Power output control system and control method of electric erecting vehicle

Abstract

The invention discloses a power output control system and method for an electric erecting vehicle, and the system comprises a central controller, a motor power output control module, an erecting hydraulic control system, a hydraulic actuator, and a detection module. The central controller is used for commanding and cooperating with the motor power output control module and the erecting hydraulic control system to complete control over the hydraulic actuator. The motor power output control module is used for controlling the rotating speed, the torque and the power of the motor; the erecting hydraulic control system is used for receiving an output signal of the central controller, converting mechanical energy output by a motor into pressure energy of a hydraulic system, driving a hydraulic actuator to act and further driving an erecting load to realize set movement; the detection module is used for detecting power output performance and state parameters of all the modules and feeding back the detected power output performance and state parameters to the central controller. The output control link is relatively short, and the reliability of the control system can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of electric vehicle control, and in particular discloses a power output control system and a control method for an electric erection vehicle. Background Art

[0002] The power output control system of the traditional erection vehicle is as follows: Figure 1 As shown in the figure, it is mainly composed of an internal combustion engine power output control module, an erection hydraulic system control module, a hydraulic actuator, a detection module, a central controller, etc. The internal combustion engine power output control module receives instructions from the central controller and realizes power output by controlling fuel supply, fuel injection, combustion ignition, exhaust gas, etc.; under the command of the central controller, the erection hydraulic system control module converts the mechanical energy output by the internal combustion engine into the pressure energy of the hydraulic system, and then drives the hydraulic actuator; the detection module is used to detect the power output performance and state parameters of each module, and feed them back to the central controller; the central controller is the control center of the erection vehicle, commanding each module to coordinate and complete the control of power output.

[0003] The power output control system of the traditional erection vehicle has the following technical disadvantages:

[0004] 1) Unable to meet the new demand for electrification of erection vehicles. With the increasing demand for environmental protection in society, the trend of electrification is becoming increasingly prominent, and the traditional internal combustion engine power output control method cannot be transplanted to the power output control system of electric erection vehicles.

[0005] 2) The traditional power output control system of the erection vehicle is complex. Its power output involves the control of fuel supply, fuel injection, combustion ignition, exhaust gas exhaust, erection hydraulic system, etc. The control link is relatively long, which affects the reliability improvement to a certain extent.

[0006] 3) The power output matching performance of traditional erector vehicles cannot be compared with the power matching performance of electric erector vehicles. Summary of the invention

[0007] The present invention provides a power output control system and a control method for an electric erection vehicle, aiming to solve at least one of the above-mentioned defects in the prior art.

[0008] One aspect of the present invention relates to a power output control system for an electric erection vehicle, comprising a central controller, a motor power output control module, an erection hydraulic control system, a hydraulic actuator and a detection module, wherein:

[0009] The central controller is connected to the motor power output control module, the erection hydraulic control system and the hydraulic actuator respectively, and serves as the control center of the electric erection vehicle, and is used to command and coordinate the motor power output control module and the erection hydraulic control system to complete the control of the hydraulic actuator;

[0010] The motor power output control module is connected to the central controller and is used to control the speed, torque and power of the motor;

[0011] The erection hydraulic control system is connected to the central controller and is used to receive the output signal of the central controller, convert the mechanical energy output by the motor into the pressure energy of the hydraulic system, drive the hydraulic actuator to move, and then drive the erection load to achieve the predetermined movement;

[0012] The detection module is connected to the central controller and is used to detect the power output performance and state parameters of each module, and feed back the detected power output performance and state parameters to the central controller.

[0013] Furthermore, the central controller, the motor power output control module, the erection hydraulic control system, the hydraulic actuator and the detection module are all installed on the chassis assembly of the electric erection vehicle.

