Control method and device of energy equipment, energy equipment, engineering machinery and medium

Abstract

The embodiment of the invention discloses a control method and device of energy equipment, the energy equipment, engineering machinery and a medium, and belongs to the technical field of equipment control. The energy equipment comprises a power battery, a hydrogen fuel cell, a main drive motor and at least one operation motor, the main drive motor is used for driving the engineering machinery to run, each operation motor is used for driving the engineering machinery to perform one type of operation, and the control method of the energy equipment is applied to the electric engineering machinery with a new energy architecture. The control method of the energy equipment comprises the steps that the working condition of engineering machinery and the actual remaining electric quantity of a power battery are determined; determining each target motor to be supplied with energy according to the working condition; determining a control strategy of the power cell and the hydrogen fuel cell based on the working condition and the actual residual electric quantity; and supplying energy to the target motor according to the control strategy. The hydrogen fuel cell and the power cell are controlled together based on the electric quantity of the power cell under the working condition, and the power requirements of the engineering machinery under different working conditions can be met.

Description

Technical Field

[0001] The present application relates to the field of equipment control technology, and specifically to a control method and device for energy equipment, energy equipment, engineering machinery and medium. Background Art

[0002] Hydrogen energy has significant advantages such as zero emissions and high efficiency, and is regarded as the green energy with the greatest development potential in the future. Engineering machinery driven by new energy such as hydrogen energy not only has a faster power system response speed, can achieve more precise control, and improve work efficiency, but also can significantly reduce emissions and reduce pollution to the environment. According to the current development trend of engineering machinery, engineering machinery with new energy architecture has reached a certain scale. New energy architectures such as pure electric, extended-range electric, hybrid, fuel cell electric, and hydrogen engines are widely used in various types of engineering machinery. Due to the long startup time of current hydrogen energy batteries, hydrogen energy batteries usually need to be paired with power batteries, using the power battery's ability to quickly charge and discharge to meet the power requirements of engineering machinery.

[0003] However, in the process of using hydrogen energy batteries and power batteries together, the power of the hydrogen energy battery is determined according to the power of the power battery, and the power of the power battery is determined according to the actual SOC (State of Charge) of the power battery. When the actual SOC of the power battery remains unchanged within a specific SOC range, the power of the hydrogen energy battery is also fixed, making it difficult for the output power of the hydrogen energy battery to meet the power requirements of engineering machinery, which easily leads to waste of resources. Therefore, the present application provides a control method, device, energy equipment, engineering machinery and medium for energy equipment. The optimization and improvement of the technical solution is also suitable for electric engineering machinery with a new energy architecture, which achieves energy conservation and emission reduction while also solving the problem in the prior art that the output power of hydrogen energy batteries is difficult to meet the power requirements of engineering machinery. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a control method, device, energy equipment, engineering machinery and medium for energy equipment, so as to solve the problem in the prior art that the output power of hydrogen energy batteries is difficult to meet the power requirements of engineering machinery.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a control method for energy equipment, the energy equipment includes a power battery, a hydrogen fuel cell, a main drive motor and at least one working motor, the main drive motor is used to drive the engineering machinery to travel, and each working motor is used to drive the engineering machinery to perform a type of operation, and the control method of the energy equipment includes:

[0006] Determine the working condition of the construction machinery and the actual remaining power of the power battery;

[0007] Determine each target motor to be powered according to the working condition, wherein the target motor is any one of the main drive motor and at least one working motor;

[0008] Determine the control strategy of the power battery and hydrogen fuel cell based on the operating conditions and the actual remaining power;

[0009] The target motor is energized according to the control strategy.

[0010] In the embodiment of the present application, the control strategy of the power battery and the hydrogen fuel cell is determined based on the operating conditions and the actual remaining power, including:

[0011] When the working condition is a driving condition or an operating condition, the required power of the construction machinery is determined according to the power corresponding to each target motor;

[0012] When the required power is less than the preset discharge power, and the actual remaining power is less than the preset power upper limit, the control strategy is determined to be the first control strategy, wherein the preset discharge power is the power corresponding to the optimal efficiency point of the hydrogen fuel cell, and the first control strategy is to control the hydrogen fuel cell to discharge based on the preset discharge power, and control the power battery to charge until the actual remaining power is greater than or equal to the preset power upper limit;

[0013] When the required power is greater than or equal to the preset discharge power, and the actual remaining power is greater than the preset lower limit of the power, the control strategy is determined to be the second control strategy, wherein the second control strategy is to control the hydrogen fuel cell to discharge based on the preset discharge power, and to control the power battery to discharge based on the difference between the required power and the preset discharge power.

