations of this embodiment, the resistance value of the terminating resistor set above is 120Ω.

[0051] Specifically, in the hydrogen energy excavator control system of the present invention, a battery management system 30 (BMS) and a battery thermal management system (TMS) 31 are connected on a third bus. The battery management system 30 is connected to the charging socket 40 of the hydrogen energy excavator via a fourth bus and to the lithium battery pack 60 of the hydrogen energy excavator via a sixth bus, so that the high-voltage charging box in the battery management system 30 can be charged by connecting to an external power source through the charging socket 40 or by charging through the lithium battery pack 60.

[0052] In some optional implementations of this embodiment, a hydrogen fuel cell engine can also be used as a power source to charge the high-voltage charging box in the battery management system 30 with its output high-voltage electricity.

[0053] Specifically, in the hydrogen energy excavator control system of the present invention, the debugging interface 50 is connected to the integrated controller 32 via the fifth bus.

[0054] With this setup, the integrated controller 32 can be debugged via the debugging interface 50.

[0055] In summary, combining Figure 1In practical applications, it can be seen that the hydrogen-powered excavator and its control system of the present invention include seven bus sub-networks: CAN1, CAN2, CAN3, CAN4, CAN5, CAN6, and CAN7. Among them, the CAN1 bus sub-network includes nodes such as the body controller 13, display screen, button panel 1, button panel 2, left electric control handle 23, right electric control handle 24, electric foot pedal 25, T-box 26, and power management module 27. One terminating resistor is integrated inside the display screen, and the other is located at the radio controller 74 node. The CAN2 bus sub-network includes nodes such as the display screen, air conditioning compressor controller 71, WPTC controller 72, air conditioning controller 73, and radio controller 74. One terminating resistor is integrated inside the display screen, and the other is integrated inside the body controller 13. The CAN3 bus sub-network includes the body control... The system includes nodes such as the body controller 13, power management system (BMS), battery cooling control system 31TMS, and integrated controller 32. One terminating resistor is located at the body controller 13 node, and the other at the integrated controller 32 node. CAN4 is the charging bus; CAN5 is the integrated debugging bus; CAN6 is the communication bus between the lithium battery pack 60 and the battery management system (BMS) 30; the CAN7 sub-network includes nodes such as the body controller 13, hydrogen supply system controller (HCU) 12, second DC-DC controller, and hydrogen engine controller (FCU). One terminating resistor is located at the body controller 13, and the other at the hydrogen engine controller (FCU). The display screen in this invention has two bus interfaces, connected to CAN2 and CAN1 respectively. The body controller 13, as the main controller, has three bus interfaces, connected to CAN1, CAN3, and CAN7 respectively. The display screen connects to the CAN2 bus, and the power management system (BMS) connects to the CAN4 and CAN6 buses, thus covering the entire hydrogen-powered excavator's communication network and completing the machine's communication and functional control.

[0056] Combination Figure 2In practical applications, the hydrogen-powered excavator control system of this invention comprises two parts: high-voltage and low-voltage. The high-voltage part includes a charging pile / charging socket 40, a lithium battery pack 60, a hydrogen fuel cell engine, a high-voltage box, a comprehensive controller 32, a battery radiator, a second DC-DC controller, a hydrogen fuel cell engine system, a drive motor, an air conditioning compressor, and a WPTC heater. The low-voltage part includes a second DC-DC controller, a hydrogen fuel cell engine system, a power relay, a water radiator relay, an oil radiator relay, a hydrogen system cooling relay, and several cooling fans and low-voltage electrical components for the entire machine. There are two charging methods: one is to connect the charging socket 40 to the charging pile to charge the lithium battery pack 60; the other is to input the high-voltage electricity generated by the hydrogen fuel cell engine into the high-voltage box, which then charges the lithium battery pack 60. The discharging process includes: the lithium battery pack 60 outputs high-voltage electricity to the high-voltage box; the first output terminal of the high-voltage box outputs to the comprehensive controller 32; and the second output terminal of the high-voltage box outputs to the battery radiator. The integrated controller 32 has a maximum low-voltage output power of 4.5 kW, which is output to the power relay for powering the low-voltage electrical appliances of the whole machine. The first output terminal of the integrated controller 32 outputs to the second DC-DC controller, which converts the input high-voltage electricity into low-voltage output to the water radiator relay and the oil radiator relay, which then power the cooling fans 1-6. The second output terminal of the integrated controller 32 outputs to the hydrogen fuel cell engine system, which converts the input high-voltage electricity into low-voltage output to the hydrogen system cooling relay, which then power the hydrogen system cooling fans 1-3. The third output terminal of the integrated controller 32 outputs to the drive motor, providing high-voltage power to the drive motor. The fourth output terminal of the integrated controller 32 outputs to the air conditioning compressor, providing high-voltage power to the air conditioning compressor. The fifth output terminal of the integrated controller 32 outputs to the WPTC heater, providing high-voltage power to the WPTC heater.

