Electric quantity adjustment method and device, electronic equipment and storage medium

Abstract

The invention discloses an electric quantity adjusting method and device, electronic equipment and a storage medium, and is applied to the field of automobiles. According to the method, the actual electric quantity SOC and the target electric quantity SOC'of a battery are obtained firstly, then the deviation value between the actual electric quantity SOC and the target electric quantity SOC 'is determined, a strategy for adjusting a PID controller is determined according to the deviation value, and the strategy comprises a PID coefficient and a feedforward item adjusting method. And finally, compensating the deviation value by utilizing a PID coefficient and a feed-forward item adjustment method so as to complete the adjustment of the electric quantity. It is ensured that the battery capacity is in the target state.

Description

Technical Field

[0001] This application relates to the technical field of automobiles, and particularly to a method, device, electronic device and storage medium for adjusting electric quantity. Background Art

[0002] In the related art, hybrid vehicles are increasing day by day, and a hybrid system is equipped in hybrid vehicles. The series working mode in the hybrid system is widely used, and most of the driving modes in the series working adopt the power following mode. In this mode, the engine operating point changes frequently, the engine economy is poor, and the inductor (NVH) is poor due to the rapid speed regulation of the engine when a large power demand occurs. To solve the above problems of inductor, economy and power performance, it is first necessary to ensure that the state of charge (SOC) of the battery is in a good state. Summary of the Invention

[0003] In view of this, embodiments of this application provide a method, device, electronic device and storage medium for adjusting electric quantity, aiming to ensure that the actual battery electric quantity is in the target state.

[0004] In a first aspect, an embodiment of this application provides a method for adjusting electric quantity, and the method includes:

[0005] Obtain the actual state of charge (SOC) of the battery and the target SOC';

[0006] Determine the deviation between the actual SOC and the target SOC';

[0007] Determine a strategy for adjusting the PID controller according to the deviation, and the strategy includes the adjustment method of the coefficients of the PID and the feedforward term;

[0008] Compensate the deviation by using the adjustment method of the coefficients of the PID and the feedforward term to complete the adjustment of the electric quantity.

[0009] Optionally, the compensating the deviation by using the adjustment method of the coefficients of the PID and the feedforward term includes:

[0010] Respectively adjust the target engine operating power, the vehicle power and the power response slope by using the adjustment method of the coefficients of the PID and the feedforward term;

[0011] Obtain the current electric quantity value according to the adjusted target engine operating power, the vehicle power and the power response slope to realize the compensation of the deviation.

[0012] Optionally, the coefficients of the PID include a proportional coefficient, an integral coefficient, and a derivative coefficient. The method of adjusting the engine target working power, vehicle capacity, and power response slope using the coefficients of the PID and the feedforward terms includes:

[0013] Adjust the engine target working power using a first feedforward term, a first proportional coefficient, and a first integral coefficient. The first feedforward term has a correlation with the inductance degree and economy of the engine.

[0014] Adjust the vehicle capacity using a second feedforward term and a second proportional coefficient. The second feedforward term has a correlation with the power demand of the vehicle.

[0015] Adjust the power response slope using a third feedforward term and a third derivative coefficient. The third feedforward term has a correlation with the power demand of the vehicle.

[0016] Optionally, after completing the adjustment of the power, the method further includes:

[0017] Complete the adjustment of the power to obtain the current power.

[0018] Compare the current power with the target power to obtain the current deviation.

[0019] Determine whether the current deviation meets a preset threshold.

[0020] If it is determined that the current deviation does not meet the preset threshold, adjust the PID controller until the deviation between the current power and the target power meets the preset threshold.

[0021] Optionally, the strategy for determining the adjustment of the PID controller according to the deviation includes:

[0022] Set a deviation threshold.

[0023] When the deviation is greater than the deviation threshold, set the first proportional coefficient and the first integral coefficient to non-negative values, and set the second proportional coefficient and the third derivative coefficient to negative values.

[0024] Determine the strategy for adjusting the PID controller based on the first proportional coefficient, the first integral coefficient, the second proportional coefficient, and the third derivative coefficient.

