A method for coordinated operation and load balancing control of multiple power sources for an extended-range loader

Abstract

The present invention relates to the technical field of loader control, and specifically to a method for coordinated work and load balancing control of multiple power sources of an extended-range loader, comprising the following steps: S1: collecting the working parameters of each power source during the operation of the loader; S2: calculating the current total load demand based on the working parameters collected in S1; S3: analyzing and outputting the output capacity of each power source, including the maximum power output of the internal combustion engine, the power range of the electric motor, and the working pressure range of the hydraulic system; S4: calculating the optimal output power of each power source according to the total load demand of S2 and the output capacity of each power source; S5: dynamically adjusting the output power of each power source according to the optimal output power determined in S4. The present invention improves the energy efficiency and work efficiency of the extended-range loader by dynamically optimizing the power distribution and load balancing of each power source, reduces energy waste, and ensures the stability and reliability of the system.

Description

Technical Field

[0001] The present invention relates to the technical field of loader control, and in particular to a method for coordinated operation and load balancing control of multiple power sources of an extended-range loader. Background Art

[0002] With the continuous development of construction machinery, loaders, as a common heavy equipment, are widely used in scenes such as mines, construction sites and logistics parks; in order to improve the operating efficiency and energy-saving and emission reduction performance of loaders, traditional internal combustion engine power systems are gradually combined with power sources such as electric motors, batteries and hydraulic systems to form multi-power source driven extended-range loaders; by rationally utilizing the characteristics of multiple power sources, power output can be adjusted under different working conditions, thereby achieving more efficient energy utilization and a more flexible working method.

[0003] The existing multi-power source collaborative working method usually adopts a fixed power allocation strategy or a simple preset mode when achieving load balancing between multiple power sources; this method cannot dynamically adjust the output power of each power source according to the actual working environment and load requirements, resulting in the inability to fully optimize the energy efficiency of the loader; in addition, the existing technology fails to fully consider the working state, maximum output capacity and energy efficiency indicators of each power source when dealing with the collaborative work between different power sources such as internal combustion engines, electric motors and hydraulic systems, resulting in energy waste and reduced work efficiency. Therefore, how to optimize energy use while meeting workload requirements by dynamically adjusting the output power of each power source is a technical problem that needs to be solved urgently. Summary of the invention

[0004] Based on the above objectives, the present invention provides a method for coordinated operation and load balancing control of multiple power sources of an extended-range loader.

[0005] A method for coordinated operation and load balancing control of multiple power sources of an extended-range loader comprises the following steps:

[0006] S1: Collect the working parameters of each power source during the operation of the loader, including internal combustion engine speed, fuel consumption, motor power output, battery power, hydraulic system pressure and current workload information;

[0007] S2: Calculate the current total load demand based on the working parameters collected in S1;

[0008] S3: Analyze and output the output capacity of each power source, including the maximum power output of the internal combustion engine, the power range of the electric motor and the working pressure range of the hydraulic system;

[0009] S4: Calculate the optimal output power of each power source according to the total load demand calculated in S2 and the output capacity of each power source output in S3;

[0010] S5: dynamically adjusting the output power of each power source according to the optimal output power determined in S4, including adjusting the fuel injection amount of the internal combustion engine, the speed of the electric motor and the pressure of the hydraulic system;

[0011] S6: Apply the output power adjusted in S5 to each drive system of the loader to achieve load balancing control among multiple power sources.

[0012] Optionally, the S1 specifically includes:

[0013] S11: collecting the speed data of the internal combustion engine in real time through a speed sensor connected to the internal combustion engine control unit;

[0014] S12: Monitor and record the fuel consumption of the internal combustion engine using a fuel flow meter;

[0015] S13: measuring the power output of the motor in real time through the motor power sensor to obtain actual power data of the motor during operation;

[0016] S14: measuring the output voltage of the battery by means of a battery voltage measuring device, and calculating the remaining power of the battery according to the nominal voltage and current data of the battery;

[0017] S15: monitoring the working pressure of the hydraulic system through a hydraulic pressure sensor, and obtaining pressure change data of the hydraulic system under different working conditions;

[0018] S16: Using the workload sensor, the current workload information of the loader is collected in real time, including load weight and operation intensity parameters.