[0057] In summary, the hydrogen-powered excavator and its control system of the present invention form a CAN7 bus network with the hydrogen fuel cell engine controller (FCU) 10, the first DC-DC controller 11, the hydrogen supply system controller (HCU) 12, and the body controller 13. The body controller 13 is connected to the overall machine control network, realizing the control of the hydrogen fuel cell engine start-up, shutdown, energy management, etc. The high-voltage power supply is output from the integrated controller 32 to the second DC-DC controller with a power of 6kW, and the second DC-DC controller converts it into low-voltage power supply to solve the problem of insufficient power supply to the whole machine when the cooling fan is working. The display device 70 displays the parameters of the hydrogen system and the hydrogen fuel cell engine and alarm information in real time, enabling intuitive and real-time monitoring of the status of the hydrogen-powered excavator.

[0058] Specifically, the principle of how the hydrogen fuel cell engine's start-stop and energy management are controlled via the vehicle body controller 13 connected to the overall control network will be further explained:

[0059] Firstly, the first network, composed of FCUs and other components, communicates with the entire machine through the body controller 13, and can collect information related to start-stop, which is used as a judgment condition to determine whether start-stop is allowed. Secondly, the first network, composed of FCUs and other components, communicates with the entire machine through the body controller 13, and can obtain the energy usage status of the entire machine. Based on the current energy demand, it can control the power battery to discharge separately, or the hydrogen fuel engine to supply power separately, or the power battery and the hydrogen fuel engine to supply power together. Therefore, it can be connected to the entire machine control network through the body controller 13 to realize the control of the hydrogen fuel engine start-stop, energy management, etc.

[0060] Secondly, the present invention also provides a hydrogen-powered excavator, on which the aforementioned hydrogen-powered excavator control system is installed.

[0061] Thus, the hydrogen-powered excavator enables control over the start-up and shutdown of the hydrogen fuel cell engine, energy management, and other functions. It also solves the problem of insufficient power supply to the whole machine when the cooling fan is working, and enables intuitive and real-time monitoring of the status of the hydrogen-powered excavator.

[0062] Thirdly, such as Figure 3 As shown, the present invention also provides a hydrogen-powered excavator control method using the above-mentioned hydrogen-powered excavator control system, including steps S1-S5:

[0063] Step S1: Install a hydrogen fuel engine controller 10, a first DC-DC controller 11, and a hydrogen supply system controller 12 on the hydrogen-powered excavator, and connect the hydrogen fuel engine controller 10, the first DC-DC controller 11, and the hydrogen supply system controller 12 to the first control terminal of the body controller 13 on the hydrogen-powered excavator.

[0064] Step S2: Set up a display device 70 on the second control terminal of the body controller 13, and connect the display device 70 to the body controller 13 through the second bus;

[0065] Step S3: Set up an integrated controller 32 on the third control terminal of the body controller 13, and connect the integrated controller 32 to the body controller 13 through the third bus;

[0066] Step S4: Set a second DC-DC controller on the first high-voltage output terminal of the integrated controller 32 so that the second DC-DC controller converts the high voltage output of the integrated controller 32 into a low voltage output to the water cooling relay and oil cooling relay on the hydrogen energy excavator, and controls different cooling fans to dissipate heat respectively.

[0067] Step S5: Set up a hydrogen fuel engine system on the second high-voltage output terminal of the integrated controller 32 so that the hydrogen fuel engine system converts the high voltage output of the integrated controller 32 into a low voltage output to the hydrogen system heat dissipation relay to control the hydrogen system heat dissipation fan for heat dissipation.

[0068] In summary, the hydrogen-powered excavator and its control method of the present invention achieve control over the start-up, shutdown, and energy management of the hydrogen fuel engine by connecting the hydrogen fuel engine controller 10, the first DC-DC controller 11, and the hydrogen supply system controller 12 to the body controller 13 of the hydrogen-powered excavator via a bus. Furthermore, a second DC-DC controller is installed at the control terminal of the integrated controller 32 to convert high voltage to low voltage, solving the problem of insufficient power supply to the entire hydrogen-powered excavator when the cooling fan is operating. Finally, a display device 70 is installed at the control terminal of the body controller 13, enabling real-time display of hydrogen system and hydrogen fuel engine parameters and alarm information, thus achieving real-time monitoring of the hydrogen-powered excavator.