[0025] Optionally, the strategy for determining the adjustment of the PID controller according to the deviation includes:

[0026] Adjust the first feedforward term, the second feedforward term, and the third feedforward term according to the power demand function of the vehicle, where the power demand function is used to represent the power demand of the vehicle.

[0027] Optionally, the strategy for determining the adjustment of the PID controller according to the deviation amount includes:

[0028] Determine the feedforward term, proportional coefficient, integral coefficient, and derivative coefficient of the PID controller according to the deviation amount;

[0029] Combine the feedforward term, the proportional coefficient, the integral coefficient, and the derivative coefficient to generate a strategy for adjusting the PID controller.

[0030] In a second aspect, an embodiment of the present application provides a device for power adjustment, where the device includes: an acquisition module, a first determination module, a second determination module, and a compensation module;

[0031] The acquisition module is configured to acquire the actual state of charge (SOC) of the battery and the target SOC';

[0032] The first determination module is configured to determine the deviation amount between the actual SOC and the target SOC';

[0033] The second determination module is configured to determine a strategy for adjusting the PID controller according to the deviation amount, where the strategy includes an adjustment method for the coefficients and feedforward term of the PID;

[0034] The compensation module is configured to compensate the deviation amount by using the adjustment method for the coefficients and feedforward term of the PID to complete the adjustment of the power.

[0035] In a third aspect, the present application provides an electronic device, where the device includes: a processor, a memory, and a system bus;

[0036] The processor and the memory are connected through the system bus;

[0037] The memory is used to store one or more programs, and the one or more programs include instructions that, when executed by the processor, cause the processor to execute the method described in the first aspect.

[0038] In a fourth aspect, an embodiment of the present application provides a computer storage medium, where code is stored in the computer storage medium, and when the code is run, the device running the code implements the method described in any item of the first aspect.

[0039] The present application provides a method, an apparatus, an electronic device, and a storage medium for power adjustment. When executing the method, first obtain the actual state of charge (SOC) of the battery and the target SOC', then determine the deviation between the actual SOC and the target SOC', and determine a strategy for adjusting the PID controller according to the deviation. The strategy includes the adjustment method for the coefficients of the PID and the feedforward term. Finally, use the adjustment method for the coefficients of the PID and the feedforward term to compensate for the deviation to complete the adjustment of the power. In this way, by obtaining the actual power and the target power of the battery, the power deviation can be determined. By determining the power deviation, the parameter adjustment strategy of the PID controller can be correspondingly obtained. Different adjustment methods can be set for different adjustment objects in the parameter adjustment strategy to perform targeted and adaptive adjustments on each adjustment object. By adjusting different controlled objects, it can ultimately affect the working condition of the battery, so that the actual power of the battery can reduce the deviation from the target power and ensure that the battery power is in a better and appropriate state. Description of the Drawings

[0040] To more clearly illustrate the technical solutions in the embodiments or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0041] Figure 1 It is a flowchart of a method for power adjustment provided by an embodiment of the present application;

[0042] Figure 2 It is a schematic diagram of an adjustment method provided by an embodiment of the present application;

[0043] Figure 3 It is a schematic diagram of a power adjustment method in an application scenario provided by an embodiment of the present application;

[0044] Figure 4 It is a schematic diagram of the structure of a device for power adjustment provided by an embodiment of the present application. Detailed Embodiments

[0045] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0046] In this application, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0047] In the research on related technologies, it is found that in a hybrid vehicle, the reliable operation of the power system needs to be ensured through the combined action of the engine and the battery. At the same time, a series working mode is often adopted in the hybrid system. Most of the existing drive modes in series working are simple power following modes, that is, the required power at the wheel end is used as the target working power of the engine. In this way, the engine power changes with the wheel end power at all times, resulting in frequent changes in the engine operating point, poor engine economy, and poor inductance (NVH) caused by rapid engine speed regulation when a large power demand occurs. To solve the above problems of inductance, economy and power performance, the first thing to ensure is that the state of charge (SOC) of the battery is in a good state.