[0014] In the embodiment of the present application, the control strategy of the power battery and the hydrogen fuel cell is determined based on the operating conditions and the actual remaining power, including:

[0015] When the operating condition is the starting condition and the actual remaining power is greater than the preset power lower limit, the hydrogen fuel cell is controlled to discharge, and it is determined whether the current discharge power of the hydrogen fuel cell reaches the target discharge power;

[0016] When the current discharge power of the hydrogen fuel cell does not reach the target discharge power, determining the control strategy to be the third control strategy, wherein the third control strategy is to control the hydrogen fuel cell to increase the current discharge power and control the power battery to discharge based on the first power;

[0017] When the current discharge power of the hydrogen fuel cell reaches the target discharge power, the control strategy is determined to be the fourth control strategy, wherein the fourth control strategy is to control the hydrogen fuel cell to discharge based on the target discharge power, and to control the power battery to discharge based on the second power, and the second power is less than the first power.

[0018] In an embodiment of the present application, the energy device further comprises an electrical device;

[0019] The control method of the energy device also includes:

[0020] When the operating condition is an energy recovery condition and the actual remaining power is less than the preset power upper limit value, the hydrogen fuel cell is controlled to be shut down;

[0021] The charging and discharging state of the power battery is controlled according to the energy recovery power and the power used by the electrical device.

[0022] In an embodiment of the present application, the charging and discharging state of the power battery is controlled according to the energy recovery power and the power used by the power consumption device, including:

[0023] When the energy recovery power is greater than the power used by the power-consuming device, the power battery is controlled to be charged;

[0024] When the energy recovery power is less than the usage power, the power battery is controlled to discharge.

[0025] In an embodiment of the present application, the control method of the energy device further includes:

[0026] When the operating condition is parking condition and the actual remaining power is less than the preset lower power limit, the hydrogen fuel cell is controlled to discharge, and the power battery is controlled to charge until the actual remaining power is greater than or equal to the preset upper power limit.

[0027] A second aspect of the present application provides a control device, comprising:

[0028] a memory configured to store instructions;

[0029] The processor is configured to call instructions from the memory and implement the above-mentioned energy device control method when executing the instructions.

[0030] The third aspect of the present application provides an energy device, including the above-mentioned control device, a power battery, a hydrogen fuel cell, a main drive motor and at least one working motor;

[0031] A power battery, configured to supply energy to a main drive motor and / or at least one working motor;

[0032] A hydrogen fuel cell configured to power a main drive motor and / or at least one working motor;

[0033] A main drive motor is configured to drive the engineering machine to travel;

[0034] Each working motor is configured to drive the construction machine to perform one type of work.

[0035] A fourth aspect of the present application provides an engineering machinery comprising the above-mentioned energy equipment.

[0036] A fifth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the above-mentioned method for controlling an energy device.

[0037] The present application provides a control method for energy equipment, the energy equipment includes a power battery, a hydrogen fuel cell, a main drive motor and at least one working motor, the main drive motor is used to drive the engineering machinery to travel, each working motor is used to drive the engineering machinery to perform a type of operation, and the control method of the energy equipment includes: determining the working condition of the engineering machinery and the actual remaining power of the power battery; determining each target motor to be powered according to the working condition; determining the control strategy of the power battery and the hydrogen fuel cell based on the working condition and the actual remaining power; and powering the target motor according to the control strategy. The hydrogen fuel cell and the power battery are controlled based on the working condition of the engineering machinery and the actual remaining power of the power battery, so that the output power of the hydrogen energy battery can meet the power requirements of the engineering machinery under different working conditions. In addition, different working conditions such as operation and travel are driven by independent motors, and the transmission chain of the hydrogen fuel cell is short, which makes the energy transfer efficiency of the hydrogen energy battery higher, further meets the power requirements of the engineering machinery, and improves the operation accuracy and efficiency of the engineering machinery.

[0038] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0040] Figure 1 A schematic diagram of a flow chart of a control method of an energy device according to an embodiment of the present application is schematically shown;

[0041] Figure 2 The schematic diagram of the structure of the first energy device according to the embodiment of the present application is shown;

[0042] Figure 3 The structural diagram of the first energy device according to an embodiment of the present application is schematically shown.

