Whole-vehicle power-on and power-off control method for amphibious transport vehicle based on time sequence management

Abstract

The invention relates to the technical field of power-on and power-off control of multifunctional hybrid power transport vehicles, and particularly discloses a whole-vehicle power-on and power-off control method for an amphibious transport vehicle based on time sequence management. The control sequence and the logic relation of each key relay and electric equipment of the high-low voltage system are stipulated, and the power-on and power-off control rule based on the time sequence management comprises a whole vehicle power-on and power-off relay control time sequence based on the time sequence management and a whole vehicle power-on and power-off electric equipment control time sequence based on the time sequence management; according to the traveling power-on and power-off and charging power-on and power-off control strategy of the amphibious heavy-load transport vehicle based on time sequence management, specific control logics of low-voltage power-on and power-off, high-voltage power-on and power-off and charging power-on and power-off of the vehicle are stipulated, and meanwhile safe and efficient power-on and power-off control over a high-voltage system and a low-voltage system of the vehicle can be achieved in combination with a whole vehicle fault

Description

Technical Field

[0001] The invention relates to the technical field of power-on and power-off control for multifunctional hybrid transport vehicles, and in particular to a method for power-on and power-off control for an amphibious transport vehicle with time sequence management. Background Art

[0002] Amphibious heavy-duty transport vehicles are advanced transport vehicles developed to meet the needs of heavy-duty transport and operation in complex environments. These vehicles not only have the ability to travel on traditional land, but can also operate stably in waters and adapt to various complex terrains and harsh environments. Therefore, they are widely used in military, engineering construction, disaster relief and other fields. Hybrid power systems have become an important technical direction for amphibious heavy-duty transport vehicles. By combining the advantages of internal combustion engines and electric motors, they can not only improve energy efficiency, but also extend the vehicle's cruising range, thereby significantly improving the vehicle's overall performance.

[0003] The power-on and power-off strategy of amphibious heavy-duty transport vehicles is a key technology to ensure the safe and stable operation of the power system. Since vehicles have different demands on the power system in various complex environments such as on land and on water, it is particularly important to ensure the safe and stable power-on and power-off control of various electrical equipment in the vehicle.

[0004] In response to the complex problems such as the power demand of amphibious heavy-duty transport vehicles in various complex operating scenarios on water and on land, and the confusion of power supply timing of high and low voltage systems, the present invention analyzes the timing relationship of power on and off from a safety perspective, formulates corresponding timing rules, and proposes a vehicle power on and off control method for amphibious transport vehicles based on timing management. Summary of the invention

[0005] The purpose of the present invention is to provide a method for controlling the power on and off of an amphibious transport vehicle with time sequence management, so as to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions: Terminology explanation: ISG motor (Integrated Starter Generator): is a motor that integrates starting and generating functions.

[0007] DC / DC Converter (Direct Current to Direct Current Converter): is a power electronic device that converts input DC voltage into different output DC voltage.

[0008] DC / AC Inverter (Direct Current to Alternating Current Inverter): is a power electronic device that converts direct current into alternating current.

[0009] VCU (Vehicle Control Unit): vehicle controller.

[0010] BMS (Battery Management System): Battery management system.

[0011] SOC (State of Charge): battery state of charge.

[0012] OBC charger (On-Board Charger): A key device used to convert external alternating current (AC) into direct current (DC) and charge the on-board high-voltage battery.

[0013] A method for controlling the power on and off of an amphibious transport vehicle with time sequence management, the method comprising: The power-on and power-off control rules based on timing management stipulate the control sequence and logical relationship of each key relay and electrical equipment of the high and low voltage system. The power-on and power-off control rules based on timing management include the control sequence of the power-on and power-off relays of the whole vehicle based on timing management and the control sequence of the power-on and power-off electrical equipment of the whole vehicle based on timing management; It is applicable to the driving and charging power-on and power-off control strategies of amphibious heavy-duty transport vehicles, and combined with the vehicle fault handling strategy, it realizes the safe and efficient power-on and power-off control of the vehicle's high-voltage and low-voltage systems.