[0048] Based on this, this application proposes a method, device, electronic device and storage medium for adjusting the battery charge. By determining the deviation between the actual battery charge and the target charge, and adjusting each coefficient in the PID controller according to the deviation situation, the working power of the engine, the maximum vehicle power and the power response slope can be adjusted, and finally the compensation of the charge deviation amount can be realized, so that the battery charge can be maintained at the target state.

[0049] In order to enable those skilled in the art to better understand the solution of this application, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0050] Figure 1 The flowchart of a method for adjusting the battery charge provided for the embodiments of this application is shown in Figure 1 As shown, the method for adjusting the battery charge provided by the embodiments of this application includes:

[0051] S11: Obtain the actual state of charge (SOC) and the target state of charge (SOC') of the battery.

[0052] The method for adjusting the battery power provided by the embodiments of the present application can be applied to a hybrid vehicle. A hybrid vehicle may include two energy sources, an engine and a power battery. The battery mentioned above can be understood as the power battery of the vehicle. The actual battery power mentioned above can be understood as the real-time power situation during the vehicle driving, while the target battery power can be understood as the battery power that can make the vehicle state reach a better state. The acquisition of the battery power can be obtained in real time through a sensor or determined by the changes in voltage and current. The specific method for obtaining the battery power can be determined by those skilled in the art according to the actual situation and application scenarios, and will not be limited herein.

[0053] S12: Determine the deviation between the actual state of charge (SOC) and the target state of charge (SOC').

[0054] It can be understood that due to some internal and external vehicle influences, the actual battery power often cannot reach the target power, and there will be a deviation between the two. It is necessary to adjust the vehicle system to reduce the deviation.

[0055] The deviation mentioned above is the deviation between the target state of charge (SOC') and the actual state of charge (SOC) at time t. The larger e(t) is, the more serious the current battery power shortage is. The smaller the deviation is, the more sufficient the battery power is, approaching or even exceeding the target power.

[0056] S13: Determine the strategy for adjusting the PID controller according to the deviation, and the strategy includes the adjustment methods of the coefficients of the PID and the feedforward term.

[0057] The control quantities in the PID controller mainly include the following categories: the conventional parameters in the PID control and the feedforward term. Among them, the conventional parameters can include the proportional coefficient, the differential coefficient and the integral coefficient, and the feedforward term has an associated relationship with the deviation.

[0058] In the embodiments of the present application, the PID controller needs to be used to control the following objects: adjust the target engine working power, the vehicle's overall power and the power response slope. The corresponding control strategies are different for different control objects, that is, the control quantities corresponding to different control objects are different. For example, when controlling and adjusting the target engine working power, the control quantities can include the proportional coefficient, the differential coefficient and the feedforward term; when controlling the vehicle's overall power, the control quantities can include the proportional coefficient and the feedforward term. At the same time, the values of each control quantity are also different for different control objects, and the specific value-taking method is related to the influencing factors of the control object.

[0059] In a possible implementation manner, the method for determining the strategy for adjusting the PID controller according to the deviation amount may be as follows: First, set a deviation threshold. When the deviation amount is greater than the deviation threshold, set the first proportional coefficient and the first integral coefficient to non-negative values, and set the second proportional coefficient and the second derivative coefficient to negative values. Then, determine the strategy for adjusting the PID controller based on the first proportional coefficient, the first integral coefficient, the second proportional coefficient, and the third derivative coefficient.

[0060] The above-mentioned first proportional coefficient and first integral coefficient are parameters used for adjusting the target working power of the engine. The above-mentioned second proportional coefficient is a parameter used for adjusting the vehicle's overall performance. The above-mentioned third derivative coefficient is a parameter used for adjusting the power response slope. It can be understood that the "first", "second", "third", etc. mentioned in the embodiments of the present application are only used to distinguish different coefficients, rather than to reflect meanings such as priority, importance level, and sequence.