[0043] Description of Reference Numerals

[0044] 200-energy equipment; 210-control device, 220-power battery, 230-hydrogen fuel cell, 240-main drive motor, 250-operating motor, 260-electrical device; 211-all-in-one controller, 212-two-in-one controller; 251-luffing motor, 252-winch motor, 253-slewing motor; 271-hydrogen storage system, 272-high-voltage distribution box, 273-luffing motor cylinder, 274-transmission, 275-power take-off, 276-hydraulic oil pump. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0046] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application are in compliance with the relevant provisions of national laws and regulations. In the embodiments of this application, some existing solutions in the industry such as certain software, components, and models may be mentioned, which should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use the solution.

[0047] It should be noted that if directional indication is involved in the embodiments of the present application, the directional indication is only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0048] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0049] Conventional construction machinery usually uses a diesel internal combustion engine, that is, a hydraulic transmission device to transmit the power of the diesel internal combustion engine to various parts. Since the combustion efficiency of the diesel internal combustion engine is usually less than 40%, and the structure of the hydraulic transmission device is complex, the efficiency of the transmission construction machinery is low.

[0050] The type of construction machinery is set according to actual needs and is not limited here. For ease of understanding, the construction machinery in the embodiment of the present application is a new energy crane, and the energy equipment of the construction machinery is driven by a motor, which not only makes the power system respond faster, can achieve more precise control, and improve work efficiency, but also can significantly reduce emissions and reduce pollution to the environment. Specifically, the energy equipment includes a power battery, a hydrogen fuel cell, a main drive motor and at least one operating motor. The main drive motor is used to drive the construction machinery to travel, and each operating motor is used to drive the construction machinery to perform a type of operation.

[0051] Figure 1 The flowchart of a control method of an energy device according to an embodiment of the present application is schematically shown. Figure 1 As shown, the embodiment of the present application provides a control method for energy equipment. Figure 1 The control method of the energy device in the invention is applicable to electric engineering machinery of new energy architecture, and the control method of the energy device includes:

[0052] S110, determining the working condition of the construction machinery and the actual remaining power of the power battery.

[0053] The main component of hydrogen fuel cells is proton exchange membrane fuel cells, which generate electricity through the chemical reaction of hydrogen and oxygen. In this process, hydrogen is decomposed into protons and electrons by the catalyst at the anode. The protons reach the cathode through the proton exchange membrane, and the electrons flow through the external circuit to generate current, and finally combine with oxygen at the cathode to generate water. Power batteries are batteries specially used to provide power and energy support, with the characteristics of high energy, high power, and high energy density. Power batteries include lead-acid batteries, nickel-metal hydride batteries, and lithium-ion power batteries, which will not be described here.

[0054] The power sources of construction machinery include power batteries and hydrogen fuel cells. The power battery can reach the rated power in a short time, realize the rapid start of the construction machinery and the power compensation during large load changes, reduce the waiting time of the hydrogen fuel cell power reserve process, and improve the driving and operating efficiency of the construction machinery. Compared with the construction machinery with a fuel structure, the new energy construction machinery in this embodiment has a higher energy density as hydrogen as a fuel, does not require frequent and long-term charging, can provide continuous and stable power output for the crane, and the use conditions are not restricted. In addition, hydrogen fuel cells are easy to maintain and have a low failure rate.

[0055] During the operation of the engineering machinery, the real-time working condition of the engineering machinery is determined, and the actual remaining power of the power battery is determined. For ease of understanding, in the embodiment of the present application, the actual remaining power of the power battery is determined by the SOC of the power battery.

[0056] S120, determining each target motor to be powered according to the working condition, wherein the target motor is any one of the main drive motor and the at least one working motor.

[0057] In this embodiment, the engineering machinery adopts distributed electric drive, that is, the energy equipment of the engineering machinery includes a main drive motor and at least one working motor, the main drive motor is used to drive the engineering machinery to travel, and each working motor is used to drive the engineering machinery to perform a type of operation. Different working conditions such as operation and travel of the engineering machinery are driven by independent motors, which not only realizes high-precision real-time control of the engineering machinery. The short transmission chain of the hydrogen fuel cell makes the energy transfer efficiency of the hydrogen energy battery higher, further meets the power requirements of the engineering machinery, and improves the operation accuracy and efficiency of the engineering machinery.