[0014] As a further technical solution of the present invention, the control timing of the upper and lower electric relays of the whole vehicle based on timing management is: When receiving the demand for powering on and off the whole vehicle, the amphibious heavy-duty transport vehicle must execute the opening and closing control instructions of the vehicle power-on and power-off related relays in sequence according to the preset relay control timing rules. When the whole vehicle is powered on and off, the relay control timing is: the low-voltage relay is turned on, the main negative relay is turned on, the pre-charging relay is turned on, the main positive relay is turned on, the pre-charging relay is turned off, the main positive relay is turned off, the main negative relay is turned off, and the low-voltage relay is turned off.

[0015] As a further technical solution of the present invention, the control timing of the vehicle power-on and power-off electrical equipment based on timing management is: When receiving the demand for powering on and off the whole vehicle, the amphibious heavy-duty transport vehicle must execute the enable control instructions of the electrical equipment related to powering on and off the whole vehicle in sequence according to the preset electrical equipment control timing rules. When the whole vehicle is powered on and off, the enable control timing of the electrical equipment is to enable the water pump, fan and compressor, enable the DC / DC converter, enable the ISG motor, drive motor and hub motor, enable the wave crushing plate and tail wing plate, enable the jet pump propeller, exit enabling the jet pump propeller, exit enabling the wave crushing plate and tail wing plate, exit enabling the ISG motor, drive motor and hub motor, exit enabling the DC / DC converter, and exit enabling the water pump, fan and compressor.

[0016] As a further technical solution of the present invention, in the power-on and power-off strategy of the amphibious heavy-duty transport vehicle, the power-on and power-off of the amphibious heavy-duty transport vehicle is divided into four modules: low voltage power-on, high voltage power-on, high voltage power-off and low voltage power-off; low voltage power-on includes VCU self-check, closing the low voltage relay and enabling low voltage electrical equipment; high voltage power-on includes closing the main negative relay, pre-charging, closing the main positive relay and disconnecting the pre-charging relay and enabling high voltage electrical equipment; high voltage power-off includes stopping enabling high voltage electrical equipment, disconnecting the main positive relay and disconnecting the main negative relay, and low voltage power-off includes stopping enabling low voltage electrical equipment and disconnecting the low voltage relay; The electrical equipment that needs to be powered on during driving includes high-voltage electrical equipment and accessory electrical equipment. The high-voltage electrical equipment includes ISG motors, drive motors, hub motors and jet pump propellers, etc. The accessory electrical equipment includes cooling fans, cooling water pumps, compressors, DC / DC converters, DC / AC inverters, corrugated boards, tail wing panels, etc.

[0017] During the power-on and power-off process while driving, the fault handling strategy is designed as follows: when the vehicle is in the initial state, if a charging gun signal is detected, low-voltage power-on is prohibited; during the low-voltage power-on process, if a charging gun signal is detected or a major fault occurs in the VCU and BMS systems, the low-voltage power-on state is maintained and high-voltage power-on is prohibited; after the vehicle is in the Ready state, if a charging gun signal is detected, the Ready state is exited and the high-voltage power-on state is maintained; when the vehicle is in the Ready state and a major fault occurs in the VCU system or the BMS system, the vehicle is allowed to enter the high-voltage power-off process after driving at a limited speed for a preset period of time, and the low-voltage power-on state is maintained.

[0018] As a further technical solution of the present invention, the vehicle power-on control strategy: when the low-voltage power-on conditions are met, the whole vehicle enters the low-voltage power-on process, first the VCU performs a self-check, if the self-check passes, the low-voltage relay is closed, if the low-voltage relay is successfully closed, the low-voltage electrical equipment is enabled, if the low-voltage electrical equipment is successfully enabled, the low-voltage power-on of the whole vehicle is completed; when the vehicle meets the high-voltage power-on conditions, the whole vehicle enters the high-voltage power-on process, first the main negative relay is closed, if the main negative relay is successfully closed, the pre-charging relay is closed for pre-charging, if the pre-charging is not completed within the specified time, a second pre-charging is allowed, if it is not completed, the whole vehicle stops high-voltage power-on, if the pre-charging is completed within the specified time, the main positive relay is closed, if the main positive relay is successfully closed, the pre-charging relay is disconnected and the high-voltage electrical equipment is enabled, if the high-voltage electrical equipment is successfully enabled, the high-voltage power-on of the whole vehicle is completed; when the vehicle meets the conditions for entering the Ready state, the whole vehicle enters the Ready state.