[0061] In a possible implementation manner, in the method for determining the strategy for adjusting the PID controller according to the deviation amount, it further includes the adjustment of the feedforward term. The specific adjustment method may be: Adjust the first feedforward term, the second feedforward term, and the third feedforward term according to the vehicle's power demand function, where the power demand function is used to represent the vehicle's power demand.

[0062] The above-mentioned first feedforward term refers to the feedforward term corresponding to the adjustment of the engine's target working power. The second feedforward term refers to the feedforward term corresponding to the adjustment of the vehicle's overall performance. The third feedforward term refers to the feedforward term corresponding to the adjustment of the power response slope.

[0063] The above-mentioned deviation threshold can be freely set by those skilled in the art according to the actual situation and application scenario, and is not limited herein.

[0064] When it is necessary to adjust the engine's target working power, it is necessary to set the relevant parameters. The setting method of the first feedforward term needs to be combined with the vehicle performance definition, and comprehensively consider the economic performance and the demand function Q(e(t)) under different deviation amounts. The larger the deviation amount, the more serious the battery power supply, the lower the requirements for electrification and economy, and the need to increase the charging power, so Q(e(t)) is larger. The first proportional coefficient needs to adjust the engine's target power according to the deviation amount ratio. The larger the deviation amount, the more the charging power needs to be increased, so the first proportional coefficient should be set to a non-negative value. The first integral coefficient is used to avoid the situation that the battery power cannot reach the target power for a long time. The larger ∫e(t)dt is, the longer the time the battery power has not reached the target, so the first integral coefficient is a non-negative value.

[0065] The adjustment method of the specific target operating power of the engine is shown as follows:

[0066] u(t)_Eng = FF_Eng + Kp_Eng·e(t) + Ki_Eng·∫e(t)dt

[0067] where FF_Eng = Q(e(t))

[0068] The above Kp_Eng is the first proportional coefficient, Ki_Eng is the first integral coefficient, FF_Eng is the first feed - forward term, and e(t) is the deviation.

[0069] When it is necessary to adjust the vehicle's overall performance and power response slope, the relevant parameters also need to be set. The control parameters of the feed - forward term include the setting methods of the second feed - forward term and the third feed - forward term, which need to refer to the vehicle's power performance definition and comprehensively consider the demand function D(e(t)) under different deviation values. The larger the deviation, the more serious the battery power consumption, the lower the requirement for power performance, and the maximum vehicle capacity and power response slope need to be restricted, so D(e(t)) is smaller. The second proportional coefficient needs to adjust the vehicle's maximum capacity proportionally according to e(t). The larger e(t) is, the weaker the vehicle's maximum capacity should be, so the second proportional coefficient should be set as a negative value. The third differential coefficient is used to avoid the continuous decrease of the battery power for a period of time. The larger de(t) / dt is, the faster the battery power consumption slope is, so the more the power response slope needs to be weakened, and the third differential coefficient is negative.

[0070] The formula for adjusting the vehicle's overall performance is as follows:

[0071] u(t)_TqMax = FF_TqMax + Kp_TqMax·e(t)

[0072] where FF_TqMax = D(e(t))_TqMax.

[0073] The above FF_TqMax is the second feed - forward term, Kp_TqMax is the second proportional coefficient, and e(t) is the deviation.

[0074] The formula for adjusting the power response slope is as follows:

[0075] u(t)_TqFilt = FF_TqFilt + Kd_TqFilt·de(t) / dt

[0076] where FF_TqFilt = D(e(t))_TqFilt.

[0077] The above FF_TqFilt is the third feed - forward term, Kd_TqFilt is the third differential coefficient, and e(t) is the deviation.

[0078] By using the strategy of determining the adjustment of the PID controller according to the deviation amount mentioned above, it is possible to determine the adjustment strategies for the engine target working power, the vehicle's overall performance, and the power response slope according to the situation of the deviation amount. The adjustment strategy can be understood as a way of setting different parameters. By setting the parameters, the controlled object can be adjusted so that the actual battery charge can reduce the deviation from the target charge in the subsequent process according to this strategy.