[0019] Optionally, the S2 specifically includes:

[0020] S21: Based on the internal combustion engine speed data collected in S11, the speed is converted into the actual output power of the internal combustion engine using a preset power speed curve. ;

[0021] S22: Based on the motor power output data collected in S13, directly obtain the actual output power of the motor ;

[0022] S23: Calculate the maximum power output that the battery can currently provide based on the remaining battery power measured in S14. The calculation formula is: ,in, is the maximum power output of the battery, is the battery voltage, is the battery current, for battery efficiency;

[0023] S24: The actual output power of each power source calculated in S21 to S24 is summed up to obtain the current total load demand of the loader. The calculation formula is: ,in, is the total load demand of the loader;

[0024] S25: According to the workload information collected in S16, the calculation result of the total load demand is adjusted to reflect the actual load demand of the loader under different operation intensities.

[0025] Optionally, the S25 specifically includes:

[0026] S251: Calculate the influence of the load weight on the total load demand according to the load weight data collected in S16. The calculation formula is: ,in, is the adjustment value of the load weight to the total load requirement; is the load weight; is the load weight adjustment factor;

[0027] S252: Based on the operation intensity data collected in S16, the adjustment coefficient of the operation intensity to the total load demand is evaluated, and the calculation formula is: ,in, is the adjustment value of the total load demand due to the operation intensity, For the intensity of work, is the operation intensity adjustment factor;

[0028] S253: Apply the adjustment value calculated in S251 and S252 to the total load demand calculated in S24 to obtain the adjusted total load demand, which is calculated as follows: ,in, is the adjusted total load demand.

[0029] Optionally, the S3 specifically includes:

[0030] S31: According to the rated power and current speed of the internal combustion engine, the maximum power output of the internal combustion engine is calculated by a preset power-speed relationship. The calculation formula is:

[0031] ,in, is the maximum power output of the internal combustion engine in watts, is the maximum speed of the internal combustion engine, is a constant predetermined according to the characteristics of the internal combustion engine;

[0032] S32: Calculate the power range of the motor according to the rated power and maximum current of the motor through the efficiency model of the motor. The calculation formula is: ,in, is the power range of the motor; is the maximum current of the motor; is the maximum voltage of the motor; is the efficiency of the motor;

[0033] S33: According to the maximum working pressure and system flow of the hydraulic system, the working pressure range of the hydraulic system is calculated through the flow curve of the hydraulic pump. The formula is: ,in, is the working pressure range of the hydraulic system, is the maximum flow of the hydraulic system, is the efficiency of the hydraulic pump, is the area of ​​the actuator in the hydraulic system.

[0034] Optionally, the S4 specifically includes:

[0035] S41: setting the priority of each power source according to the total load demand calculated in S2;

[0036] S42: Based on the output capacity of each power source analyzed and output in S3, the maximum output capacity of each power source is evaluated to ensure that the output of each power source does not exceed its actual capacity range during the power distribution process;

[0037] S43: A multi-objective optimization algorithm is used to calculate the optimal output power in combination with the set priority and the maximum output capacity of each power source.

[0038] Optionally, the S41 specifically includes:

[0039] S411: According to the total load demand calculated in S2, the priority of each power source is preliminarily ranked based on its energy efficiency, and the calculation formula is: ,in, For the The energy efficiency of a power source, For the The output power of each power source, For the Fuel consumption of each power source;

[0040] S412: Based on the energy efficiency of each power source calculated in S411, a comprehensive evaluation is performed in combination with the operating cost of each power source, and a comprehensive priority index is set, which is expressed as: ,in, For the The comprehensive priority index of each power source, For the The energy efficiency of a power source, For the Unit energy cost of each power source;

[0041] S413: Based on the comprehensive priority index of each power source , arrange the power sources in order from high to low priority, so as to determine the priority order of each power source.