[0058] The target motor to be powered is different for different working conditions of the construction machinery, and the target motor is any one of the main drive motor and at least one working motor. According to the working condition, each target motor to be powered is determined. For example, if the working condition of the construction machinery is a driving condition, the target motor to be powered is the main drive motor, so as to drive the construction machinery to travel through the main drive motor.

[0059] S130, determining a control strategy for the power battery and the hydrogen fuel cell based on the operating conditions and the actual remaining power.

[0060] Based on the working conditions and the actual remaining power, the control strategy of the power battery and the hydrogen fuel cell is determined. The hydrogen fuel cell and the power battery are controlled based on the working conditions of the construction machinery and the actual remaining power of the power battery, so that the output power of the hydrogen energy battery can meet the power requirements of the construction machinery under different working conditions.

[0061] S140, supplying energy to the target motor according to the control strategy.

[0062] Usually, when the working condition of the construction machinery is driving condition or working condition, there is a target motor to be powered. When the working condition of the construction machinery is parking condition or braking condition, there is no target motor to be powered. When it is determined that there is a target motor to be powered, the control strategy of the power battery and the hydrogen fuel cell is determined, and according to the control strategy, the target motor is powered by hydrogen energy. Hydrogen energy has high conversion efficiency, and the combustion product is only water, and no greenhouse gases such as carbon dioxide are produced, achieving zero exhaust emissions of construction machinery.

[0063] In an embodiment of the present application, the energy device further comprises an electrical device;

[0064] The control method of the energy device also includes:

[0065] When the operating condition is an energy recovery condition and the actual remaining power is less than the preset power upper limit value, the hydrogen fuel cell is controlled to be shut down;

[0066] The charging and discharging state of the power battery is controlled according to the energy recovery power and the power used by the electrical device.

[0067] In this embodiment, the energy equipment also includes a braking energy recovery system and a winch energy recovery system, so that the energy recovery working condition includes a braking energy recovery working condition and a winch energy recovery working condition. When the engineering machinery brakes and decelerates during driving, the working condition of the engineering machinery is a braking energy recovery working condition. When the engineering machinery needs to lower the height of heavy objects by winching during operation, the working condition of the engineering machinery is a winch energy recovery working condition. When the working condition is an energy recovery condition and the actual remaining power is less than the preset power upper limit value, the hydrogen fuel cell is controlled to be turned off. The hydrogen fuel cell does not discharge, that is, the discharge power of the hydrogen fuel cell is 0.

[0068] When the working condition is energy recovery, the main drive motor and the working motor do not consume energy and only need to supply energy to the electrical device. The charging and discharging state of the power battery is controlled according to the energy recovery power and the power used by the electrical device.

[0069] In an embodiment of the present application, the charging and discharging state of the power battery is controlled according to the energy recovery power and the power used by the power consumption device, including:

[0070] When the energy recovery power is greater than the power used by the power-consuming device, the power battery is controlled to be charged;

[0071] When the energy recovery power is less than the used power, the power battery is controlled to discharge.

[0072] When the working condition of the construction machinery is the braking energy recovery condition, the energy recovery power obtained is the recovery power of the braking energy recovery system. When the working condition of the construction machinery is the hoisting energy recovery condition, the energy recovery power obtained is the recovery power of the hoisting energy recovery system. Determine whether the energy recovery power corresponding to the energy recovery condition is greater than the power used by the electrical device.

[0073] When the energy recovery power is greater than the power used by the electric device, the recovered electric energy can meet the power used by the electric device, and there is still extra recovered electric energy. The power battery is controlled to charge, that is, the power battery is charged by the extra recovered electric energy.

[0074] When the energy recovery power is less than the power usage, the recovered electric energy cannot meet the power usage of the electric device. The power battery is controlled to discharge, and the power battery provides electric energy to the electric device, thereby meeting the power usage of the electric device.

[0075] In the embodiment of the present application, the control strategy of the power battery and the hydrogen fuel cell is determined based on the operating conditions and the actual remaining power, including:

[0076] When the working condition is a driving condition or an operating condition, the required power of the construction machinery is determined according to the power corresponding to each target motor;

[0077] When the required power is less than the preset discharge power, and the actual remaining power is less than the preset power upper limit, the control strategy is determined to be the first control strategy, wherein the preset discharge power is the power corresponding to the optimal efficiency point of the hydrogen fuel cell, and the first control strategy is to control the hydrogen fuel cell to discharge based on the preset discharge power, and control the power battery to charge until the actual remaining power is greater than or equal to the preset power upper limit;

[0078] When the required power is greater than or equal to the preset discharge power and the actual remaining power is greater than the preset lower limit of the power, the control strategy is determined to be the second control strategy, wherein the second control strategy is to control the hydrogen fuel cell to discharge based on the preset discharge power, and to control the power battery to discharge based on the difference between the required power and the preset discharge power.