[0079] S14: Compensate the deviation amount by using the adjustment method of the coefficients and the feedforward term of the PID to complete the adjustment of the charge.

[0080] In S14, it is mentioned that "compensate the deviation amount by using the adjustment method of the coefficients and the feedforward term of the PID". In one possible implementation, this process can be specifically as follows: First, use the adjustment method of the coefficients and the feedforward term of the PID to adjust the engine target working power, the vehicle's overall performance, and the power response slope respectively. Then, obtain the current charge value according to the adjusted engine target working power, the vehicle's overall performance, and the power response slope to achieve the compensation of the deviation amount.

[0081] Specifically, adjusting the engine target working power, the vehicle's overall performance, and the power response slope requires using a PID controller for adjustment. Different adjustment coefficients and feedforward terms will be involved for different objects during the adjustment process. By setting the adjusted coefficients and feedforward terms, a strategy for adjusting the engine target working power, the vehicle's overall performance, and the power response slope can be generated. This strategy can be understood as an expression, in which the deviation amount is used as the independent variable, and the specific adjustment method is related to the deviation amount.

[0082] In one possible implementation, the coefficients of the PID include the proportional coefficient, the integral coefficient, and the derivative coefficient. Figure 2 This is a schematic diagram of an adjustment method provided by an embodiment of the present application. As Figure 2 shown, the specific method of using the adjustment method of the coefficients and the feedforward term of the PID to adjust the engine target working power, the vehicle's overall performance, and the power response slope respectively can be as follows:

[0083] S141: Adjust the engine target working power by using the first feedforward term, the first proportional coefficient, and the first integral coefficient. The first feedforward term has an associated relationship with the inductance degree and economy of the engine.

[0084] When adjusting the target operating power of the engine, the first feedforward term, the first proportional coefficient and the first integral coefficient are specifically required, wherein the first feedforward term is related to the degree of induction, economy and power deviation of the engine, and the first proportional coefficient and the first integral coefficient are used to adjust the operating point of the engine.

[0085] S142: Using a second feedforward item and a second proportional coefficient to adjust the vehicle capacity, the second feedforward item is associated with the power demand of the vehicle.

[0086] When adjusting the vehicle capacity, the second feedforward term and the second proportional coefficient are specifically required. The second feedforward term is related to the vehicle's power demand and power deviation, and the second proportional coefficient is used to proportionally adjust the vehicle capacity.

[0087] S143: Using the third feedforward term and the third differential coefficient to adjust the power response slope, the third feedforward term is associated with the power demand of the whole vehicle.

[0088] When adjusting the power response slope, the third feedforward term and the third differential coefficient are specifically required. The third feedforward term is related to the vehicle's power demand and power deviation, and the third differential coefficient is used to differentially adjust the power response slope.

[0089] From the above description, it can be seen that the adjustment methods and adjustment coefficients used for different adjustment objects are different. In this way, the influencing factors of different control objects can be fully considered, and the influencing factors can be adjusted in a targeted manner, which can improve the efficiency of power adjustment. At the same time, high adaptability is conducive to the accuracy of power adjustment.

[0090] After completing the adjustment of the power, it can also include: first completing the adjustment of the power to obtain the current power, then comparing the current power with the target power to obtain the current deviation, and judging whether the current deviation meets the preset threshold. Finally, if it is judged that the current deviation does not meet the preset threshold, the PID controller is adjusted until the deviation between the current power and the target power meets the preset threshold.

[0091] That is, after the adjustment of the power is completed, the adjusted power can be compared with the target power again to determine whether the deviation between the two meets the threshold. If it meets the threshold, the control object can be temporarily not dynamically adjusted. If it does not meet the threshold, the control object needs to be adjusted until the deviation between the adjusted power and the target power meets the threshold.

[0092] Through the above process, the power adjustment process can be kept in a dynamic state, thereby ensuring that the deviation between the real-time actual power and the target power will not be too large, so that the battery can continue to maintain a good working state.