[0042] Optionally, the S42 specifically includes:

[0043] S421: Based on the power output range of the internal combustion engine analyzed and output in S3, the maximum output power of the internal combustion engine is obtained to ensure the maximum power output under the current speed and load conditions;

[0044] S422: Obtaining a power range of the motor according to the motor power output range analyzed and output in S3;

[0045] S423: According to the hydraulic system working pressure range output in S3, the maximum power output capacity of the hydraulic system is obtained.

[0046] Optionally, the S43 specifically includes:

[0047] S431: According to the priority of each power source set in step S41 and the maximum output capacity of each power source evaluated in step S42, a constraint condition for power distribution is established to ensure that the output power of each power source does not exceed its maximum output capacity. The constraint condition is expressed as: ,in, For the The optimal output power of each power source, For the The maximum output power of each power source;

[0048] S432: Combine the priority index of each power source in S41 and maximum output capacity , construct a multi-objective optimization problem; the objective function is to minimize the total energy consumption and maximize the system operation efficiency, expressed as: ,in, For the The priority index of each power source, For the The optimal output power of each power source, For the The maximum output power of each power source; is the total number of power sources;

[0049] S433: Calculate the optimal output power of each power source based on the constructed objective function through a multi-objective optimization algorithm; during the optimization process, give priority to satisfying the total load demand, and the calculation formula is: ,in, For the The optimal output power of a power source.

[0050] Optionally, the S5 specifically includes:

[0051] S511: Calculate the fuel injection amount required by the internal combustion engine according to the optimal output power of each power source determined in S4, and the formula is: ,in, The fuel flow required for the internal combustion engine; is the output power of the internal combustion engine; is the thermal efficiency of the internal combustion engine; is the lower calorific value of the fuel;

[0052] S512: Calculate the target speed of the motor according to the optimal output power of each power source determined in S4, using the formula: ,in, is the target speed of the motor; is the output power of the motor; is the efficiency constant of the motor; is the torque of the motor;

[0053] S513: Calculate the target working pressure of the hydraulic system according to the optimal output power of each power source determined in step S4, using the formula: ,in, is the working pressure of the hydraulic system; is the output power of the hydraulic system; is the flow rate of the hydraulic system.

[0054] Beneficial effects of the present invention:

[0055] The present invention dynamically calculates the total load demand and combines the maximum output capacity and priority of each power source to accurately allocate the output power of each power source, thereby effectively avoiding overload or energy efficiency waste.

[0056] The present invention further optimizes the coordinated operation of power sources and improves the stability and reliability of the system by adjusting the output power of the internal combustion engine, the electric motor and the hydraulic system in real time; through precise power distribution and load adjustment, the loader can not only ensure optimal working efficiency when performing heavy operations, but also significantly reduce energy consumption and reduce the burden on the environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions in the present invention or 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 in the following description are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0058] Figure 1 A schematic diagram of a method for controlling the coordinated operation of multiple power sources and load balancing according to an embodiment of the present invention;

[0059] Figure 2 Schematic diagram of a method for calculating the optimal output power of each power source according to an embodiment of the present invention. DETAILED DESCRIPTION

[0060] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. At the same time, it is explained here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art may also adopt other alternatives to implement some known technologies; and the accompanying drawings are only for more specific description of the embodiments, and are not intended to specifically limit the present invention.

[0061] It should be noted that the references to "one embodiment", "embodiment", "exemplary embodiments", "some embodiments" and the like in the specification indicate that the embodiments described may include specific features, structures or characteristics, but not every embodiment may include the specific features, structures or characteristics. In addition, when a specific feature, structure or characteristic is described in conjunction with an embodiment, it should be within the knowledge of a person skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments (whether or not explicitly described).

[0062] In general, a term can be understood, at least in part, from its use in context. For example, depending, at least in part, on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey an exclusive set of factors, but can instead, depending, at least in part, on the context, allow for the presence of other factors that are not necessarily explicitly described.