[0079] When the working condition is a driving condition or an operating condition, the required power of the construction machinery is determined according to the power corresponding to each target motor. The motors that need to be powered under different working conditions are different. The power corresponding to all target motors is added together to determine the required power of the construction machinery.

[0080] When the required power is less than the preset discharge power and the actual remaining power is less than the preset power upper limit, the working condition of the construction machinery can be determined to be the power following condition. Under the power following condition, the control strategy is determined to be the first control strategy, and the hydrogen fuel cell provides all the required power of the construction machinery, and the additional electric energy generated by the hydrogen fuel cell is used to charge the power battery. When the actual remaining power is greater than or equal to the preset power upper limit, the power battery is stopped from being charged.

[0081] When the required power is greater than or equal to the preset discharge power, and the actual remaining power is greater than the preset power lower limit, the working condition of the construction machinery can be determined as the power compensation working condition. Under the power compensation working condition, the control strategy is determined to be the second control strategy, and the hydrogen fuel cell discharges based on the preset discharge power, and the power battery discharges based on the difference between the required power and the preset discharge power to compensate for the additional required power, so that the construction machinery can operate while meeting the required power.

[0082] In this embodiment, when the target motor is the main drive motor, the electric energy is transmitted to the main drive motor through the control strategy. The main drive motor can transmit power to the drive axle, drive the axle to operate and then drive the engineering machinery to travel. The main drive motor can also transmit power to the power take-off, and the power take-off drives the hydraulic oil pump to achieve the leg extension and retraction operation and / or boom extension and retraction operation. The preset discharge power is the power corresponding to the optimal efficiency point of the hydrogen fuel cell. Most of the time during the operation of engineering machinery is in driving conditions and driving conditions. Through the control strategy of this application, the hydrogen fuel cell is in the optimal efficiency point most of the time. The power battery is an auxiliary energy supply source, which compensates for the additional required power for heavy load and other working conditions, and can meet the power requirements of engineering machinery under different working conditions. The energy conversion efficiency of the energy equipment is high, which further avoids energy waste.

[0083] In the embodiment of the present application, the control strategy of the power battery and the hydrogen fuel cell is determined based on the operating conditions and the actual remaining power, including:

[0084] When the operating condition is the starting condition and the actual remaining power is greater than the preset power lower limit, the hydrogen fuel cell is controlled to discharge, and it is determined whether the current discharge power of the hydrogen fuel cell reaches the target discharge power;

[0085] When the current discharge power of the hydrogen fuel cell does not reach the target discharge power, determining the control strategy to be the third control strategy, wherein the third control strategy is to control the hydrogen fuel cell to increase the current discharge power and control the power battery to discharge based on the first power;

[0086] When the current discharge power of the hydrogen fuel cell reaches the target discharge power, the control strategy is determined to be the fourth control strategy, wherein the fourth control strategy is to control the hydrogen fuel cell to discharge based on the target discharge power, and to control the power battery to discharge based on the second power, and the second power is less than the first power.

[0087] When the operating condition is the startup condition and the actual remaining power is greater than the preset power lower limit, the hydrogen fuel cell is controlled to turn on and the hydrogen fuel cell is controlled to discharge. Although the hydrogen fuel cell has a high energy density, the power generation process takes a certain amount of time, and the power generation power is affected by many factors. After the hydrogen fuel cell is switched from off to on, it takes a certain amount of time for the current discharge power to reach the target discharge power, and it is necessary to determine in real time whether the current discharge power of the hydrogen fuel cell reaches the target discharge power. The value of the target discharge power is set according to actual needs and is not limited here. For ease of understanding, in the embodiments of the present application, the target discharge power is equal to the preset discharge power, so that the hydrogen fuel cell is at the optimal efficiency point most of the time.