[0019] As a further technical solution of the present invention, the vehicle power-off control strategy is as follows: when the vehicle meets any high-voltage power-off condition, the whole vehicle enters the high-voltage power-off process, first disconnects the enabled high-voltage electrical equipment, if the high-voltage electrical equipment is successfully disconnected, then disconnects the main positive relay, if the main positive relay is successfully disconnected, then disconnects the main negative relay, if the main negative relay is successfully disconnected, the high-voltage power-off of the whole vehicle is completed; if a major fault occurs in the VCU or BMS system or the key is in the ACC state, the whole vehicle maintains a low-voltage power-on state; if the key is in the OFF state, the whole vehicle enters the low-voltage power-off process, first disconnects the enabled low-voltage electrical equipment, if the low-voltage electrical equipment is successfully disconnected, then disconnects the low-voltage relay, if the low-voltage relay is successfully disconnected, the low-voltage power-off of the whole vehicle is completed.

[0020] As a further technical solution of the present invention, in the charging and power-on control strategy of the amphibious heavy-duty transport vehicle, the charging and power-on of the amphibious heavy-duty transport vehicle based on timing management is divided into two modules: charging power-on and charging power-off; charging power-on includes VCU self-check, closing the low-voltage relay, closing the main negative relay, closing the charging relay and enabling the charging power-consuming equipment; charging power-off includes disconnecting the enabling charging power-consuming equipment, disconnecting the charging relay, disconnecting the main negative relay and disconnecting the low-voltage relay; The electrical equipment that needs to be powered on during charging and powering on includes cooling fans, cooling water pumps, compressors, DC / DC converters, and DC / AC inverters, which are used to meet the heat dissipation and low-voltage power requirements during charging; During the charging and powering-on process, the fault handling strategy is designed as follows: when the vehicle is in the initial state, if a major fault occurs in the VCU or BMS system, charging and powering-on are prohibited; during the vehicle charging process, if a major fault occurs in the VCU or BMS system, the charging and powering-off process will be entered; when the vehicle is driving and powering-on, if the vehicle is in the low-voltage power-on completion state and the charging gun signal is detected, the charging and powering-on process will be entered; Charging power-on control strategy: When the charging power-on conditions are met, the vehicle enters the charging power-on process. First, the VCU performs a self-test. If the self-test passes, the low-voltage relay is closed. If the low-voltage relay is successfully closed, the main negative relay is closed. If the main negative relay is successfully closed, the charging relay is closed. If the charging relay is successfully closed, the charging power-consuming equipment is enabled. If the charging power-consuming equipment is successfully enabled, the vehicle is successfully charged and powered on. Charging power-off control strategy: When any charging power-off condition is met, the vehicle enters the charging power-off process. First, the enabled charging power-consuming equipment is disconnected. If the charging power-consuming equipment is successfully disconnected, the charging relay is disconnected. If the charging relay is successfully disconnected, the main negative relay is disconnected. If the main negative relay is successfully disconnected, the enabled low-voltage power-consuming equipment is disconnected. If the low-voltage power-consuming equipment is successfully disconnected, the low-voltage relay is disconnected. If the low-voltage relay is successfully disconnected, the vehicle is successfully charged and powered off.

[0021] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention proposes a power-on and power-off control rule based on timing management, which clearly stipulates the control sequence and logical relationship of each key relay and electrical equipment in the high and low voltage systems, effectively improving the reliability and safety of the power-on and power-off process of the entire vehicle.

[0022] (2) The present invention proposes a driving and charging power-on and power-off control strategy suitable for amphibious heavy-duty transport vehicles, and combines it with the vehicle fault level processing strategy to achieve safe and efficient power-on and power-off control of the vehicle's high-voltage system and low-voltage system, ensuring the power demand of amphibious heavy-duty transport vehicles in various complex operating scenarios on water and land. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention.