[0014] Furthermore, the central controller is used to control the vertical load to rotate around the hinge point O, the center of mass position is O', the upper hinge point of the hydraulic actuator is B, the lower hinge point of the hydraulic actuator is A, and the moment balance calculation is performed at the hinge point O to obtain the driving force calculation formula:

[0015] F=G|OO′|sin(θ+β))

[0016] / (|OB||OA|sin(θ+α))

[0017] Wherein, F is the driving force, G is the weight of the vertical load, |OO′| is the distance between the vertical load around the hinge point O and the center of mass position O′, θ is the vertical angle, β is the fixed angle between the vertical load and OO′ when it is in the horizontal position, |OA| is the distance between the vertical load around the hinge point O and the lower hinge point A of the hydraulic actuator, |OB| is the distance between the vertical load around the hinge point O and the upper hinge point B of the hydraulic actuator, and α is the angle between OA and the horizontal direction.

[0018] Furthermore, under the same erection load, as the erection angle θ increases, the required driving force decreases continuously; at the initial erection position, that is, when the erection angle is 0°, the required driving force is the largest, which is F max ; At the end of the erection, the erection angle is θ max The required driving force is the smallest when F min .

[0019] Furthermore, according to the driving force and the large cavity area of ​​the hydraulic actuator, the pressure value of the large cavity of the hydraulic actuator is calculated:

[0020] Pa=F / S

[0021] Among them, Pa is the pressure value of the large cavity of the hydraulic actuator, F is the driving force of the hydraulic actuator, and S is the large cavity area of ​​the hydraulic actuator.

[0022] Furthermore, the comprehensive efficiency of the erection hydraulic control system is:

[0023] ηa=ηp*ηq

[0024] Among them, η a is the comprehensive efficiency of the erection hydraulic control system, η p is the pressure loss coefficient of the erection hydraulic system, η q is the flow loss coefficient of the erection hydraulic system.

[0025] Furthermore, the flow rate required by the erection hydraulic control system is:

[0026] Q=S*v / ηq

[0027] Among them, Q is the flow required by the erection hydraulic control system, S is the large cavity area of ​​the hydraulic actuator, η p is the pressure loss coefficient of the erection hydraulic system;

[0028] The pressure required for the erection hydraulic control system is:

[0029] P=F / (S*ηq)

[0030] Among them, P is the pressure required by the erection hydraulic control system, F is the driving force of the hydraulic actuator, S is the large cavity area of ​​the hydraulic actuator, η q is the flow loss coefficient of the erection hydraulic system.

[0031] Furthermore, the total power required to drive the erection hydraulic control system is:

[0032] W=F*v / (ηa*ηb)

[0033] =G|OO′|sin(θ+β))

[0034] / (|OB||OA|sin(θ+α))*v / (ηa*ηb)

[0035] Where W is the total power required to drive the erection hydraulic control system, F is the driving force of the hydraulic actuator, v is the operating speed of the hydraulic actuator, η b It is the power conversion efficiency of the motor.

[0036] Furthermore, the power output control system of the electric erection vehicle also includes a power source for the erection hydraulic system, which includes a control motor, a constant pressure pump and a remote regulating valve. The constant pressure pump is connected to the control motor and the remote regulating valve respectively, and the central controller is connected to the control motor, the constant pressure pump and the remote regulating valve respectively, and is used to adjust the total power by controlling the speed of the control motor and the outlet pressure of the constant pressure pump; the remote regulating valve is used to adjust the outlet pressure of the constant pressure pump.

[0037] Another aspect of the present invention relates to a power output control method for an electric erector vehicle, which is applied to the power output control system of the electric erector vehicle mentioned above. The power output control method for the electric erector vehicle comprises:

[0038] The motor power output control module starts the control motor and drives the constant pressure pump to output at a constant speed;

[0039] The detection module detects the erection angle θ in real time, and adjusts the remote control valve to set the erection hydraulic system pressure according to the fitted control relationship;

[0040] Determine whether the detected erection angle θ is equal to a preset angle threshold;

[0041] If the erection angle θ is equal to the preset angle threshold, the power output control system of the electric erection vehicle stops operating.

