Energy equipment control method, device, energy equipment, engineering machinery and medium

Abstract

The embodiments of the present application disclose a control method, device, energy equipment, engineering machinery and medium for energy equipment, which belongs to the field of equipment control technology. 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. The control method of the energy equipment is applied to electric engineering machinery with a new energy architecture. 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. Controlling the hydrogen fuel cell and the power battery together based on the power of the power battery according to the working condition can meet the power requirements of the engineering machinery under different working conditions.

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 considered the green energy with the greatest development potential in the future. Construction machinery powered by new energy sources such as hydrogen not only has a faster power system response speed, enables more precise control, and improves work efficiency, but also significantly reduces emissions and reduces environmental pollution. According to the current development trend of construction machinery, construction machinery with new energy architectures has already 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 construction machinery. Due to the long startup time of current hydrogen energy batteries, hydrogen energy batteries are usually combined with power batteries, using the power battery's rapid charging and discharging capabilities to meet the power requirements of construction machinery.

[0003] However, in the process of using hydrogen energy batteries and power batteries in combination, 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 can easily lead 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 this technical solution is also suitable for electric engineering machinery with a new energy architecture, achieving 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] To achieve the above objectives, the present application provides, in a first aspect, a method for controlling an energy device, wherein 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 method for controlling the energy device 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 energized according to the working condition, wherein the target motor is any one of the main drive motor and the at least one working motor;

[0008] Determine the control strategy for the power battery and hydrogen fuel cell based on the operating conditions and 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 based on 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 power lower limit, 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, controlling the hydrogen fuel cell to discharge and determining 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 further includes:

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

[0021] The charge and discharge status of the power battery is controlled according to the energy recovery power and the power consumption of the electrical device.

[0022] In an embodiment of the present application, controlling the charge and discharge state of the power battery according to the energy recovery power and the power used by the power consumption device includes:

[0023] When the energy recovery power is greater than the power consumption of the power device, the power battery is controlled to charge;

[0024] When the energy recovery power is less than the used 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 and the actual remaining power is less than the preset lower 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 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] A third aspect of the present application provides an energy device, comprising the above-mentioned control device, a power battery, a hydrogen fuel cell, a main drive motor, and at least one operating motor;

[0031] A power battery is 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 operating motor;

[0033] A main drive motor is configured to drive the construction machinery 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 machine comprising the above-mentioned energy equipment.

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

[0037] The present application provides a method for controlling an energy device, wherein the energy device includes a power battery, a hydrogen fuel cell, a main drive motor, and at least one operating motor, wherein the main drive motor is used to drive the engineering machinery to travel, and each operating motor is used to drive the engineering machinery to perform a type of operation. The method for controlling the energy device 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 based on the working condition; determining a control strategy for 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. By controlling the hydrogen fuel cell and the power battery based on the working condition of the engineering machinery and the actual remaining power of the power battery, 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 operating 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 detailed description. 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 detailed description, 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 The following schematically shows a flow chart of a method for controlling an energy device according to an embodiment of the present application;

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

[0042] Figure 3 The schematic diagram shows the structure of the first energy device according to the embodiment of the present application.

[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-Power consumption 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] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions 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, certain software, components, models, and other existing solutions in the industry may be mentioned. These 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 such solutions.

[0047] It should be noted that if directional indications are involved in the embodiments of the present application, such directional indications are only used to explain the relative positional relationship, movement status, etc. between the components under 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 for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0049] Traditional construction machinery typically uses a diesel internal combustion engine, or hydraulic transmission, to transmit the engine's power to various components. Because diesel engines typically have a combustion efficiency of less than 40%, and the hydraulic transmission is complex, this results in low transmission efficiency for construction machinery.