[0088] The power battery can quickly respond to the energy needs of the construction machinery, ensuring that the construction machinery can obtain sufficient power at any time. When the current discharge power of the hydrogen fuel cell does not reach the target discharge power, the control strategy is determined to be the third control strategy. The hydrogen fuel cell is controlled to increase the current discharge power, and the power battery is controlled to discharge based on the first power. At this time, the power battery provides the main power required for starting, and the hydrogen fuel cell provides additional power.

[0089] When the current discharge power of the hydrogen fuel cell reaches the target discharge power, the control strategy is determined to be the fourth control strategy. The hydrogen fuel cell is controlled to discharge based on the target discharge power, and the power battery is controlled to discharge based on the second power, that is, the power generation power of the power battery is reduced from the first power to the second power. At this time, the hydrogen fuel cell reaches a stable power, and the power battery is only used as an auxiliary power source.

[0090] It should be understood that the values ​​of the second power and the first power are set according to actual needs. The first power can be a value close to the preset discharge power, and the second power can be a value much smaller than the preset discharge power, which is not limited here. Under the starting condition, the hydrogen fuel cell and the power battery are used together as energy sources to achieve continuous energy supply and improve the endurance of the crane.

[0091] In an embodiment of the present application, the control method of the energy device further includes:

[0092] When the operating condition is parking condition and the actual remaining power is less than the preset lower power limit, the hydrogen fuel cell is controlled to start, and the power battery is controlled to charge until the actual remaining power is greater than or equal to the preset upper power limit.

[0093] When the working condition is the parking condition and the actual remaining power is less than the preset power lower limit, in this embodiment, the hydrogen fuel cell is controlled to discharge based on the preset discharge power, so that the hydrogen fuel cell is at the optimal efficiency point. In addition, the power battery is controlled to charge, and all the electricity generated by the hydrogen fuel cell is used to charge the power battery pack. When the actual remaining power of the power battery is greater than or equal to the preset power upper limit, the charging of the power battery is stopped. By charging the power battery in the parking condition, the working condition of the engineering machinery is made into the driving condition or the operating condition, and the power battery has enough power to supply energy to the motor.

[0094] The present application provides a control method for energy equipment, the energy equipment includes a power battery, a hydrogen fuel cell, a main drive motor and at least one working motor, the main drive motor is used to drive the engineering machinery to travel, each working motor is used to drive the engineering machinery to perform a type of operation, and the control method of the energy equipment includes: determining the working condition of the engineering machinery and the actual remaining power of the power battery; determining each target motor to be powered according to the working condition; determining the control strategy of the power battery and the hydrogen fuel cell based on the working condition and the actual remaining power; and powering the target motor according to the control strategy. The hydrogen fuel cell and the power battery are controlled based on the working condition of the engineering machinery and the actual remaining power of the power battery, so that the output power of the hydrogen energy battery can meet the power requirements of the engineering machinery under different working conditions. In addition, different working conditions such as operation and travel are driven by independent motors, and the transmission chain of the hydrogen fuel cell is short, which makes the energy transfer efficiency of the hydrogen energy battery higher, further meets the power requirements of the engineering machinery, and improves the operation accuracy and efficiency of the engineering machinery.

[0095] The present application also provides a control device, including:

[0096] a memory configured to store instructions;

[0097] The processor is configured to call instructions from the memory and implement the above-mentioned energy device control method when executing the instructions.

[0098] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be provided, and the control method of the energy device is realized by adjusting the kernel parameters.

[0099] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0100] Figure 2 The schematic diagram of the structure of the first energy device according to the embodiment of the present application is shown. Figure 2 As shown, the embodiment of the present application provides an energy device 200, including the above-mentioned control device 210, a power battery 220, a hydrogen fuel cell 230, a main drive motor 240 and at least one working motor 250;

[0101] The power battery 220 is configured to supply energy to the main drive motor 240 and / or at least one working motor 250;

[0102] A hydrogen fuel cell 230 is configured to supply energy to a main drive motor 240 and / or at least one working motor 250;

[0103] The main drive motor 240 is configured to drive the engineering machine to travel;

[0104] Each working motor 250 is configured to drive the engineering machine to perform one type of work.

[0105] Figure 3 The structural diagram of the first energy device according to an embodiment of the present application is schematically shown.