[0042] The beneficial effects achieved by the present invention are:

[0043] The present invention provides a power output control system and control method for an electric erection vehicle. The control system includes a central controller, a motor power output control module, an erection hydraulic control system, a hydraulic actuator and a detection module. The central controller serves as the control center of the electric erection vehicle and is used to command and coordinate the motor power output control module and the erection hydraulic control system to complete the control of the hydraulic actuator; the motor power output control module is used to realize the speed, torque and power control of the motor; the erection hydraulic control system is used to receive the output signal of the central controller, convert the mechanical energy output by the motor into the pressure energy of the hydraulic system, drive the hydraulic actuator to act, and then drive the erection load to achieve a predetermined movement; the detection module is used to detect the power output performance and state parameters of each module, and feed back the detected power output performance and state parameters to the central controller. The power output control system and control method of the electric erection vehicle provided by the present invention meet the new requirements of the electrification trend of erection vehicles; the output control link is relatively short, which is conducive to improving the reliability of the control system; a power output equal-angle segmented control method, an equal-pressure difference segmented control method and a fitting control method are provided, and the control strategy is diverse to adapt to different power output requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1It is a functional block diagram of the power output control system of a conventional erection vehicle;

[0045] Figure 2 It is a structural schematic diagram of an embodiment of a power output control system of an electric erection vehicle of the present invention;

[0046] Figure 3 It is a schematic diagram of the force analysis of the vertical load in the present invention;

[0047] Figure 4 This is a schematic diagram of the relationship between the driving force and the erection angle in the present invention;

[0048] Figure 5 A schematic diagram showing the relationship between the total power required to drive the erection hydraulic system and the erection angle in the present invention;

[0049] Figure 6 It is a schematic diagram of the power source of the erection hydraulic system of the electric erection vehicle in the present invention;

[0050] Figure 7 It is a flow chart of an embodiment of a method for controlling power output of an electric erection vehicle according to the present invention;

[0051] Figure 8 This is a diagram showing the relationship between the power output and the equal angle segmented control of the electric erection vehicle in the present invention;

[0052] Fig. 9 It is a relationship diagram of equal pressure difference segmented control of power output of the electric erection vehicle in the present invention;

[0053] Fig.10 This is a power output fitting control relationship diagram of the electric erection vehicle in the present invention.

[0054] Description of Figure Numbers:

[0055] 10. Central controller; 20. Motor power output control module; 30. Erecting hydraulic control system; 40. Hydraulic actuator; 50. Detection module; 60. Erecting hydraulic system power source; 61. Control motor; 62. Constant pressure pump; 63. Remote regulating valve; 70. Erecting load; 80. Chassis assembly. DETAILED DESCRIPTION

[0056] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0057] like Figure 2 and Figure 3As shown, the first embodiment of the present invention proposes a power output control system for an electric erection vehicle, including a central controller 10, a motor power output control module 20, an erection hydraulic control system 30, a hydraulic actuator 40 and a detection module 50, wherein the central controller 10 is connected to the motor power output control module 20, the erection hydraulic control system 30 and the hydraulic actuator 40 respectively, and serves as the control center of the electric erection vehicle, and is used to command and coordinate the motor power output control module 20 and the erection hydraulic control system 30 to complete the control of the hydraulic actuator 40; the motor power output control module 20 is connected to the central controller 10, and is used to realize the speed, torque and power control of the motor; the erection hydraulic control system 30 is connected to the central controller 10, and is used to receive the output signal of the central controller 10, convert the mechanical energy output by the motor into the pressure energy of the hydraulic system, drive the hydraulic actuator 40 to move, and then drive the erection load to achieve a predetermined movement; the detection module 50 is connected to the central controller 10, and is used to detect the power output performance and state parameters of each module, and feed back the detected power output performance and state parameters to the central controller 10.

[0058] Further, see Figures 2 to 6 In the power output control system of the electric erection vehicle proposed in this embodiment, the central controller 10, the motor power output control module 20, the erection hydraulic control system 30, the hydraulic actuator 40 and the detection module 50 are all installed on the chassis assembly of the electric erection vehicle.