[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 this application is a new energy crane. The energy equipment of the construction machinery is driven by an electric motor. Not only does it have a faster power system response speed, it can achieve more precise control and improve work efficiency, but it can also 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 following schematically shows a flow chart of a method for controlling an energy device according to an embodiment of the present application. Figure 1 As shown, the embodiment of the present application provides a method for controlling an energy device. Figure 1 The control method of the energy device in the present invention is applicable to electric engineering machinery with a new energy architecture. The control method of the energy device includes:

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

[0053] The main component of a hydrogen fuel cell is a proton exchange membrane fuel cell, which generates electricity through a chemical reaction between hydrogen and oxygen. During this process, hydrogen is catalyzed by a catalyst at the anode to break down into protons and electrons. The protons pass through the proton exchange membrane to the cathode, while the electrons flow through an external circuit to generate an electric current, ultimately combining with oxygen at the cathode to form water. Power batteries are batteries specifically designed to provide power and energy support, featuring 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 discussed in detail here.

[0054] The power sources of construction machinery include power batteries and hydrogen fuel cells. Power batteries can reach rated power in a short period of time, enabling rapid startup of construction machinery and power compensation during large load changes, reducing the waiting time of the hydrogen fuel cell power reserve process, and improving the driving and operating efficiency of construction machinery. In this embodiment, the new energy construction machinery has a higher energy density than the construction machinery with a fuel structure. Hydrogen as a fuel has a higher energy density and does not require frequent and long-term charging. It can provide continuous and stable power output for the crane and is not restricted in operating conditions. In addition, hydrogen fuel cells are simple 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 energized 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 construction machinery utilizes a distributed electric drive system. Specifically, the construction machinery's energy system includes a main drive motor and at least one operating motor. The main drive motor is used to drive the construction machinery for travel, and each operating motor is used to drive the construction machinery for a specific type of operation. Different operating conditions, such as operation and travel, are driven by independent motors, enabling high-precision, real-time control of the construction machinery. The short transmission chain of hydrogen fuel cells increases the energy transfer efficiency of the hydrogen energy cell, further meeting the power requirements of the construction machinery and improving its operational precision and efficiency.

[0058] Depending on the operating condition of the construction machinery, the target motor to be energized may vary. The target motor may be any one of the main drive motor and at least one working motor. Each target motor to be energized is determined based on the operating condition. For example, if the construction machinery is in a driving condition, the target motor to be energized is the main drive motor, which is used to drive the construction machinery.

[0059] S130: Determine control strategies for the power battery and the hydrogen fuel cell based on the operating conditions and the actual remaining power.

[0060] The control strategy for the power battery and hydrogen fuel cell is determined based on the operating conditions and the actual remaining power. By controlling the hydrogen fuel cell and power battery based on the operating conditions of the construction machinery and the actual remaining power of the power battery, the output power of the hydrogen energy battery can meet the power requirements of the construction machinery under different operating conditions.

[0061] S140: Supply energy to the target motor according to the control strategy.

[0062] Typically, when construction machinery is in driving or operating conditions, there is a target motor to be powered. However, when the construction machinery is in parking or braking conditions, there is no target motor to be powered. If a target motor is identified, a control strategy for the power battery and hydrogen fuel cell is determined. Based on this control strategy, the target motor is powered by hydrogen energy. Hydrogen energy has high conversion efficiency, and its combustion product is only water, without producing greenhouse gases such as carbon dioxide, achieving zero tailpipe emissions for the 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 further includes:

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

[0066] The charge and discharge status of the power battery is controlled according to the energy recovery power and the power consumption of 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 working condition and the actual remaining power is less than the preset power upper limit value, the hydrogen fuel cell is controlled to shut down. The hydrogen fuel cell does not discharge, that is, the discharge power of the hydrogen fuel cell is 0.

[0068] When operating in an energy recovery mode, the main drive motor and the working motor consume no energy and only need to supply energy to the electrical devices. The charge and discharge status of the power battery is controlled based on the energy recovery power and the power used by the electrical devices.

[0069] In an embodiment of the present application, controlling the charge and discharge state of the power battery according to the energy recovery power and the power used by the power consumption device includes:

[0070] When the energy recovery power is greater than the power consumption of the power device, the power battery is controlled to charge;

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

[0072] If the construction machinery is operating in the braking energy recovery mode, the energy recovery power obtained is the recovery power of the braking energy recovery system. If the construction machinery is operating in the hoisting energy recovery mode, 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 mode is greater than the power consumption of the electrical device.