[0024] Figure 1 This is the electrical system architecture diagram of the amphibious heavy-duty transport vehicle.

[0025] Figure 2 This is the timing diagram for the vehicle's upper and lower power relay control based on timing management.

[0026] Figure 3 This is a timing diagram for controlling the on- and off-board electrical equipment of the vehicle based on timing management.

[0027] Figure 4 This is a flow chart of the vehicle power-on strategy.

[0028] Figure 5 This is a flow chart of the power-off strategy for driving.

[0029] Figure 6 This is a flow chart of the charging power-up strategy.

[0030] Figure 7 This is a flow chart of the charging and power-off strategy. DETAILED DESCRIPTION

[0031] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0032] like Figure 1 As shown in the figure, the electrical system of the amphibious heavy-duty transport vehicle covers multiple key electrical equipment, including power batteries, integrated starter generator (ISG) motors, drive motors, hub motors, jet pump propellers, DC / DC converters, DC / AC inverters, air compressors, cooling compressors, cooling fans, wave suppressors and tail wing panels, etc. In order to ensure that these electrical equipment can work stably and reliably in various complex environments on land and water, the present invention proposes a method for controlling the power on and off of an amphibious heavy-duty transport vehicle based on timing management, which realizes safe and efficient power on and off control of the vehicle's high-voltage and low-voltage systems.

[0033] An embodiment of the present invention provides a method for controlling power on and off of an amphibious transport vehicle with time sequence management, the method comprising: The power-on and power-off control rules based on timing management stipulate the control sequence and logical relationship of each key relay and electrical equipment of the high and low voltage system. The power-on and power-off control rules based on timing management include the control sequence of the power-on and power-off relays of the whole vehicle based on timing management and the control sequence of the power-on and power-off electrical equipment of the whole vehicle based on timing management; It is applicable to the driving and charging power-on and power-off control strategies of amphibious heavy-duty transport vehicles, and combined with the vehicle fault handling strategy, it realizes the safe and efficient power-on and power-off control of the vehicle's high-voltage system and low-voltage system; the high-voltage system is a high-voltage power system used to drive the motor and energy storage battery. The low-voltage system is responsible for providing power to the vehicle's non-driving functions, such as the vehicle's lights, air conditioning, audio system, infotainment system, electric windows, seat adjustment, on-board computer, etc.

[0034] See also Figure 2 , Figure 2 Each signal in the diagram only indicates the order of precedence, and the time interval is subject to the actual situation. In this embodiment, the control sequence of the upper and lower electric relays of the whole vehicle based on timing management is: When receiving the vehicle power on / off demand, the amphibious heavy-duty transport vehicle needs to follow the preset relay control timing rules (such as Figure 2As shown), the on and off control instructions of the relays related to the vehicle power on and off are executed in sequence. When the vehicle is powered on and off, the relay control sequence is low-voltage relay on, main negative relay on, pre-charge relay on, main positive relay on, pre-charge relay off, main positive relay off, main negative relay off, and low-voltage relay off.

[0035] See also Figure 3 , Figure 3 Each signal in the diagram only indicates the order of precedence, and the time interval is subject to the actual situation. In this embodiment, the control timing of the vehicle power-on and power-off electrical equipment based on timing management is: When receiving the power-on and power-off requirements of the vehicle, the amphibious heavy-duty transport vehicle needs to follow the preset power equipment control timing rules (such as Figure 3 As shown), the enabling control instructions of the electrical equipment related to the whole vehicle power on and off are executed in sequence. When the whole vehicle is powered on and off, the enabling control timing of the electrical equipment is to enable the water pump, fan and compressor, enable the DC / DC converter, enable the ISG motor, drive motor and hub motor, enable the wave crushing plate and tail wing plate, enable the jet pump propeller, exit enabling the jet pump propeller, exit enabling the wave crushing plate and tail wing plate, exit enabling the ISG motor, drive motor and hub motor, exit enabling the DC / DC converter, and exit enabling the water pump, fan and compressor.