[0059] Preferably, see Figures 2 to 6 The power output control system of the electric erection vehicle proposed in this embodiment, during the erection operation, the force analysis of the erection load is as follows: Figure 3 As shown. The central controller 10 is used to control the vertical load to rotate around the hinge O, the center of mass is O', the upper hinge of the hydraulic actuator is B, the lower hinge of the hydraulic actuator is A, the driving force F provided by the hydraulic actuator 40, and AB is the direction of action. The moment balance calculation is performed at the hinge O, that is, ΣMo=0, and the driving force calculation formula is obtained:

[0060] F=G|OO′|sin(θ+β)|OA| 2 +|OB| 2 -2|OA||OB|cos(θ+α (1)

[0061] / (|OB||OA|sin(θ+α))

[0062] In formula (1), F is the driving force, G is the weight of the vertical load, |OO′| is the distance between the vertical load around the hinge point O and the center of mass position O′, θ is the vertical angle, β is the fixed angle between the vertical load and OO′ when it is in the horizontal position, |OA| is the distance between the vertical load around the hinge point O and the lower hinge point A of the hydraulic actuator, |OB| is the distance between the vertical load around the hinge point O and the upper hinge point B of the hydraulic actuator, and α is the angle between OA and the horizontal direction.

[0063] From the driving force calculation formula, we can know that the driving force and the vertical angle change trend diagram is as follows: Figure 4 As shown in the figure. Under the same erection load, as the erection angle θ increases, the required driving force decreases continuously; at the initial position of the erection, that is, when the erection angle is 0°, the required driving force is the largest, which is F max ; At the end of the erection, the erection angle is θ max The required driving force is the smallest when F min .

[0064] Assuming that the large cavity area of ​​the hydraulic actuator 40 is S and the running speed is v, the pressure value Pa of the large cavity is the ratio of the driving force F to the large cavity area. According to the driving force and the large cavity area of ​​the hydraulic actuator 40, the pressure value of the large cavity of the hydraulic actuator 40 is calculated:

[0065] Pa=F / S(2)

[0066] In formula (2), Pa is the pressure value of the large cavity of the hydraulic actuator, F is the driving force of the hydraulic actuator, and S is the large cavity area of ​​the hydraulic actuator.

[0067] Considering the influence of factors such as pipeline loss, back pressure, and internal leakage of the erection hydraulic control system 203, the pressure loss coefficient of the erection hydraulic system is set to η p , the flow loss coefficient of the erection hydraulic system is η q , then the comprehensive efficiency of the erection hydraulic control system 30 is:

[0068] ηa=ηp*ηq(3)

[0069] In formula (3), η a is the comprehensive efficiency of the erection hydraulic control system, η p is the pressure loss coefficient of the erection hydraulic system, η q is the flow loss coefficient of the erection hydraulic system.

[0070] The flow rate required by the erection hydraulic control system 30 is:

[0071] Q=S*v / ηq(4)

[0072] In formula (4), Q is the flow rate required by the erection hydraulic control system, S is the large cavity area of ​​the hydraulic actuator, and ηp is the pressure loss coefficient of the erection hydraulic system.

[0073] The pressure required for the erection hydraulic control system 30 is:

[0074] P=F / (S*ηq)(5)

[0075] In formula (5), P is the pressure required by the erection hydraulic control system, F is the driving force of the hydraulic actuator, S is the large cavity area of ​​the hydraulic actuator, and η q is the flow loss coefficient of the erection hydraulic system.

[0076] The motor power conversion efficiency is η b , then the total power required to drive the erection hydraulic control system 30 is:

[0077] W=F*v / (ηa*ηb)(6)

[0078] =G|OO′|sin(θ+β)|OA| 2 +|OB| 2 -2|OA||OB|cos(θ+α

[0079] / (|OB||OA|sin(θ+α))*v / (ηa*ηb)

[0080] In formula (6), W is the total power required to drive the erection hydraulic control system, F is the driving force of the hydraulic actuator, v is the operating speed of the hydraulic actuator, and η b It is the power conversion efficiency of the motor.

[0081] From this, we can get the relationship between the total power required to drive the erection hydraulic system and the erection angle, as follows: Figure 5 As shown in the figure. Under the same erection load of 70°, as the erection angle θ increases, the required total power decreases continuously. At the initial position of the erection, that is, when the erection angle is 0°, the required total power is the largest, which is W max ; At the end of the erection, the erection angle is θ max The driving force required is the smallest when min .