[0069] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Additionally, the terms "front," "back," "left," "right," "upper," and "lower" in this document refer to the placement shown in the accompanying drawings.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A hydrogen energy excavator control system characterized by, The application relates to a hydrogen fuel engine controller, a first control end of a hydrogen energy excavator vehicle body controller is connected with the hydrogen fuel engine controller through a first bus, a first DCDC controller and a hydrogen supply system controller are arranged on the first bus, the first DCDC controller and the hydrogen supply system controller are connected with the first bus through another bus, a second control end of the vehicle body controller is connected with a first interface of a display device through a second bus, a third control end of the vehicle body controller is connected with a comprehensive controller through a third bus, a second DCDC controller is connected with a first high-voltage output end of the comprehensive controller, the second DCDC controller converts high voltage output by the comprehensive controller into low voltage and outputs the low voltage to water heat dissipation relays and oil heat dissipation relays on the hydrogen energy excavator to control different heat dissipation fans to dissipate heat, a hydrogen fuel engine system is connected with a second high-voltage output end of the comprehensive controller, the hydrogen fuel engine system converts high voltage output by the comprehensive controller into low voltage and outputs the low voltage to a hydrogen system heat dissipation fan to dissipate heat, the hydrogen fuel engine controller, the first DCDC controller and the hydrogen supply system controller are connected with the vehicle body controller through buses on the hydrogen energy excavator, the start and stop of the hydrogen fuel engine and energy management control are realized, a second DCDC controller is arranged on a control end of the comprehensive controller to convert high voltage into low voltage, the problem of insufficient power supply of the hydrogen energy excavator when the heat dissipation fan works is solved, a display device is arranged on the control end of the vehicle body controller, the display device can display hydrogen system and hydrogen fuel engine parameters and alarm information in real time, and the hydrogen energy excavator can be monitored in real time, terminal resistors are arranged on the control end of the hydrogen fuel engine controller and the first control end of the vehicle body controller on the first bus, an air conditioner compressor controller, a WPTC controller, an air conditioner controller and a radio controller are connected with a second interface of the display device through a seventh bus, a terminal resistor is arranged in the vehicle body controller, two terminal resistors are arranged in the display device, terminal resistors are arranged on an input end of the radio controller, a third control end of the vehicle body controller and an input end of the comprehensive controller, the resistance of the terminal resistors is 120 omega, the terminal resistors can adjust the level state of the bus, the anti-interference ability is improved, the bus can quickly enter an implicit state, the signal quality is improved, signal reflection and echo are inhibited, and the ringing phenomenon is avoided. A diagnosis interface, a control panel, an electric control handle, an electric control pedal, a T-box and a power management module of the hydrogen energy excavator are further connected with the second bus. ​ ​ ​ ​ ​ ​ ​ ​ ​ 2. The hydrogen energy excavator control system of claim 1, wherein ​ 3. The hydrogen energy excavator control system of claim 1, wherein The battery management system and the battery heat dissipation control system are connected to the third bus, and the battery management system is connected to the charging socket of the hydrogen energy excavator through a fourth bus, and is connected to the lithium battery pack of the hydrogen energy excavator through a sixth bus, so that the high-voltage charging box in the battery management system can be charged through the charging socket connected to the external power supply or through the lithium battery pack.

4. The hydrogen energy excavator control system of claim 1, wherein The debugging interface is connected to the comprehensive controller through a fifth bus.

5. A hydrogen energy excavator characterized by comprising: The hydrogen energy excavator is provided with the hydrogen energy excavator control system according to any one of claims 1-4.

6. A hydrogen energy excavator control method applying the hydrogen energy excavator control system according to any one of claims 1 to 4, characterized by, Comprise: The hydrogen fuel engine controller, the first DCDC controller and the hydrogen supply system controller are arranged on the hydrogen energy excavator, and the hydrogen fuel engine controller, the first DCDC controller and the hydrogen supply system controller are connected to the first control end of the vehicle body controller on the hydrogen energy excavator; The display device is arranged at the second control end of the vehicle body controller, and the display device is connected to the vehicle body controller through a second bus; The comprehensive controller is arranged at the third control end of the vehicle body controller, and the arranged comprehensive controller is connected to the vehicle body controller through a third bus; The second DCDC controller is arranged at the first high-voltage output end of the comprehensive controller, so that the second DCDC controller converts the high voltage output by the comprehensive controller into low voltage and outputs to the water heat dissipation relay and the oil heat dissipation relay on the hydrogen energy excavator, respectively controls different heat dissipation fans to dissipate heat; The hydrogen fuel engine system is arranged at the second high-voltage output end of the comprehensive controller, so that the hydrogen fuel engine system converts the high voltage output by the comprehensive controller into low voltage and outputs to the hydrogen system heat dissipation relay to control the hydrogen system heat dissipation fan to dissipate heat.

Images