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

[0074] When the energy recovery power is less than the power consumption, the recovered energy cannot meet the power consumption of the electrical device. The power battery is controlled to discharge and provide power to the electrical device through the power battery, thereby meeting the power consumption of the electrical 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 based on 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 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 operating condition is driving or operating, the required power of the construction machinery is determined based on the power of each target motor. Different motors require energy under different operating conditions, so the power required by all target motors is added together to determine the required power of the construction machinery.

[0080] If the required power is less than the preset discharge power and the actual remaining power is less than the preset upper limit, the construction machinery can be determined to be operating in a power-following mode. In this power-following mode, the control strategy is determined to be the first control strategy, where the hydrogen fuel cell provides the entire required power for the construction machinery, and the excess power generated by the hydrogen fuel cell is used to charge the power battery. If the actual remaining power is greater than or equal to the preset upper limit, charging of the power battery is stopped.

[0081] If 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, the construction machinery can be determined to be operating in a power compensation mode. Under the power compensation mode, the second control strategy is selected. The hydrogen fuel cell discharges based on the preset discharge power, while the power battery discharges based on the difference between the required power and the preset discharge power to compensate for the excess power demand, allowing the construction machinery to operate while meeting the required power.

[0082] In this embodiment, when the target motor is the main drive motor, 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 realizes the leg extension and retraction operation and / or boom extension and retraction operation by driving the hydraulic oil pump. 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 power demand for heavy load conditions 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, controlling the hydrogen fuel cell to discharge and determining 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 starting condition and the actual remaining power is greater than the preset power lower limit, the hydrogen fuel cell is controlled to start 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. 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 embodiment 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 it always has sufficient power. If the hydrogen fuel cell's current discharge power does not reach the target discharge power, the third control strategy is selected. This controls the hydrogen fuel cell to increase the current discharge power, while the power battery is controlled to discharge based on the first power. In this case, the power battery provides the primary power required for startup, while the hydrogen fuel cell provides additional power.

[0089] When the current discharge power of the hydrogen fuel cell reaches the target discharge power, the fourth control strategy is determined. 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. This means that the power battery's generated power is reduced from the first power to the second power. At this point, the hydrogen fuel cell reaches a stable power level, and the power battery serves only as an auxiliary power source.

[0090] It should be understood that the second and first power values ​​are set based on actual needs. The first power can be close to the preset discharge power, while the second power can be significantly less than the preset discharge power, without limitation. During startup, the hydrogen fuel cell and power battery are used together as energy sources, ensuring a continuous energy supply and improving the crane's endurance.

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

[0092] When the operating condition is parking and the actual remaining power is less than the preset lower 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 limit.

[0093] When the vehicle is parked and the actual remaining charge is less than a preset lower limit, this embodiment controls the hydrogen fuel cell to discharge based on a preset discharge power, ensuring the hydrogen fuel cell maintains its optimal efficiency. Furthermore, the power battery is controlled to charge, with all the electricity generated by the hydrogen fuel cell used to charge the power battery pack. When the actual remaining charge in the power battery is greater than or equal to a preset upper limit, charging of the power battery is stopped. By charging the power battery in the parked condition, the construction machinery is brought into a driving or operating condition, ensuring that the power battery has sufficient energy to power the motor.

[0094] The present application provides a method for controlling an energy device, wherein the energy device includes a power battery, a hydrogen fuel cell, a main drive motor, and at least one operating motor, wherein the main drive motor is used to drive the engineering machinery to travel, and each operating motor is used to drive the engineering machinery to perform a type of operation. The method for controlling the energy device 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 based on the working condition; determining a control strategy for 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. By controlling the hydrogen fuel cell and the power battery based on the working condition of the engineering machinery and the actual remaining power of the power battery, 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 operating 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 core, which retrieves the corresponding program unit from the memory. There can be one or more cores, and the control method of the energy device described above can be implemented by adjusting the core 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] The hydrogen fuel cell 230 is configured to provide energy to the 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 construction machine to perform a type of work.

[0105] Figure 3 The schematic diagram shows the structure of the first energy device according to the embodiment of the present application.