[0082] Further, see Figures 2 to 6The power output control system of the electric erection vehicle proposed in this embodiment also includes an erection hydraulic system power source 60, which includes a control motor 61, a constant pressure pump 62 and a remote regulating valve 63. The constant pressure pump 62 is connected to the control motor 61 and the remote regulating valve 63 respectively. The central controller 10 is connected to the control motor 61, the constant pressure pump 62 and the remote regulating valve 63 respectively, and is used to adjust the total power by controlling the speed of the control motor 61 and the outlet pressure of the constant pressure pump 62; the remote regulating valve 63 is used to adjust the outlet pressure of the constant pressure pump 62. The principle of the erection hydraulic system power source is as follows Figure 6 shown.

[0083] like Figures 7 to 10 As shown, this embodiment provides a power output control method for an electric erection vehicle, which is applied to the power output control system of the above-mentioned electric erection vehicle. The power output control method for the electric erection vehicle includes:

[0084] Step S100 : the motor power output control module 20 starts the control motor 61 to drive the constant pressure pump 62 to output at a constant speed.

[0085] Step S200 , the detection module 50 detects the erection angle θ in real time, and adjusts the remote control valve 63 to set the erection hydraulic system pressure according to the fitting control relationship.

[0086] Step S300: determine whether the detected erection angle θ is equal to a preset angle threshold.

[0087] Step S400: If the erection angle θ is equal to the preset angle threshold, the power output control system of the electric erection vehicle stops operating.

[0088] Specifically, this embodiment provides a method for controlling the power output of an electric erection vehicle in equal angle sections, such as Figure 7 When the speed v of the hydraulic actuator 40 is constant, the total power of the driving erection hydraulic system is adjusted by adjusting the remote control valve 63.

[0089] like Figure 8 As shown, the remote control valve 63 sets the pressure value P in the interval (0, θ1). max , the remote control valve 63 sets the pressure value to P in the interval (θ1, θ2) (max-1) , and so on, in the interval (θ (max-1) ,θ max ) The remote control valve 63 sets the pressure value to P min Among them, the equal angle value is d θ =θ max / maxIn order to prevent pressure jumps in the adjacent sections of the segmented intervals and avoid pressure shock damage to the erection hydraulic system, a ramp signal transition is used within the range of △θ between the adjacent sections of the intervals. In the range of (θ1-△θ, θ1+△θ), the pressure changes from P max Linear decay to P (max-1) ; In the range of (θ2-△θ, θ2+△θ), the pressure is P (max-1) Linear decay to P (max-2) , and so on, in (θ (max-1) -△θ,θ (max-1) +△θ), the pressure decreases linearly from P1 to P min .

[0090] This embodiment provides a method for controlling the power output of an electric erection vehicle by equal pressure difference. Fig. 9 When the speed v of the hydraulic actuator 40 is constant, the total power of the driving erection hydraulic system is adjusted by adjusting the remote control valve 63. The remote control valve 63 is set to a pressure value of P in the interval (0, θ1). max , the remote control valve 63 sets the pressure value to P in the interval (θ1, θ2) (max-1) , and so on, in the interval (θ (max-1) ,θ max ) The remote control valve 63 sets the pressure value to P min Among them, the pressure difference is dp = (P max -P min ) / max. In order to prevent pressure jumps in the adjacent sections of the segmented intervals and avoid pressure shock damage to the erection hydraulic system, a ramp signal transition is used within the range of △θ between the adjacent sections of the intervals. In the range of (θ1-△θ, θ1+△θ), the pressure changes from P max Linear decay to P (max-1) ; In the range of (θ2-△θ, θ2+△θ), the pressure is P (max-1) Linear decay to P (max-2) , and so on, in (θ (max-1) -△θ,θ (max-1) +△θ), the pressure decays linearly from P2 to P1.

