Generated power determination method of extended range mine truck and related device

Abstract

The invention discloses a method and a related device for determining generated power of an extended-range mine truck, and relates to the field of extended-range mine trucks, and the method comprises the steps: predicting target vehicle demand power in a second time domain length in the future based on historical vehicle demand power in a first time domain length before a current moment, and determining a target equivalent factor by adopting a dichotomy based on the target vehicle demand power and an equivalent consumption minimization strategy, so that the actual SOC of the power battery at the end moment of the predicted time domain after the current moment converges to the theoretical SOC of the power battery, and determining the actual SOC of the power battery based on the target equivalent factor and the actual vehicle demand power. And determining the target generated power of the extended-range mine truck by adopting an equivalent consumption minimization strategy. According to the method, the target equivalent factor that the actual SOC of the power battery converges to the theoretical SOC of the power battery is determined according to the predicted target vehicle demand power in combination with the equivalent consumption minimization strategy, and the target generated power meeting the actual operation condition of the extended-range mine truck is obtained according to the target equivalent factor and the actual vehicle demand power.

Description

Technical Field

[0001] The present invention relates to the technical field of range - extended mining trucks, and more specifically, to a method for determining the power generation power of a range - extended mining truck and related devices. Background Art

[0002] A range - extended mining truck is a mining transport truck applicable to open - pit mines, which uses a range - extended system and a power battery as power sources. The typical working conditions of a range - extended mining truck are usually loading - fully - loaded uphill - unloading - empty - load downhill. Limited by the power generation power of the assembled range - extended system and the capacity of the power battery, it is easy to occur that the power of the range - extended mining truck is insufficient during the fully - loaded uphill process due to the insufficient total vehicle demand power (power generation power + power battery power), or the SOC (State of Charge) of the power battery is too high during the downhill process and cannot be braked and recovered.

[0003] Therefore, how to reasonably determine the power generation power according to the actual operation of the range - extended mining truck has become a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0004] In view of this, the present invention discloses a method for determining the power generation power of a range - extended mining truck and related devices to reasonably determine the power generation power according to the actual operation of the range - extended mining truck.

[0005] A method for determining the power generation power of a range - extended mining truck includes: Predicting the target total vehicle demand power within a second time domain length in the future based on the historical total vehicle demand power within a first time domain length before the current moment; Based on the target total vehicle demand power and the equivalent consumption minimization strategy, using the bisection method to determine the target equivalent factor, so that the actual SOC of the power battery at the end of the prediction time domain after the current moment converges to the theoretical SOC of the power battery; Based on the target equivalent factor and the actual total vehicle demand power, using the equivalent consumption minimization strategy to determine the target power generation power of the range - extended mining truck.

[0006] Optionally, the predicting the target total vehicle demand power within a second time domain length in the future based on the historical total vehicle demand power within a first time domain length before the current moment includes: Inputting the historical total vehicle demand power within a first time domain length before the current moment into a generalized regression neural network to predict the target total vehicle demand power within a second time domain length in the future.

[0007] Optionally, the based on the target total vehicle demand power and the equivalent consumption minimization strategy, using the bisection method to determine the target equivalent factor, so that the actual SOC of the power battery at the end of the prediction time domain after the current moment converges to the theoretical SOC of the power battery includes: Based on the value of the equivalent factor in the equivalent consumption minimization strategy, determine the theoretical power generation when the power of the power battery does not exceed the charge and discharge power limit of the power battery; Obtain the actual power of the power battery according to the difference between the target vehicle demand power and the theoretical power generation; Determine the corresponding actual state of charge (SOC) of the power battery based on the actual power of the power battery; When the energy consumption cost of the range-extended mining truck is minimized at the actual SOC of the power battery, determine whether the actual SOC of the power battery at the end of the prediction time domain after the current moment converges to the theoretical SOC of the power battery; If not, adjust the value of the equivalent factor using the bisection method and return to the step of determining the theoretical power generation when the power of the power battery does not exceed the charge and discharge power limit of the power battery; If so, determine the equivalent factor corresponding to the convergence of the actual SOC of the power battery to the theoretical SOC of the power battery as the target equivalent factor.