[0093] In this embodiment, a method for power adjustment is proposed. The method first obtains the actual state of charge (SOC) of the battery and the target SOC (SOC'), then determines the deviation between the actual SOC and the target SOC', and determines a strategy for adjusting the PID controller according to the deviation. The strategy includes the adjustment methods for the coefficients of the PID and the feedforward term. Finally, the deviation is compensated by using the adjustment methods for the coefficients of the PID and the feedforward term to complete the power adjustment. In this way, by obtaining the actual power and the target power of the battery, the power deviation can be determined. By determining the power deviation, the parameter adjustment strategy of the PID controller can be correspondingly obtained. Different adjustment methods can be set for different adjustment objects in the parameter adjustment strategy to perform targeted and adaptive adjustments on each adjustment object. By adjusting different controlled objects, it can ultimately affect the working condition of the battery, so that the actual power of the battery can reduce the deviation from the target power and ensure that the battery is in a good working state.

[0094] Figure 3 As shown in the schematic diagram of a power adjustment method in an application scenario provided by an embodiment of the present application, Figure 4 as shown, the method specifically includes: determining the deviation e(t) between the battery target SOC (SOCtgt) and the battery actual SOC (SOCact), inputting the deviation e(t) into the PID controller, and setting the feedforward term FF, proportional coefficient Kp, integral coefficient Ki, and derivative coefficient Kd of the PID controller. Among them, the adjustment parameters corresponding to different controlled objects are different. The original adjustment formula of the PID controller is u(t) = FF + Kp·e(t) + Ki·∫e(t)dt + Kd·de(t) / dt. The adjustment parameters corresponding to the engine target working power include: feedforward engine target working power FF_Eng(e(t)), proportional coefficient engine target working power Kp_Eng, and integral coefficient engine target working power Ki_Eng. The adjustment parameters corresponding to the maximum vehicle capacity include: feedforward vehicle maximum capacity FF_TqMax(e(t)), proportional coefficient vehicle maximum capacity Kp_TqMax. The adjustment parameters corresponding to the power response slope include: feedforward vehicle power response slope FF_TqFilt(e(t)), derivative coefficient vehicle power response slope Kd_TqFilt.

[0095] Among them, FF_Eng is related to the inductance, economy, and e(t) of the engine. Kp_Eng and Ki_Eng are used to adjust the engine operating point. FF_TqMax is related to the power demand of the whole vehicle and e(t). Kp_TqMax is used for proportional adjustment of the maximum power of the whole vehicle. FF_TqFilt is related to the power demand of the whole vehicle and e(t). Kd_TqFilt is used for differential adjustment of the power response slope. Based on the controller output u(t), the controlled objects: the target working power of the engine, the maximum power of the whole vehicle, and the power response slope are controlled. The actions of the controlled objects affect the working modes of the engine and the drive motor, and the final impact is reflected in the actual SOC change of the whole vehicle.

[0096] Figure 4 As shown in the structural schematic diagram of a device for adjusting the power quantity provided by an embodiment of the present application, Figure 4 A device for adjusting the power quantity specifically includes: an acquisition module 100, a first determination module 200, a second determination module 300, and a compensation module 400;

[0097] The acquisition module 100 is used to acquire the actual power quantity SOC and the target power quantity SOC' of the battery;

[0098] The first determination module 200 is used to determine the deviation amount between the actual power quantity SOC and the target power quantity SOC';

[0099] The second determination module 300 is used to determine a strategy for adjusting the PID controller according to the deviation amount, and the strategy includes the adjustment methods of the coefficients and feed-forward terms of the PID;

[0100] The compensation module 400 is used to compensate the deviation amount by using the adjustment methods of the coefficients and feed-forward terms of the PID to complete the adjustment of the power quantity. In a possible implementation manner, the compensation module 400 is specifically used for:

[0101] Adjusting the target working power of the engine, the power of the whole vehicle, and the power response slope respectively by using the adjustment methods of the coefficients and feed-forward terms of the PID;

[0102] Obtaining the current power quantity value according to the adjusted target working power of the engine, the power of the whole vehicle, and the power response slope to realize the compensation of the deviation amount.