[0036] The control rules based on timing management focus on safety and efficiency, and clearly stipulate the control sequence and logical relationship of each key relay and electrical equipment in the high and low voltage systems, so as to avoid conflicts or abnormal phenomena in the power supply process, and effectively improve the reliability and safety of the vehicle's power-on and power-off process.

[0037] In the power-on and power-off strategy of the amphibious heavy-duty transport vehicle of this embodiment, the power-on and power-off of the amphibious heavy-duty transport vehicle is divided into four modules: low voltage power-on, high voltage power-on, high voltage power-off and low voltage power-off; low voltage power-on includes VCU self-check, closing low voltage relay and enabling low voltage electrical equipment; high voltage power-on includes closing the main negative relay, pre-charging, closing the main positive relay and disconnecting the pre-charging relay and enabling high voltage electrical equipment; high voltage power-off includes stopping enabling high voltage electrical equipment, disconnecting the main positive relay and disconnecting the main negative relay, and low voltage power-off includes stopping enabling low voltage electrical equipment and disconnecting the low voltage relay; The electrical equipment that needs to be powered on during driving includes high-voltage electrical equipment such as ISG motors, drive motors, hub motors and jet propellers, and accessory electrical equipment such as cooling fans, cooling water pumps, compressors, DC / DC converters, DC / AC inverters, corrugated boards, and tail wing panels.

[0038] During the power-on and power-off process, the fault handling strategy is designed as follows: when the vehicle is in the initial state, if a charging gun signal is detected, low-voltage power-on is prohibited; during the low-voltage power-on process, if a charging gun signal is detected or a major fault occurs in the VCU and BMS systems, the low-voltage power-on state is maintained and high-voltage power-on is prohibited; after the vehicle is in the Ready state, if a charging gun signal is detected, the Ready state is exited and the high-voltage power-on state is maintained; when the vehicle is in the Ready state and a major fault occurs in the VCU system or the BMS system, the vehicle is allowed to travel at a speed limit of 20 km / h for 90 seconds (about 500 meters) before entering the high-voltage power-off process and maintaining the low-voltage power-on state.

[0039] The driving power-on control strategy process of this embodiment is as follows: Figure 4 As shown, when the low-voltage power-on conditions are met (the key is in the ACC state; the charging gun signal is not detected), the vehicle enters the low-voltage power-on process. First, the VCU performs a self-check. If the self-check passes, the low-voltage relay is closed. If the low-voltage relay is successfully closed, the low-voltage electrical equipment is enabled. The low-voltage electrical equipment refers to the electrical equipment in the above-mentioned low-voltage system. If the low-voltage electrical equipment is successfully enabled, the low-voltage power-on of the vehicle is completed; when the vehicle meets the high-voltage power-on conditions (the vehicle is stationary; the charging gun signal is not detected; the key is in the ON state; there are no major faults in the BMS system and the VCU system), the vehicle enters the high-voltage power-on process. First, the main negative relay is closed, If the main negative relay is closed successfully, the pre-charging relay will be closed for pre-charging. If the pre-charging is not completed within the specified time, secondary pre-charging is allowed. If it is not completed yet, the high-voltage power-on of the whole vehicle will be stopped. If the pre-charging is completed within the specified time, the main positive relay will be closed. If the main positive relay is closed successfully, the pre-charging relay will be disconnected and the high-voltage electrical equipment will be enabled. If the high-voltage electrical equipment is successfully enabled, the high-voltage power-on of the whole vehicle is completed. When the vehicle meets the conditions for entering the Ready state (the gear is in D or R; there are no major faults in the steering system and braking system; the key is in the START state; no charging gun signal is detected), the whole vehicle enters the Ready state.

[0040] The process of the driving power-off control strategy of this embodiment is as follows: Figure 5As shown, when the vehicle meets any high-voltage power-off condition (the key is in the ACC or OFF state; 90 seconds after a major fault occurs in the VCU system or the BMS system), the whole vehicle enters the high-voltage power-off process, first disconnecting the enabled high-voltage electrical equipment. If the high-voltage electrical equipment is successfully disconnected, the main positive relay is disconnected. If the main positive relay is successfully disconnected, the main negative relay is disconnected. If the main negative relay is successfully disconnected, the high-voltage power-off of the whole vehicle is completed; if a major fault occurs in the VCU or BMS system or the key is in the ACC state, the whole vehicle remains in the low-voltage power-on state; if the key is in the OFF state, the whole vehicle enters the low-voltage power-off process, first disconnecting the enabled low-voltage electrical equipment. If the low-voltage electrical equipment is successfully disconnected, the low-voltage relay is disconnected. If the low-voltage relay is successfully disconnected, the low-voltage power-off of the whole vehicle is completed.