[0008] Optionally, the determination process of the theoretical SOC of the power battery includes: Determine the initial SOC of the range-extended mining truck at the starting position and the end SOC at the ending position; Determine the length of the prediction time domain and the total duration of the range-extended mining truck running from the starting position to the ending position; Obtain the theoretical SOC of the power battery based on the initial SOC, the end SOC, the length of the prediction time domain, and the total duration.

[0009] Optionally, determining the energy consumption cost of the range-extended mining truck based on the actual SOC of the power battery includes: Determine the change in the SOC of the power battery at the current power generation; Based on the change in SOC, the actual SOC of the power battery, the theoretical SOC of the power battery, and the set energy consumption cost calculation strategy of the range-extended mining truck, obtain the energy consumption cost of the range-extended mining truck corresponding to the actual SOC of the power battery.

[0010] Optionally, the method of determining the target power generation of the range-extended mining truck by using the equivalent consumption minimization strategy based on the target equivalent factor and the actual vehicle demand power includes: When the equivalent factor in the equivalent consumption minimization strategy is the target equivalent factor, determine the power generation when the energy consumption cost of the range-extended mining truck corresponding to the actual vehicle demand power is minimized and the power of the power battery does not exceed the charge and discharge power limit of the power battery as the target power generation.

[0011] A power generation determination device for a range-extended mining truck includes: A power prediction unit, configured to predict a target vehicle demand power within a second time domain length in the future based on a historical vehicle demand power within a first time domain length before the current moment; An equivalent factor determination unit, configured to determine a target equivalent factor by using the bisection method based on the target vehicle demand power and an equivalent consumption minimization strategy, so that the actual state of charge (SOC) of the power battery at the end of the prediction time domain after the current moment converges to the theoretical SOC of the power battery; A power generation power determination unit, configured to determine a target power generation power of the range-extended mining truck by using the equivalent consumption minimization strategy based on the target equivalent factor and the actual vehicle demand power.

[0012] A storage medium stores at least one instruction, and when the at least one instruction is executed by a processor, any method for determining the power generation power of a range-extended mining truck is implemented.

[0013] A controller, the controller includes: a memory and a processor; The memory is configured to store at least one instruction; The processor is configured to execute the at least one instruction to implement any method for determining the power generation power of a range-extended mining truck.

[0014] A system for determining the power generation power of a range-extended mining truck, including: a power battery, a slope sensor, a mass sensor, a storage medium, and a controller that are connected to each other; The power battery is configured to provide electrical energy for a drive motor of the range-extended mining truck; The slope sensor is configured to collect the slope during the operation of the range-extended mining truck; The mass sensor is configured to collect the mass during the operation of the range-extended mining truck.

[0015] As can be seen from the above technical solution, the present invention discloses a method and related device for determining the power generation power of an extended-range mining truck. Based on the historical vehicle demand power within the first time domain length before the current moment, the target vehicle demand power within the future second time domain length is predicted. Based on the target vehicle demand power and the equivalent consumption minimization strategy, the bisection method is used to determine the target equivalent factor, so that the actual state of charge (SOC) of the power battery at the end of the prediction time domain after the current moment converges to the theoretical SOC of the power battery. Based on the target equivalent factor and the actual vehicle demand power, the equivalent consumption minimization strategy is used to determine the target power generation power of the extended-range mining truck. First, according to the predicted target vehicle demand power combined with the equivalent consumption minimization strategy, by determining the target equivalent factor that makes the actual SOC of the power battery at the end of the prediction time domain after the current moment converge to the theoretical SOC of the power battery, it is ensured that the power of the power battery corresponding to the actual SOC meets the actual demand. Then, based on the target equivalent factor and combined with the actual vehicle demand power, the equivalent consumption minimization strategy is used again to obtain the target power generation power that meets the actual operating conditions of the extended-range mining truck. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention 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 the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the disclosed drawings without creative efforts.