[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 electrical energy is transmitted to the high-voltage distribution box 272 through a two-phase high-voltage wiring harness. The high-voltage distribution box 272 is also connected to the power battery 220 group. The power battery 220 is 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 wiring harness. The two-in-one controller 212 is connected to the power-consuming device 260 through a two-phase high-voltage wiring harness to control the working state of the power-consuming device 260. The two-in-one controller 212 also transmits electric energy to the main drive motor 240 through a three-phase high-voltage wiring harness, and the main drive motor 240 is mechanically connected to the transmission 274. The main drive motor 240 can transmit 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 transmit power to the power take-off 275, and the power take-off 275 realizes the leg extension and retraction operation and / or the boom extension and retraction operation by driving the hydraulic oil pump 276.

[0108] When the power source for construction machinery consists solely of the main drive motor 240, i.e., when the construction machinery utilizes a centralized electric drive system, the control and adjustment flexibility of the construction machinery is relatively limited, affecting the precision and efficiency of lifting operations. Furthermore, all operations in the centralized electric drive system are powered by the transmission 274, power take-off 275, and hydraulic oil pump 276, reducing power transmission efficiency during operations and increasing energy consumption.

[0109] For ease of understanding, in the embodiment of the present application, the engineering machinery is a crane using a distributed electric drive. At least one operating motor 250 includes a luffing motor 251, a hoisting motor 252, and a slewing motor 253. The all-in-one control transmits electrical energy to each operating motor 250 through a three-phase high-voltage wiring harness. The luffing motor 251 transmits power to the luffing motor cylinder 273, driving the luffing motor cylinder 273 to work and realize luffing drive. The hoisting motor 252 and the slewing motor 253 realize hoisting drive and slewing drive by direct drive. When the engineering machinery performs luffing operation, hoisting operation, and slewing operation, it no longer needs 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 operating accuracy and efficiency of the engineering machinery.

[0110] Typically, construction machinery requires higher power under driving conditions and lower power under operating conditions. In the case where the power source of the construction machinery only includes the main drive motor 240, it is easy for the motor to waste power 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. The 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 construction machinery also includes other structures, which are configured based on actual needs and are not limited here. For ease of understanding, the other structures in the embodiments of this 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, which in turn drives the outriggers and boom via the hydraulic oil pump, thereby achieving telescopic outriggers and boom extension of the construction 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 for the energy device.

[0114] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems or computer program products. Therefore, the present application can 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 can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic 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 produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. 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 that can direct a computer or other programmable data processing device to work 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 The 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 operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0118] In a typical configuration, a computing device includes one or more processors (CPUs), 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 includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The 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 disc read-only memory (CD-ROM), digital versatile disc (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 transitory media such as modulated data signals and carrier waves.

[0121] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0122] The above are merely 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 modifications and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all 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; Determining each target motor to be energized according to the operating condition, 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; supplying energy to the target motor according to the control strategy; 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; When the required power is less than the preset discharge power and the actual remaining power is less than the preset power upper limit, determining the control strategy 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 power lower limit, 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.

2. The method for controlling an energy device according to claim 1, wherein: 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 operating 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.

3. The method for controlling an energy device according to claim 1, wherein: The energy device also includes an electrical device; The control method of the energy device further includes: When the operating condition is an energy recovery operating condition and the actual remaining power is less than a preset power upper limit, controlling the hydrogen fuel cell to shut down; The charge and discharge state of the power battery is controlled according to the energy recovery power and the power used by the electrical device.

4. The method for controlling an energy device according to claim 3, wherein: The controlling the charge and discharge state of the power battery according to the energy recovery power and the power used by the electric device includes: When the energy recovery power is greater than the power consumption of 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.

5. The method for controlling an energy device according to claim 1, wherein: The control method of the energy device further 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.

6. 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 5 when executing the instructions.

7. An energy device, characterized in that comprising a control device according to claim 6, a power battery, a hydrogen fuel cell, a main drive motor and at least one operating 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.

8. An engineering machine, characterized in that: Comprising the energy device of claim 7.

9. 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 method for controlling an energy device according to any one of claims 1 to 5.

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