[0063] like Figure 1-Figure 2 As shown, a method for coordinated operation and load balancing control of multiple power sources of an extended-range loader includes the following steps:

[0064] S1: Collect the working parameters of each power source during the operation of the loader, including internal combustion engine speed, fuel consumption, motor power output, battery power, hydraulic system pressure and current workload information;

[0065] S2: Calculate the current total load demand based on the working parameters collected in S1;

[0066] S3: Analyze and output the output capacity of each power source, including the maximum power output of the internal combustion engine, the power range of the electric motor and the working pressure range of the hydraulic system;

[0067] S4: Calculate the optimal output power of each power source according to the total load demand calculated in S2 and the output capacity of each power source output in S3;

[0068] S5: dynamically adjusting the output power of each power source according to the optimal output power determined in S4, including adjusting the fuel injection amount of the internal combustion engine, the speed of the electric motor and the pressure of the hydraulic system;

[0069] S6: Apply the output power adjusted in S5 to each drive system of the loader to achieve load balancing control among multiple power sources.

[0070] S1 specifically includes:

[0071] S11: collect the speed data of the internal combustion engine in real time through the speed sensor connected to the internal combustion engine control unit (ECU);

[0072] S12: Use a fuel flow meter to monitor and record the fuel consumption of the internal combustion engine to ensure accurate data collection on fuel usage;

[0073] S13: measuring the power output of the motor in real time through the motor power sensor to obtain actual power data of the motor during operation;

[0074] S14: measuring the output voltage of the battery by means of a battery voltage measuring device, and calculating the remaining power of the battery according to the nominal voltage and current data of the battery;

[0075] S15: monitoring the working pressure of the hydraulic system through a hydraulic pressure sensor, and obtaining pressure change data of the hydraulic system under different working conditions;

[0076] S16: Using the workload sensor, the current workload information of the loader is collected in real time, including load weight and operation intensity parameters; through the above parameter collection method, reliable basic data can be provided for subsequent load demand calculation and power source coordinated control, ensuring the high efficiency and stability of the system when working with multiple power sources.

[0077] S2 specifically includes:

[0078] S21: Based on the internal combustion engine speed data collected in S11, the speed is converted into the actual output power of the internal combustion engine using a preset power speed curve. , the calculation formula is: ,in, is the output power of the internal combustion engine, RPM is the speed of the internal combustion engine, is a constant predetermined according to the characteristics of the internal combustion engine;

[0079] S22: Based on the motor power output data collected in S13, directly obtain the actual output power of the motor ;

[0080] S23: Calculate the maximum power output that the battery can currently provide based on the remaining battery power measured in S14. The calculation formula is: ,in, is the maximum power output of the battery, is the battery voltage, is the battery current, for battery efficiency;

[0081] S24: The actual output power of each power source calculated in S21 to S24 is summed up to obtain the current total load demand of the loader. The calculation formula is: ,in, is the total load demand of the loader;

[0082] S25: According to the workload information collected in S16, the calculation result of the total load demand is adjusted to reflect the actual load demand of the loader under different operating intensities; the above steps can realize accurate load demand calculation of multiple power sources, provide a solid data foundation for subsequent power distribution and load balancing control, and significantly improve the overall energy efficiency and operating stability of the extended-range loader.

[0083] S25 specifically includes:

[0084] S251: Calculate the influence of the load weight on the total load demand according to the load weight data collected in S16. The calculation formula is: ,in, is the adjustment of the total load demand by the load weight, in watts; is the load weight in kilograms; is the load weight adjustment factor, The calculation formula of the adjustment coefficient is: ,in, is the output power of the loader under maximum load, in watts, is the maximum load weight in kilograms;

[0085] S252: Based on the operation intensity data collected in S16, the adjustment coefficient of the operation intensity to the total load demand is evaluated, and the calculation formula is: ,in, is the adjustment value of the total load demand by the operating intensity, in watts, is the intensity of the work, dimensionless (usually a value between 0 and 1), is the operation intensity adjustment coefficient; the calculation formula is: ,in, is the output power of the loader at maximum operating intensity, in watts. is the maximum operating intensity value;