[0017] Figure 1 It is a flowchart of a method for determining the power generation power of an extended-range mining truck disclosed in an embodiment of the present invention; Figure 2 It is a schematic diagram showing the influence of an equivalent factor on the SOC trajectory disclosed in an embodiment of the present invention; Figure 3 It is a flowchart of a method for determining the target equivalent factor by using the bisection method based on the target vehicle demand power and the equivalent consumption minimization strategy disclosed in an embodiment of the present invention; Figure 4 It is a schematic diagram of the uphill process of an extended-range mining truck disclosed in an embodiment of the present invention; Figure 5 It is a schematic diagram of the structure of a device for determining the power generation power of an extended-range mining truck disclosed in an embodiment of the present invention; Figure 6 It is a schematic diagram of the structure of an electronic device disclosed in an embodiment of the present invention; Figure 7 It is a topological diagram of the composition of a system for determining the power generation power of an extended-range mining truck disclosed in an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0019] The embodiments of the present invention disclose a method and related device for determining the power generation power of an extended-range mining truck. First, according to the predicted target vehicle demand power and combined with the equivalent consumption minimization strategy, by determining the target equivalent factor that makes the actual SOC of the power battery converge to the theoretical SOC of the power battery at the end of the prediction time domain after the current moment, it is ensured that the power of the power battery corresponding to the actual SOC of the power battery meets the actual demand. Then, on the basis of the target equivalent factor and combined with the actual vehicle demand power, the equivalent consumption minimization strategy is adopted again to obtain the target power generation power that meets the actual operating conditions of the extended-range mining truck.

[0020] See Figure 1 , the flowchart of a method for determining the power generation power of an extended-range mining truck disclosed in the embodiments of the present invention, the method includes: Step S101, based on the historical vehicle demand power within the first time domain length before the current moment, predict the target vehicle demand power within the future second time domain length.

[0021] Among them, the values of the first time domain length and the second time domain length can be the same or different, specifically determined according to actual needs, and the present application does not make any limitations here.

[0022] Specifically, input the historical vehicle demand power within the first time domain length before the current moment into a Generalized Regression Neutral Network (GRNN), and predict the target vehicle demand power within the future second time domain length.

[0023] The generalized regression neural network is a four-layer forward propagation neural network with good non-linear approximation ability, and it is an improved network based on the radial basis function network.

[0024] In practical applications, the sliding window method can be used to generate the training samples of the generalized regression neural network: intercept multiple segments with a time domain length of T from the historical vehicle demand power before the first time domain length 1 +T 2 , the corresponding historical vehicle demand power in the first T 1 is used as the input, and the subsequent T 2The corresponding historical vehicle demand power is output. After training the generalized regression neural network with training samples, the historical vehicle demand power within the first time domain length before the current moment can be input into the trained generalized regression neural network to predict the target vehicle demand power within the future second time domain length.

[0025] Step S102: Based on the target vehicle demand power and the equivalent consumption minimization strategy, use the bisection method to determine the target equivalent factor, so that the actual SOC of the power battery at the end of the prediction time domain after the current moment converges to the theoretical SOC of the power battery.

[0026] The full English name of SOC is: State of charge, and the Chinese explanation is: State of charge.

[0027] The Equivalent Consumption Minimization Strategy (ECMS) is an energy management strategy for hybrid vehicles, aiming to achieve the lowest fuel consumption or emissions by optimizing the power distribution between the electric motor and the internal combustion engine.

[0028] This application uses the equivalent consumption minimization strategy to optimize the power distribution between the power generation power and the power battery power in the vehicle demand power, so as to minimize the energy consumption cost of the range-extended mining truck.

[0029] The equivalent factor in the equivalent consumption minimization strategy is the core parameter for achieving multi-objective optimization. In this application, the equivalent factor realizes the optimization between the power generation power and the power battery power. The equivalent factor is positively correlated with the SOC. See Figure 2 the schematic diagram of the influence of the equivalent factor on the SOC trajectory shown in Figure 2 Curve 01 in it represents that a larger equivalent factor corresponds to a larger SOC, and curve 02 represents that a smaller equivalent factor corresponds to a smaller SOC. Therefore, a reasonable equivalent factor can improve the accuracy of the SOC. Curve 03 represents that the SOC corresponding to a reasonable equivalent factor is the target SOC. Based on this, this application uses the bisection method to determine the target equivalent factor, and this target equivalent factor is the equivalent factor for the actual SOC of the power battery at the end of the prediction time domain after the current moment to converge to the theoretical SOC of the power battery.

[0030] Step S103: Based on the target equivalent factor and the actual vehicle demand power, use the equivalent consumption minimization strategy to determine the target power generation power of the range-extended mining truck.

[0031] Among them, the actual vehicle demand power is determined according to the actual operating conditions of the range-extended mining truck.