[0041] In the charging and power-on control strategy of the amphibious heavy-duty transport vehicle of this embodiment, the charging and power-on of the amphibious heavy-duty transport vehicle based on timing management is divided into two modules: charging power-on and charging power-off; charging power-on includes VCU self-check, closing the low-voltage relay, closing the main negative relay, closing the charging relay and enabling the charging power-consuming equipment; charging power-off includes disconnecting the enabling charging power-consuming equipment, disconnecting the charging relay, disconnecting the main negative relay and disconnecting the low-voltage relay; The electrical equipment that needs to be powered on during charging and powering on includes cooling fans, cooling water pumps, compressors, DC / DC converters, and DC / AC inverters, which are used to meet the heat dissipation and low-voltage power requirements during charging; During the charging and powering-on process, the fault handling strategy is designed as follows: when the vehicle is in the initial state, if a major fault occurs in the VCU or BMS system, charging and powering-on are prohibited; during the vehicle charging process, if a major fault occurs in the VCU or BMS system, the charging and powering-off process will be entered; when the vehicle is driving and powering-on, if the vehicle is in the low-voltage power-on completion state and the charging gun signal is detected, the charging and powering-on process will be entered; The charging power-on control strategy process is as follows Figure 6 As shown in the figure, when the charging power-on conditions are met (the key is in the OFF state; the charging gun signal is detected; the vehicle is in a stationary state; the gear is in N gear or P gear; there is no major fault in the VCU and BMS systems; the battery SOC is less than the charging threshold), the vehicle enters the charging power-on process. First, the VCU performs a self-check. If the self-check passes, the low-voltage relay is closed. If the low-voltage relay is successfully closed, the main negative relay is closed. If the main negative relay is successfully closed, the charging relay is closed. If the charging relay is successfully closed, the charging power-on equipment is enabled. If the charging power-on equipment is successfully enabled, the vehicle is successfully charged and powered on. The charging power-down control strategy process is as follows Figure 7As shown, when any charging power-off condition is met (a major fault occurs in the VCU or BMS system; the charging gun signal is not detected; the battery SOC is higher than the charging completion threshold), the vehicle enters the charging power-off process, first disconnecting the enabled charging power-on equipment. If the charging power-on equipment is successfully disconnected, the charging relay is disconnected. If the charging relay is successfully disconnected, the main negative relay is disconnected. If the main negative relay is successfully disconnected, the enabled low-voltage power-on equipment is disconnected. If the low-voltage power-on equipment is successfully disconnected, the low-voltage relay is disconnected. If the low-voltage relay is successfully disconnected, the vehicle is successfully charged and powered off.

[0042] In response to the complex problems such as the power demand of amphibious heavy-duty transport vehicles in various complex operating scenarios on water and on land, and the confusion of power supply timing of high and low voltage systems, the present invention analyzes the timing relationship of power on and off from a safety perspective, formulates corresponding timing rules, and proposes a driving power on and off and charging power on and off control strategy based on timing management, which can realize safe and efficient power on and off control of high and low voltage systems, and ensure the power supply of vehicles under different power demands.

[0043] It should be noted that, in this article, the term "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0044] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for controlling the power on and off of an amphibious transport vehicle with time sequence management, characterized in that: The method comprises: The power-on and power-off control rules based on timing management stipulate the control sequence and logical relationship of each key relay and electrical equipment of the high and low voltage system. The power-on and power-off control rules based on timing management include the control sequence of the power-on and power-off relays of the whole vehicle based on timing management and the control sequence of the power-on and power-off electrical equipment of the whole vehicle based on timing management; It is applicable to the driving and charging power-on and power-off control strategies of amphibious heavy-duty transport vehicles, and combined with the vehicle fault handling strategy, it can realize the safe and efficient power-on and power-off control of the vehicle's high-voltage and low-voltage systems.