[0103] In a possible implementation manner, the coefficients of the PID include a proportional coefficient, an integral coefficient, and a differential coefficient. The compensation module 400 is specifically used for:

[0104] Adjust the target working power of the engine by using a first feedforward term, a first proportional coefficient, and a first integral coefficient, where the first feedforward term is related to the inductance degree and economy of the engine;

[0105] Adjust the vehicle's overall ability by using a second feedforward term and a second proportional coefficient, where the second feedforward term is related to the vehicle's power demand;

[0106] Adjust the power response slope by using a third feedforward term and a third differential coefficient, where the third feedforward term is related to the vehicle's power demand.

[0107] In a possible implementation, the device is specifically configured to:

[0108] Complete the adjustment of the power quantity to obtain the current power quantity;

[0109] Compare the current power quantity with the target power quantity to obtain the current deviation;

[0110] Determine whether the current deviation meets a preset threshold;

[0111] If it is determined that the current deviation does not meet the preset threshold, adjust the PID controller until the deviation between the current power quantity and the target power quantity meets the preset threshold.

[0112] In a possible implementation, the second determination module 300 is specifically configured to:

[0113] Set a deviation threshold;

[0114] When the deviation is greater than the deviation threshold, set the first proportional coefficient and the first integral coefficient to non-negative values, and set the second proportional coefficient and the third differential coefficient to negative values;

[0115] Determine a strategy for adjusting the PID controller based on the first proportional coefficient, the first integral coefficient, the second proportional coefficient, and the third differential coefficient.

[0116] In a possible implementation, the second determination module 300 is specifically configured to:

[0117] Adjust the first feedforward term, the second feedforward term, and the third feedforward term according to the vehicle's power demand function, where the power demand function is used to represent the vehicle's power demand.

[0118] In a possible implementation, the second determination module 300 is specifically configured to:

[0119] Determine the feedforward term, proportional coefficient, integral coefficient, and differential coefficient of the PID controller according to the deviation.

[0120] Combine the feedforward term, the proportional coefficient, the integral coefficient, and the derivative coefficient to generate a strategy for adjustment by a PID controller.

[0121] In this embodiment, a device for power adjustment is proposed. The device includes an acquisition module, a first determination module, a second determination module, and a compensation module. The acquisition module is used to acquire the actual state of charge (SOC) of the battery and the target SOC'; the first determination module is used to determine the deviation between the actual SOC and the target SOC'; the second determination module is used to determine a strategy for adjusting the PID controller according to the deviation, and the strategy includes the adjustment method of the coefficients of the PID and the feedforward term; the compensation module is used to compensate the deviation by using the adjustment method of the coefficients of the PID and the feedforward term to complete the adjustment of the power. In this way, by using the first determination module, the deviation of the power can be determined according to the actual power and the target power of the battery. By determining the power deviation, the parameter adjustment strategy of the PID controller can be correspondingly obtained by using the second determination module. By setting different adjustment methods for different adjustment objects, targeted and adaptive adjustments can be made for each adjustment object. By using the adjustment method of the coefficients of the PID and the feedforward term by the compensation module to adjust different controlled objects, the actual power of the battery can be made to narrow the deviation from the target power, ensuring that the battery is in a good working state.

[0122] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of devices and methods according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0123] The embodiments of the present application also provide corresponding devices and computer-readable storage media for implementing the solutions provided by the embodiments of the present application.

[0124] Among them, the device includes a memory and a processor. The memory is used to store instructions or code, and the processor is used to execute the instructions or code so that the device performs a power adjustment method according to any embodiment of the present application.

[0125] In practical applications, the computer-readable storage medium may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the computer-readable storage medium include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program, and this program can be used by or combined with an instruction execution system, apparatus, or device.

[0126] The computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries the computer-readable program code. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium, and this computer-readable medium can send, propagate, or transmit a program for use by or combined with an instruction execution system, apparatus, or device.

[0127] The program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0128] Computer program code for performing the operations of the present invention may be written in one or more programming languages or combinations thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0129] It should also be noted that, in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.