[0106] In this embodiment, the control device 210 includes an all-in-one controller 211 and a two-in-one controller 212. The energy device 200 also includes an electrical device 260 and other devices. Other devices are set according to actual needs and are not limited here. For ease of understanding, other devices in the embodiment of the present application include a hydrogen storage system 271, a high-voltage distribution box 272, a variable amplitude motor cylinder 273, a transmission 274, a power take-off 275 and a hydraulic oil pump 276. The hydrogen storage system 271 includes a hydrogen storage bottle, an integrated bottle valve, an integrated pressure regulating module, a hydrogen filling port, a hydrogen storage system 271 controller and a pressure relief and hydrogen discharge device. After the hydrogen fuel cell 230 is turned on, hydrogen is transported to the hydrogen fuel cell 230 through the hydrogen storage system 271. The hydrogen fuel cell 230 generates electrical energy through the chemical reaction of hydrogen and oxygen. The electric energy is transmitted to the high-voltage distribution box 272 through a two-phase high-voltage wire harness. The high-voltage distribution box 272 is also connected to a group of power batteries 220. The power batteries 220 are charged and discharged according to the working conditions of the engineering machinery and the actual residual current.

[0107] After the high-voltage distribution box 272 receives the electric energy, it distributes it to the two-in-one controller 212 and the multi-in-one controller 211 through a two-phase high-voltage wire harness. The two-in-one controller 212 is connected to the power device 260 through a two-phase high-voltage wire harness to control the working state of the power device 260. The two-in-one controller 212 also transmits the electric energy to the main drive motor 240 through a three-phase high-voltage wire harness, and the main drive motor 240 is mechanically connected to the transmission 274. The main drive motor 240 can transfer power to the drive axle, drive the axle to operate and then drive the engineering machinery to travel. The main drive motor 240 can also transfer power to the power take-off 275, and the power take-off 275 drives the hydraulic oil pump 276 to achieve the leg extension and retraction operation and / or the boom extension and retraction operation.

[0108] When the power source of the construction machinery only includes the main drive motor 240, that is, when the construction machinery is a centralized electric drive system, the flexibility of control and adjustment of the construction machinery is relatively poor, which affects the precision and efficiency of the lifting operation. In addition, all operations of the centralized electric drive system transmit power through the transmission 274, the power take-off 275 and the hydraulic oil pump 276, which reduces the power transmission efficiency during the operation and increases additional energy consumption.

[0109] For ease of understanding, in the embodiment of the present application, the engineering machinery is a crane using distributed electric drive, and at least one operating motor 250 includes a variable amplitude motor 251, a hoisting motor 252 and a rotary motor 253. The all-in-one control transmits electric energy to each operating motor 250 through a three-phase high-voltage wiring harness. The variable amplitude motor 251 transmits power to the variable amplitude motor cylinder 273, driving the variable amplitude motor cylinder 273 to work to achieve variable amplitude drive. The hoisting motor 252 and the rotary motor 253 realize the hoisting drive and rotary drive by direct drive. When the engineering machinery performs variable amplitude operation, hoisting operation and rotary operation, it is no longer necessary to transmit power through the transmission 274, the power take-off 275 and the hydraulic oil pump 276. The power transmission chain is short, which makes the energy transmission efficiency of the hydrogen energy battery higher, further meets the power requirements of the engineering machinery, and improves the operation accuracy and efficiency of the engineering machinery.

[0110] Generally, the power demand of construction machinery under driving conditions is higher, and the power demand under operating conditions is lower. When the power source of the construction machinery only includes the main drive motor 240, the power of the motor is easily wasted under operating conditions. The use of distributed electric drive in construction machinery can match the optimal efficiency range of the motor with the working conditions of the construction machinery, so that the motor of the construction machinery can operate at high efficiency under different working conditions, thereby improving the utilization efficiency of the power battery 220 and the hydrogen fuel cell 230. Independent control of the main drive motor 240 and the operating motor 250 can also make the construction machinery more stable and controllable, thereby improving the control performance of the construction machinery and helping users to complete the actions of the construction machinery more accurately under complex working conditions.

[0111] An embodiment of the present application also provides an engineering machine, comprising the above-mentioned energy equipment.

[0112] The engineering machinery also includes other structures, which are set according to actual needs and are not limited here. For ease of understanding, the other structures in the embodiments of the present application also include outriggers and booms. The main drive motor in the energy device transmits power through the transmission, power take-off and hydraulic oil pump in turn, and then drives the outriggers and booms through the hydraulic oil pump, thereby realizing the outrigger extension and retraction of the outriggers and booms of the engineering machinery.

[0113] An embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned control method of the energy device.