[0086] S253: Apply the adjustment value calculated in S251 and S252 to the total load demand calculated in S24 to obtain the adjusted total load demand, which is calculated as follows: ,in, is the adjusted total load demand in watts, is the preliminary total load demand calculated in S24; through the above adjustment method, it is ensured that the total load demand can accurately reflect the actual workload of the loader under different working intensities, further improving the accuracy of the coordinated work of multiple power sources and the load balancing control capability of the system.

[0087] S3 specifically includes:

[0088] S31: According to the rated power and current speed of the internal combustion engine, the maximum power output of the internal combustion engine is calculated by a preset power-speed relationship. The calculation formula is:

[0089] ,in, is the maximum power output of the internal combustion engine, in watts (W), is the maximum speed of the internal combustion engine, in revolutions per minute (RPM), is a constant predetermined according to the characteristics of the internal combustion engine;

[0090] S32: Calculate the power range of the motor according to the rated power and maximum current of the motor through the efficiency model of the motor. The calculation formula is: ,in, is the power range of the motor in watts; is the maximum current of the motor in amperes; is the maximum voltage of the motor in volts; is the efficiency of the motor;

[0091] S33: According to the maximum working pressure and system flow of the hydraulic system, the working pressure range of the hydraulic system is calculated through the flow curve of the hydraulic pump. The formula is: ,in, is the working pressure range of the hydraulic system, in Pa. is the maximum flow rate of the hydraulic system in liters per minute, is the efficiency of the hydraulic pump, is the area of ​​the actuator in the hydraulic system, in square meters; the above method ensures the output capacity of each power source, provides solid data support for subsequent power distribution and load balancing control, and helps to improve the overall efficiency and coordination of the system.

[0092] S4 specifically includes:

[0093] S41: according to the total load demand calculated in S2, the priority of each power source is set to ensure that while the load demand is met, the power source with higher energy efficiency or lower operating cost is used first, thereby optimizing the overall energy efficiency and reducing the operating cost;

[0094] S42: Based on the output capacity of each power source analyzed and output in S3, the maximum output capacity of each power source is evaluated to ensure that the output of each power source does not exceed its actual capacity range during the power distribution process; this step avoids overloading or idling of the power source and ensures the stability and reliability of the system;

[0095] S43: A multi-objective optimization algorithm is used to calculate the optimal output power in combination with the set priority and the maximum output capacity of each power source. This step achieves the optimal collaborative working state of multiple power sources by comprehensively considering energy efficiency and cost. Through the continuous execution of steps S41 to S43, the optimal output power of each power source is calculated and determined, which improves the overall energy efficiency and economy of the system and avoids waste of power source resources and unstable operation of the system.

[0096] S41 specifically includes:

[0097] S411: According to the total load demand calculated in S2, the priority of each power source is preliminarily ranked based on its energy efficiency (i.e., the ratio of power output to energy consumption), and the calculation formula is: ,in, For the The energy efficiency of a power source, expressed in watts per watt, For the The output power of a power source, in watts, For the The fuel consumption of each power source in joules;

[0098] S412: Based on the energy efficiency of each power source calculated in S411, a comprehensive evaluation is performed in combination with the operating cost of each power source, and a comprehensive priority index is set, which is expressed as: ,in, For the The comprehensive priority index of each power source, in (W / J), For the The energy efficiency of a power source, expressed in watts per watt, For the The unit energy consumption cost of a power source, in (J / W);

[0099] S413: Based on the comprehensive priority index of each power source , arrange the power sources in order from high to low priority, so as to determine the priority order of each power source; the power source with a higher priority order will be assigned the load first.