[0130] As described above, it is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for adjusting power, characterized in that: The method comprises: Get the actual power SOC and target power SOC' of the battery; Determine a deviation between the actual power SOC and the target power SOC'; Determining a strategy for adjusting the PID controller according to the deviation, wherein the strategy includes a method for adjusting the coefficients and feedforward items of the PID; The deviation is compensated by using the coefficient of the PID and the adjustment method of the feedforward term to complete the adjustment of the electric quantity.

2. The method according to claim 1, characterized in that The method of adjusting the coefficient and feedforward term of the PID to compensate the deviation includes: The engine target operating power, vehicle capacity and power response slope are adjusted respectively by using the adjustment method of the PID coefficient and the feedforward term; The current electric quantity value is obtained according to the adjusted target operating power of the engine, the vehicle capacity and the power response slope to achieve compensation for the deviation.

3. The method according to claim 2, characterized in that The coefficients of the PID include a proportional coefficient, an integral coefficient and a differential coefficient. The adjustment method using the coefficients of the PID and the feedforward term respectively adjusts the target working power of the engine, the vehicle capacity and the power response slope, including: The target operating power of the engine is adjusted by using a first feedforward term, a first proportional coefficient and a first integral coefficient, wherein the first feedforward term is associated with the degree of induction and the economy of the engine; The vehicle capacity is adjusted by using a second feedforward term and a second proportional coefficient, wherein the second feedforward term is associated with the power demand of the vehicle; The power response slope is adjusted by using a third feedforward term and a third differential coefficient, and the third feedforward term is associated with the power demand of the whole vehicle.

4. The method according to claim 1, characterized in that After the adjustment of the power is completed, the method further includes: Complete the adjustment of the power to obtain the current power; Comparing the current power with the target power to obtain a current deviation; Determining whether the current deviation meets a preset threshold; If it is determined that the current deviation does not meet the preset threshold, the PID controller is adjusted until the deviation between the current power and the target power meets the preset threshold.

5. The method according to claim 3, characterized in that: The strategy for adjusting the PID controller according to the deviation comprises: Set deviation thresholds; When the deviation is greater than the deviation threshold, the first proportional coefficient and the first integral coefficient are set to non-negative values, and the second proportional coefficient and the third differential coefficient are set to negative values; A strategy for adjusting the PID controller is determined based on the first proportional coefficient, the first integral coefficient, the second proportional coefficient, and the third differential coefficient.

6. The method according to claim 3, characterized in that The strategy for adjusting the PID controller according to the deviation comprises: The first feedforward term, the second feedforward term and the third feedforward term are adjusted according to a power demand function of the vehicle, wherein the power demand function is used to represent the power demand of the vehicle.

7. The method according to claim 1, characterized in that The strategy for adjusting the PID controller according to the deviation comprises: Determine the feedforward term, proportional coefficient, integral coefficient and differential coefficient of the PID controller according to the deviation; The feedforward term, the proportional coefficient, the integral coefficient and the differential coefficient are combined to generate a strategy for adjusting the PID controller.

8. A device for adjusting power, characterized in that: The device comprises: an acquisition module, a first determination module, a second determination module and a compensation module; The acquisition module is used to acquire the actual power SOC and the target power SOC' of the battery; The first determination module is used to determine the deviation between the actual power SOC and the target power SOC'; The second determination module is used to determine a strategy for adjusting the PID controller according to the deviation, wherein the strategy includes an adjustment method for the coefficients and feedforward items of the PID; The compensation module is used to compensate the deviation by using the coefficient of the PID and the adjustment method of the feedforward term to complete the adjustment of the electric quantity.

9. An electronic device, characterized in that: The device includes: a processor, a memory, and a system bus; The processor and the memory are connected via the system bus; The memory is used to store one or more programs, and the one or more programs include instructions, and when the instructions are executed by the processor, the processor executes the method for adjusting the power according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an implementation program for implementing the method for power adjustment, and when the implementation program for implementing the method for power adjustment is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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