[0114] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0115] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0116] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0117] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0118] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0119] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0120] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0121] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0122] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for controlling an energy device, characterized in that: The energy device includes a power battery, a hydrogen fuel cell, a main drive motor and at least one working motor, wherein the main drive motor is used to drive the engineering machine to travel, and each working motor is used to drive the engineering machine to perform a type of operation. The control method of the energy device includes: Determining the operating condition of the engineering machinery and the actual remaining power of the power battery; According to the working condition, each target motor to be powered is determined, wherein the target motor is any one of the main drive motor and the at least one working motor; Determining a control strategy for the power battery and the hydrogen fuel cell based on the operating condition and the actual remaining power; The target motor is powered according to the control strategy.

2. The method for controlling an energy device according to claim 1, characterized in that: The determining of the control strategy of the power battery and the hydrogen fuel cell based on the operating condition and the actual remaining power includes: When the working condition is a driving condition or an operating condition, determining the required power of the engineering machinery according to the power corresponding to each target motor; In the case where the required power is less than the preset discharge power, and the actual remaining power is less than the preset power upper limit, the control strategy is determined to be the first control strategy, wherein the preset discharge power is the power corresponding to the optimal efficiency point of the hydrogen fuel cell, and the first control strategy is to control the hydrogen fuel cell to discharge based on the preset discharge power, and control the power battery to charge until the actual remaining power is greater than or equal to the preset power upper limit; When the required power is greater than or equal to the preset discharge power, and the actual remaining power is greater than the preset lower limit of power, the control strategy is determined to be the second control strategy, wherein the second control strategy is to control the hydrogen fuel cell to discharge based on the preset discharge power, and to control the power battery to discharge based on the difference between the required power and the preset discharge power.

3. The control method of energy equipment according to claim 1, characterized in that: The determining of the control strategy of the power battery and the hydrogen fuel cell based on the operating condition and the actual remaining power includes: When the operating condition is a starting condition and the actual remaining power is greater than a preset power lower limit, controlling the hydrogen fuel cell to discharge, and determining whether the current discharge power of the hydrogen fuel cell reaches a target discharge power; When the current discharge power of the hydrogen fuel cell does not reach the target discharge power, determining that the control strategy is a third control strategy, wherein the third control strategy is to control the hydrogen fuel cell to increase the current discharge power and control the power battery to discharge based on the first power; When the current discharge power of the hydrogen fuel cell reaches the target discharge power, the control strategy is determined to be the fourth control strategy, wherein the fourth control strategy is to control the hydrogen fuel cell to discharge based on the target discharge power, and to control the power battery to discharge based on a second power, and the second power is less than the first power.

4. The control method of energy equipment according to claim 1, characterized in that: The energy device also includes an electrical device; The control method of the energy device also includes: When the operating condition is an energy recovery condition and the actual remaining power is less than a preset power upper limit, controlling the hydrogen fuel cell to shut down; The charging and discharging state of the power battery is controlled according to the energy recovery power and the power used by the power consumption device.

5. The method for controlling an energy device according to claim 4, characterized in that: The controlling the charging and discharging state of the power battery according to the energy recovery power and the power used by the power consumption device comprises: When the energy recovery power is greater than the power used by the power consumption device, controlling the power battery to charge; When the energy recovery power is less than the usage power, the power battery is controlled to discharge.

6. The method for controlling an energy device according to claim 1, characterized in that: The control method of the energy device also includes: When the operating condition is a parking condition and the actual remaining power is less than a preset lower power limit, the hydrogen fuel cell is controlled to discharge, and the power battery is controlled to charge until the actual remaining power is greater than or equal to a preset upper power limit.

7. A control device, characterized in that: include: a memory configured to store instructions; A processor is configured to call the instructions from the memory and implement the control method of the energy device according to any one of claims 1 to 6 when executing the instructions.

8. An energy device, characterized in that: It comprises a control device according to claim 7, a power battery, a hydrogen fuel cell, a main drive motor and at least one working motor; The power battery is configured to supply energy to the main drive motor and / or the at least one working motor; The hydrogen fuel cell is configured to supply energy to the main drive motor and / or the at least one working motor; The main drive motor is configured to drive the engineering machine to travel; Each of the working motors is configured to drive the engineering machine to perform a type of work.

9. An engineering machine, characterized in that: Comprising the energy device of claim 8.

10. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions, which are used to enable a machine to execute the control method of an energy device according to any one of claims 1 to 6.

Images