[0091] This embodiment provides a power output fitting control method for an electric erection vehicle, such as Fig.10 When the speed v of the hydraulic actuator 40 is constant, the total power of the driving erection hydraulic system is adjusted by adjusting the remote control valve 63. The set pressure value of the remote control valve 63 in the interval (0, θ1) is determined by P max Linear decay to P (max-1) , the control curve is the fitting section S1; the remote control valve 63 sets the pressure value in the interval (θ1, θ2) by P (max-1)Linear decay to P (max-2) , the control curve is the fitting segment S2; and so on, in the interval (θ (max-2) ,θ (max-1) ) The set pressure value of the remote control valve 63 decays linearly from P2 to 1, and the control curve is the fitting section S (max-1) ; In the interval (θ (max-1) ,θ max ) The set pressure value of the remote control valve 63 decreases linearly from P1 to P min , the control curve is the fitting segment S max . Among them, the fitting length S=|S i |, i=1, 2, 3, 4,...n.

[0092] The power output control system and control method of the electric erection vehicle provided in this embodiment, compared with the prior art, includes a central controller, a motor power output control module, an erection hydraulic control system, a hydraulic actuator and a detection module. The central controller is used as the control center of the electric erection vehicle to command and coordinate the motor power output control module and the erection hydraulic control system to complete the control of the hydraulic actuator; the motor power output control module is used to realize the speed, torque and power control of the motor; the erection hydraulic control system is used to receive the output signal of the central controller, convert the mechanical energy output by the motor into the pressure energy of the hydraulic system, drive the hydraulic actuator to act, and then drive the erection load to achieve a predetermined movement; the detection module is used to detect the power output performance and state parameters of each module, and feed back the detected power output performance and state parameters to the central controller. The power output control system and control method of the electric erection vehicle provided in this embodiment meet the new requirements of the electrification trend of erection vehicles; the output control link is relatively short, which is conducive to improving the reliability of the control system; it provides a power output equal angle segmented control method, an equal pressure difference segmented control method and a fitting control method, and the control strategy is diverse to adapt to different power output requirements.

[0093] Although preferred embodiments of the present invention have been described, additional changes and modifications may be made to these embodiments by those skilled in the art once the basic inventive concepts are known. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention. Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A power output control system for an electric erection vehicle, characterized in that: It comprises a central controller (10), a motor power output control module (20), an erection hydraulic control system (30), a hydraulic actuator (40) and a detection module (50), wherein: The central controller (10) is connected to the motor power output control module (20), the erection hydraulic control system (30) and the hydraulic actuator (40) respectively, and serves as a control center of the electric erection vehicle, and is used to command and coordinate the motor power output control module (20) and the erection hydraulic control system (30) to complete the control of the hydraulic actuator (40); The motor power output control module (20) is connected to the central controller (10) and is used to control the speed, torque and power of the motor; The erection hydraulic control system (30) is connected to the central controller (10) and is used to receive an output signal from the central controller (10), convert the mechanical energy output by the motor into pressure energy of the hydraulic system, drive the hydraulic actuator (40) to operate, and further drive the erection load to achieve a predetermined movement; The detection module (50) is connected to the central controller (10) and is used to detect the power output performance and state parameters of each module, and feed back the detected power output performance and state parameters to the central controller (10).

2. The power output control system of the electric erection vehicle according to claim 1, characterized in that: The central controller (10), the motor power output control module (20), the erection hydraulic control system (30), the hydraulic actuator (40) and the detection module (50) are all installed on the chassis assembly of the electric erection vehicle.

3. The power output control system of the electric erection vehicle according to claim 1, characterized in that: The central controller (10) is used to control the vertical load to rotate around the hinge point O, the center of mass position is O', the upper hinge point of the hydraulic actuator is B, the lower hinge point of the hydraulic actuator is A, and the moment balance calculation is performed at the hinge point O to obtain the driving force calculation formula: F=G|OO′|sin(θ+β)(|OA| 2 +|OB| 2 -2|OA||OB|cos(θ+α)) / (|OB||OA|sin(θ+α)) Wherein, F is the driving force, G is the weight of the vertical load, |OO′| is the distance between the vertical load around the hinge point O and the center of mass position O′, θ is the vertical angle, β is the fixed angle between the vertical load and OO′ when it is in the horizontal position, |OA| is the distance between the vertical load around the hinge point O and the lower hinge point A of the hydraulic actuator, |OB| is the distance between the vertical load around the hinge point O and the upper hinge point B of the hydraulic actuator, and α is the angle between OA and the horizontal direction.