[0100] S42 specifically includes:

[0101] S421: Based on the power output range of the internal combustion engine analyzed and output in S3, the maximum output power of the internal combustion engine is obtained to ensure the maximum power output under the current speed and load conditions;

[0102] S422: Obtaining the power range of the motor according to the motor power output range analyzed and output in S3, and ensuring the output power of the motor is within the maximum current and voltage range;

[0103] S423: According to the hydraulic system working pressure range output in S3, the maximum power output capacity of the hydraulic system is obtained to ensure the available power output of the hydraulic system at its maximum working pressure.

[0104] S43 specifically includes:

[0105] S431: According to the priority of each power source set in step S41 and the maximum output capacity of each power source evaluated in step S42, a constraint condition for power distribution is established to ensure that the output power of each power source does not exceed its maximum output capacity. The constraint condition is expressed as: ,in, For the The optimal output power of each power source, For the The maximum output power of each power source;

[0106] S432: Combine the priority index of each power source in S41 and maximum output capacity , construct a multi-objective optimization problem; the objective function is to minimize the total energy consumption and maximize the system operation efficiency, expressed as: ,in, For the The priority index of each power source, in (W / W), For the The optimal output power of a power source, in watts, For the The maximum output power of a power source, in watts; is the total number of power sources;

[0107] S433: Calculate the optimal output power of each power source based on the constructed objective function through a multi-objective optimization algorithm; during the optimization process, give priority to satisfying the total load demand and make the power source with higher priority contribute more power. The calculation formula is: ,in, For the The optimal output power of each power source, in watts; For the The priority index of each power source; is the total load demand calculated in step S2, in watts; through the continuous execution of steps S431 to S433, using a multi-objective optimization algorithm, based on the constraints of priority and maximum output capacity, the optimal power distribution ratio of each power source is calculated, thereby achieving multi-power source collaborative work and load balancing.

[0108] S5 specifically includes:

[0109] S511: Calculate the fuel injection amount required by the internal combustion engine according to the optimal output power of each power source determined in S4, and the formula is: ,in, is the fuel flow rate required by the internal combustion engine, in grams per second; is the output power of the internal combustion engine in watts; is the thermal efficiency of the internal combustion engine; is the lower calorific value of the fuel, in kilojoules per kilogram;

[0110] S512: Calculate the target speed of the motor according to the optimal output power of each power source determined in S4, using the formula: ,in, is the target speed of the motor, in revolutions per minute; is the output power of the motor in watts; is the efficiency constant of the motor in watts per revolution per minute; is the torque of the motor, in Nm;

[0111] S513: Calculate the target working pressure of the hydraulic system according to the optimal output power of each power source determined in step S4, using the formula: ,in, is the working pressure of the hydraulic system, in Pa; is the output power of the hydraulic system in watts; is the flow rate of the hydraulic system in liters per minute; through the implementation of the above steps, accurate output regulation of each power source is achieved, ensuring the efficiency and stability of multi-power source coordination and load balancing control.

[0112] The present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention. In order to make the public have a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments of the present invention, but those skilled in the art can fully understand the present invention without the description of these details. In addition, in order to avoid unnecessary confusion about the essence of the present invention, well-known methods, processes, procedures, components and circuits are not described in detail.

[0113] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for coordinated operation and load balancing control of multiple power sources of an extended-range loader, characterized in that: The following steps are involved: S1: Collect the working parameters of each power source during the operation of the loader, including internal combustion engine speed, fuel consumption, motor power output, battery power, hydraulic system pressure and current workload information; S2: Calculate the current total load demand based on the working parameters collected in S1; S3: Analyze and output the output capacity of each power source, including the maximum power output of the internal combustion engine, the power range of the electric motor and the working pressure range of the hydraulic system; S4: according to the total load demand calculated in S2, the priority of each power source is set, and according to the output capacity of each power source output in S3, the optimal output power of each power source is calculated; The setting of the priority of each power source specifically includes: According to the total load demand calculated in S2, the priority of each power source is preliminarily sorted based on its energy efficiency, and the calculation formula is: Among them, Efficiency i is the energy efficiency of the ith power source, P output,i is the output power of the ith power source, E fuel,i is the fuel consumption of the i-th power source; Based on the calculated energy efficiency of each power source and combined with the operating cost of each power source, a comprehensive priority index is set, which is expressed as: Among them, priority i is the comprehensive priority index of the i-th power source, Efficiency i is the energy efficiency of the ith power source, C operatiom,i is the unit energy consumption cost of the i-th power source; According to the comprehensive priority index of each power source i , arranging each power source in order of priority from high to low, thereby determining the priority order of each power source; S5: dynamically adjusting the output power of each power source according to the optimal output power determined in S4, including adjusting the fuel injection amount of the internal combustion engine, the speed of the electric motor and the pressure of the hydraulic system; S6: Apply the output power adjusted in S5 to each drive system of the loader to achieve load balancing control among multiple power sources.