2. According to the timing management method of claim 1, the method is characterized in that: The control timing of the vehicle upper and lower power relays based on timing management is: When receiving the demand for powering on and off the whole vehicle, the amphibious heavy-duty transport vehicle must execute the opening and closing control instructions of the vehicle power-on and power-off related relays in sequence according to the preset relay control timing rules. When the whole vehicle is powered on and off, the relay control timing is: the low-voltage relay is turned on, the main negative relay is turned on, the pre-charging relay is turned on, the main positive relay is turned on, the pre-charging relay is turned off, the main positive relay is turned off, the main negative relay is turned off, and the low-voltage relay is turned off.

3. The method for controlling the power on and off of an amphibious transport vehicle with time sequence management according to claim 1 is characterized in that: The control timing of the vehicle power-on and power-off electrical equipment based on timing management is: When receiving the demand for powering on and off the whole vehicle, the amphibious heavy-duty transport vehicle must execute the enable control instructions of the electrical equipment related to powering on and off the whole vehicle in sequence according to the preset electrical equipment control timing rules. When the whole vehicle is powered on and off, the enable control timing of the electrical equipment is to enable the water pump, fan and compressor, enable the DC / DC converter, enable the ISG motor, drive motor and hub motor, enable the wave crushing plate and tail wing plate, enable the jet pump propeller, exit enabling the jet pump propeller, exit enabling the wave crushing plate and tail wing plate, exit enabling the ISG motor, drive motor and hub motor, exit enabling the DC / DC converter, and exit enabling the water pump, fan and compressor.

4. The method for controlling the power on and off of an amphibious transport vehicle with time sequence management according to claim 1, characterized in that: In the power-on and power-off strategy of amphibious heavy-duty transport vehicles, the power-on and power-off of amphibious heavy-duty transport vehicles are divided into four modules: low-voltage power-on, high-voltage power-on, high-voltage power-off and low-voltage power-off; low-voltage power-on includes VCU self-check, closing low-voltage relay and enabling low-voltage power-consuming equipment; high-voltage power-on includes closing the main negative relay, pre-charging, closing the main positive relay and disconnecting the pre-charging relay and enabling high-voltage power-consuming equipment; high-voltage power-off includes stopping enabling high-voltage power-consuming equipment, disconnecting the main positive relay and disconnecting the main negative relay, and low-voltage power-off includes stopping enabling low-voltage power-consuming equipment and disconnecting the low-voltage relay; The electrical equipment that needs to be powered on during the vehicle power-on and power-off process includes high-voltage electrical equipment and accessory electrical equipment. High-voltage electrical equipment includes ISG motors, drive motors, hub motors and jet pump propellers. Accessory electrical equipment includes cooling fans, cooling water pumps, compressors, DC / DC converters, DC / AC inverters, wave-squeeze plates and tail panels. During the power-on and power-off process while driving, the fault handling strategy is designed as follows: when the vehicle is in the initial state, if a charging gun signal is detected, low-voltage power-on is prohibited; during the low-voltage power-on process, if a charging gun signal is detected or a major fault occurs in the VCU and BMS systems, the low-voltage power-on state is maintained and high-voltage power-on is prohibited; after the vehicle is in the Ready state, if a charging gun signal is detected, the Ready state is exited and the high-voltage power-on state is maintained; when the vehicle is in the Ready state and a major fault occurs in the VCU system or the BMS system, the vehicle is allowed to enter the high-voltage power-off process after driving at a limited speed for a preset period of time, and the low-voltage power-on state is maintained.