4. The power output control system of the electric erection vehicle according to claim 3, characterized in that: Under the same erection load, as the erection angle θ increases, the required driving force decreases continuously; at the initial position of the erection, that is, when the erection angle is 0°, the required driving force is the largest, which is F max ; At the end of the erection, the erection angle is θ max The required driving force is the smallest when F min .

5. The power output control system of the electric erection vehicle according to claim 3, characterized in that: The pressure value of the large cavity of the hydraulic actuator (40) is calculated based on the driving force of the hydraulic actuator (40) and the large cavity area: Pa=F / S Among them, Pa is the pressure value of the large cavity of the hydraulic actuator, F is the driving force of the hydraulic actuator, and S is the large cavity area of ​​the hydraulic actuator.

6. The power output control system of the electric erection vehicle according to claim 5, characterized in that: The comprehensive efficiency of the erection hydraulic control system (30) is: ηa=ηp*ηq Among them, η a is the comprehensive efficiency of the erection hydraulic control system, η p is the pressure loss coefficient of the erection hydraulic system, η q is the flow loss coefficient of the erection hydraulic system.

7. The power output control system of the electric erection vehicle according to claim 6, characterized in that: The flow rate required by the erection hydraulic control system (30) is: Q=S*v / ηq Among them, Q is the flow required by the erection hydraulic control system, S is the large cavity area of ​​the hydraulic actuator, η p is the pressure loss coefficient of the erection hydraulic system; The pressure required by the erection hydraulic control system (30) is: P=F / (S*ηq) Among them, P is the pressure required by the erection hydraulic control system, F is the driving force of the hydraulic actuator, S is the large cavity area of ​​the hydraulic actuator, η q is the flow loss coefficient of the erection hydraulic system.

8. The power output control system of the electric erection vehicle according to claim 7, characterized in that: The total power required to drive the erection hydraulic control system (30) is: W=F*v / (ηa*ηb) =G|OO′|sin(θ+β)(|OA| 2 +|OB| 2 -2|OA||OB|cos(θ+α)) / (|OB||OA|sin(θ+α))*v / (ηa*ηb) Where W is the total power required to drive the erection hydraulic control system, F is the driving force of the hydraulic actuator, v is the operating speed of the hydraulic actuator, η b It is the power conversion efficiency of the motor.

9. The power output control system of the electric erection vehicle according to claim 1, characterized in that: The power output control system of the electric erection vehicle further comprises an erection hydraulic system power source (60), the erection hydraulic system power source (60) comprising a control motor (61), a constant pressure pump (62) and a remote regulating valve (63), the constant pressure pump (62) being respectively connected to the control motor (61) and the remote regulating valve (63), the central controller (10) being respectively connected to the control motor (61), the constant pressure pump (62) and the remote regulating valve (63), and being used for adjusting the total power by controlling the rotation speed of the control motor (61) and the outlet pressure of the constant pressure pump (62); the remote regulating valve (63) being used for adjusting the outlet pressure of the constant pressure pump (62).

10. A power output control method for an electric erection vehicle, applied to a power output control system for an electric erection vehicle as claimed in any one of claims 1 to 9, characterized in that: The power output control method of the electric erection vehicle comprises: The motor power output control module (20) starts the control motor (61) to drive the constant pressure pump (62) to output at a constant speed; The detection module (50) detects the erection angle θ in real time, and adjusts the remote control valve (63) to set the erection hydraulic system pressure according to the fitting control relationship; Determine whether the detected erection angle θ is equal to a preset angle threshold; If the erection angle θ is equal to the preset angle threshold, the power output control system of the electric erection vehicle stops operating.

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