2. A method for coordinated operation and load balancing control of multiple power sources for an extended-range loader according to claim 1, characterized in that: The S1 specifically includes: S11: collecting the speed data of the internal combustion engine in real time through a speed sensor connected to the internal combustion engine control unit; S12: Monitor and record the fuel consumption of the internal combustion engine using a fuel flow meter; S13: measuring the power output of the motor in real time through the motor power sensor to obtain actual power data of the motor during operation; S14: measuring the output voltage of the battery by means of a battery voltage measuring device, and calculating the remaining power of the battery according to the nominal voltage and current data of the battery; S15: monitoring the working pressure of the hydraulic system through a hydraulic pressure sensor, and obtaining pressure change data of the hydraulic system under different working conditions; S16: Using the workload sensor, the current workload information of the loader is collected in real time, including load weight and operation intensity parameters.

3. A method for coordinated operation and load balancing control of multiple power sources for an extended-range loader according to claim 2, characterized in that: The S2 specifically includes: S21: Based on the internal combustion engine speed data collected in S11, the speed is converted into the actual output power P of the internal combustion engine using a preset power speed curve. engine ; S22: Based on the motor power output data collected in S13, directly obtain the actual output power P of the motor motor ; S23: Calculate the maximum power output that the battery can currently provide based on the remaining battery power measured in S14. The calculation formula is: Among them, P battery is the maximum power output of the battery, V battery is the battery voltage, I battery is the battery current, η battery for battery efficiency; S24: The actual output power of each power source calculated in S21 to S23 is summed up to obtain the current total load demand of the loader. The calculation formula is: P total =P engine +P motor +P battery , where P total is the total load requirement of the loader; S25: According to the workload information collected in S16, the calculation result of the total load demand is adjusted to reflect the actual load demand of the loader under different operation intensities.

4. The method for controlling the coordinated operation and load balancing of multiple power sources of an extended-range loader according to claim 3, characterized in that: The S25 specifically includes: S251: Based on the load weight data collected in S16, calculate the impact of the load weight on the total load demand. The calculation formula is: ΔP weight =W×k1, where ΔP weight is the adjustment value of the load weight to the total load requirement; W is the load weight; k1 is the load weight adjustment coefficient; S252: Based on the work intensity data collected in S16, evaluate the adjustment coefficient of the work intensity to the total load demand. The calculation formula is: ΔP intensity =I×k2, where ΔP intensity is the adjustment value of the total load demand by the operation intensity, I is the operation intensity, and k2 is the operation intensity adjustment coefficient; S253: Apply the adjustment values ​​calculated in S251 and S252 to the total load demand calculated in S24 to obtain the adjusted total load demand, which is calculated as follows: total adjusted =P total +ΔP weight +ΔP intensity , where P total adjusted is the adjusted total load demand.