5. The method for controlling the power on and off of an amphibious transport vehicle with time sequence management according to claim 4 is characterized in that: Driving power-on control strategy: When the low-voltage power-on conditions are met, the whole vehicle enters the low-voltage power-on process. First, the VCU performs a self-test. If the self-test passes, the low-voltage relay is closed. If the low-voltage relay is successfully closed, the low-voltage electrical equipment is enabled. If the low-voltage electrical equipment is successfully enabled, the low-voltage power-on of the whole vehicle is completed; when the vehicle meets the high-voltage power-on conditions, the whole vehicle enters the high-voltage power-on process. First, the main negative relay is closed. If the main negative relay is successfully closed, the pre-charge relay is closed for pre-charging. If the pre-charging is not completed within the specified time, a second pre-charging is allowed. If it is not completed, the whole vehicle stops high-voltage power-on. If the pre-charging is completed within the specified time, the main positive relay is closed. If the main positive relay is successfully closed, the pre-charge relay is disconnected and the high-voltage electrical equipment is enabled. If the high-voltage electrical equipment is successfully enabled, the high-voltage power-on of the whole vehicle is completed; when the vehicle meets the conditions for entering the Ready state, the whole vehicle enters the Ready state.

6. The method for controlling the power on and off of an amphibious transport vehicle with time sequence management according to claim 4 is characterized in that: Driving power-off control strategy: When the vehicle meets any high-voltage power-off condition, the vehicle enters the high-voltage power-off process. First, the high-voltage power-consuming equipment is disconnected. If the high-voltage power-consuming equipment is successfully disconnected, the main positive relay is disconnected. If the main positive relay is successfully disconnected, the main negative relay is disconnected. If the main negative relay is successfully disconnected, the vehicle high-voltage power-off is completed. If a major fault occurs in the VCU or BMS system or the key is in the ACC state, the entire vehicle remains in the low-voltage power-on state; if the key is in the OFF state, the entire vehicle enters the low-voltage power-off process, first disconnecting and enabling the low-voltage electrical equipment. If the low-voltage electrical equipment is successfully disconnected, the low-voltage relay is disconnected. If the low-voltage relay is successfully disconnected, the low-voltage power-off of the entire vehicle is completed.

7. The method for controlling the power on and off of an amphibious transport vehicle with time sequence management according to claim 1, characterized in that: In the charging and power-on control strategy of amphibious heavy-duty transport vehicles, the charging and power-on control strategy of amphibious heavy-duty transport vehicles based on timing management is divided into two modules: charging power-on and charging power-off. Charging power-on includes VCU self-check, closing low-voltage relay, closing main negative relay, closing charging relay and enabling charging power equipment; charging power-off includes disconnecting enabling charging power equipment, disconnecting charging relay, disconnecting main negative relay and disconnecting low-voltage relay. The electrical equipment that needs to be powered on during charging and powering on includes cooling fans, cooling water pumps, compressors, DC / DC converters, and DC / AC inverters, which are used to meet the heat dissipation and low-voltage power requirements during charging; During the charging and powering-on process, the fault handling strategy is designed as follows: when the vehicle is in the initial state, if a major fault occurs in the VCU or BMS system, charging and powering-on are prohibited; during the vehicle charging process, if a major fault occurs in the VCU or BMS system, the charging and powering-off process will be entered; when the vehicle is driving and powering-on, if the vehicle is in the low-voltage power-on completion state and the charging gun signal is detected, the charging and powering-on process will be entered; Charging power-on control strategy: When the charging power-on conditions are met, the vehicle enters the charging power-on process. First, the VCU performs a self-test. If the self-test passes, the low-voltage relay is closed. If the low-voltage relay is successfully closed, the main negative relay is closed. If the main negative relay is successfully closed, the charging relay is closed. If the charging relay is successfully closed, the charging power-consuming equipment is enabled. If the charging power-consuming equipment is successfully enabled, the vehicle is successfully charged and powered on. Charging power-off control strategy: When any charging power-off condition is met, the vehicle enters the charging power-off process. First, the enabled charging power-consuming equipment is disconnected. If the charging power-consuming equipment is successfully disconnected, the charging relay is disconnected. If the charging relay is successfully disconnected, the main negative relay is disconnected. If the main negative relay is successfully disconnected, the enabled low-voltage power-consuming equipment is disconnected. If the low-voltage power-consuming equipment is successfully disconnected, the low-voltage relay is disconnected. If the low-voltage relay is successfully disconnected, the vehicle is successfully charged and powered off.

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