5. The method for controlling the coordinated operation and load balancing of multiple power sources of an extended-range loader according to claim 1, characterized in that: The S3 specifically includes: S31: According to the rated power and current speed of the internal combustion engine, the maximum power output of the internal combustion engine is calculated by a preset power-speed relationship. The calculation formula is: P max,engine =a×(RPM max ) 2 +b×RPM max +c, where P max,engine is the maximum power output of the internal combustion engine in watts, RPM max is the maximum speed of the internal combustion engine, a, b, c are constants predetermined according to the characteristics of the internal combustion engine; S32: According to the rated power and maximum current of the motor, the power range of the motor is calculated through the efficiency model of the motor. The calculation formula is: P range,motor =I max ×V max ×η motor , where P range,motor is the power range of the motor; I max is the maximum current of the motor; V max is the maximum voltage of the motor; η motor is the efficiency of the motor; S33: According to the maximum working pressure and system flow of the hydraulic system, the working pressure range of the hydraulic system is calculated through the flow curve of the hydraulic pump. The formula is: Among them, P range,hydraulic is the working pressure range of the hydraulic system, Q max is the maximum flow rate of the hydraulic system, η pump is the efficiency of the hydraulic pump, and A is the area of ​​the actuator in the hydraulic system.

6. The method for controlling the coordinated operation and load balancing of multiple power sources of an extended-range loader according to claim 1, characterized in that: The S4 further comprises: S41: Based on the output capacity of each power source analyzed and output in S3, the maximum output capacity of each power source is evaluated to ensure that the output of each power source does not exceed its actual capacity range during the power distribution process; S42: A multi-objective optimization algorithm is used to calculate the optimal output power in combination with the set priority and the maximum output capacity of each power source.

7. A method for coordinated operation and load balancing control of multiple power sources for an extended-range loader according to claim 6, characterized in that: The S41 specifically includes: S411: based on the power output range of the internal combustion engine analyzed and output in S3, obtaining the maximum output power of the internal combustion engine to ensure the maximum power output under the current speed and load conditions; S412: Obtaining a power range of the motor according to the motor power output range analyzed and output in S3; S413: Obtaining the maximum power output capacity of the hydraulic system according to the hydraulic system working pressure range output in S3.

8. The method for controlling the coordinated operation and load balancing of multiple power sources of an extended-range loader according to claim 7, characterized in that: The S42 specifically includes: S421: According to the priority of each power source set in step S4 and the maximum output capacity of each power source evaluated in step S41, a constraint condition for power allocation is established to ensure that the output power of each power source does not exceed its maximum output capacity. The constraint condition is expressed as: output,i ≤P max,i , where P output,i is the optimal output power of the ith power source, P max,i is the maximum output power of the i-th power source; S422: Combine the priority index of each power source i and maximum output capacity P max,i , construct a multi-objective optimization problem; the objective function is to minimize the total energy consumption and maximize the system operation efficiency, expressed as Among them, Priority i is the priority index of the ith power source, P output,i is the optimal output power of the ith power source, P max,i is the maximum output power of the ith power source; n is the total number of power sources; S423: Calculate the optimal output power of each power source based on the constructed objective function through a multi-objective optimization algorithm; during the optimization process, give priority to satisfying the total load demand, and the calculation formula is: Among them, P output,i is the optimal output power of the i-th power source.

9. The method for controlling the coordinated operation and load balancing of multiple power sources of an extended-range loader according to claim 1, characterized in that: The S5 specifically includes: S511: Calculate the fuel injection amount required by the internal combustion engine according to the optimal output power of each power source determined in S4, and the formula is: Among them, M fuel is the fuel flow required by the internal combustion engine; P output,engine is the output power of the internal combustion engine; η engine is the thermal efficiency of the internal combustion engine; LHV fuel is the lower calorific value of the fuel; S512: Calculate the target speed of the motor according to the optimal output power of each power source determined in S4, using the formula: Among them, N motor is the target speed of the motor; P output,motor is the output power of the motor; K motor is the efficiency constant of the motor; T motor is the torque of the motor; S513: Calculate the target working pressure of the hydraulic system according to the optimal output power of each power source determined in step S4, using the formula: Among them, P hydraulic is the working pressure of the hydraulic system; P output,hydraulic is the output power of the hydraulic system; Q flow is the flow rate of the hydraulic system.

Images