[0032] In this application, the target equivalent factor is obtained by adopting the equivalent consumption minimization strategy according to the predicted target vehicle demand power. To meet the actual operating conditions of the range-extended mining truck, this application adopts the equivalent consumption minimization strategy again for the target equivalent factor and the actual vehicle demand power, so as to obtain the target power generation power that conforms to the actual operating conditions of the range-extended mining truck.

[0033] In summary, this application discloses a method for determining the power generation power of a range-extended mining truck. Based on the historical vehicle demand power within the first time domain length before the current moment, the target vehicle demand power within the future second time domain length is predicted. Based on the target vehicle demand power and the equivalent consumption minimization strategy, the bisection method is used to determine the target equivalent factor, so that the actual SOC of the power battery at the end of the prediction time domain after the current moment converges to the theoretical SOC of the power battery. Based on the target equivalent factor and the actual vehicle demand power, the equivalent consumption minimization strategy is used to determine the target power generation power of the range-extended mining truck. This application first combines the predicted target vehicle demand power with the equivalent consumption minimization strategy, and by determining the target equivalent factor that makes the actual SOC of the power battery at the end of the prediction time domain after the current moment converge to the theoretical SOC of the power battery, it ensures that the power of the power battery corresponding to the actual SOC of the power battery meets the actual demand. Then, based on the target equivalent factor and combined with the actual vehicle demand power, the equivalent consumption minimization strategy is adopted again to obtain the target power generation power that meets the actual operating conditions of the range-extended mining truck.

[0034] In one embodiment, referring to Figure 3 , the flowchart of a method for determining the target equivalent factor by adopting the bisection method based on the target vehicle demand power and the equivalent consumption minimization strategy disclosed in the embodiment of this application includes: Step S201: Based on the value of the equivalent factor in the equivalent consumption minimization strategy, determine the theoretical power generation power when the power of the power battery does not exceed the charge and discharge power limit of the power battery.

[0035] In practical applications, when step S201 is executed for the first time, an initial value can be set for the equivalent factor in the equivalent consumption minimization strategy according to the actual situation. Since the equivalent factor mainly realizes the optimization between the power generation power and the power of the power battery, when the value of the equivalent factor is determined, the corresponding theoretical power generation power can be obtained by limiting that the power of the power battery does not exceed the charge and discharge power limit of the power battery.

[0036] Step S202: Obtain the actual power of the power battery according to the difference between the target vehicle demand power and the theoretical power generation power.

[0037] The vehicle demand power consists of the power generation power and the power of the power battery. In this embodiment, the difference between the target vehicle demand power and the theoretical power generation power is used as the actual power of the power battery.

[0038] Step S203: Determine the actual state of charge (SOC) of the power battery corresponding to the actual power of the power battery.

[0039] When determining the actual SOC of the power battery based on the actual power of the power battery, it is necessary to consider the characteristics of the power battery (such as the power output characteristics of the power battery), the real-time working conditions of the power battery, and the SOC estimation method (such as the current integration method), etc. The specific process can refer to the existing mature solutions and will not be elaborated here.

[0040] Step S204: When the energy consumption cost of the range-extended mining truck corresponding to the actual SOC of the power battery is the smallest, determine whether the actual SOC of the power battery at the end of the prediction time domain after the current moment converges to the theoretical SOC of the power battery. If not, execute Step S205; if so, execute Step S206.

[0041] Among them, the process of determining the energy consumption cost of the range-extended mining truck based on the actual SOC of the power battery includes: Determine the change in the SOC of the power battery at the current power generation power, and based on the change in SOC, the actual SOC of the power battery, the theoretical SOC of the power battery, and the set energy consumption cost calculation strategy of the range-extended mining truck, obtain the energy consumption cost of the range-extended mining truck corresponding to the actual SOC of the power battery.

[0042] The energy consumption cost calculation strategy of the range-extended mining truck is shown in the following formula: ; In the formula, represents the energy consumption cost of the range-extended mining truck, represents the power generation power at the current moment , represents the power generation power at the previous moment of the current moment , represents corresponding engine fuel consumption, s represents the equivalent factor, represents the change in the SOC of the power battery at the current moment when the power generation power is , represents the actual SOC of the power battery when the power generation power is , represents the theoretical SOC of the power battery, p is the SOC deviation target penalty coefficient; q is the power generation power dynamic change cost coefficient of the range-extended system, z is the SOC over-limit penalty additional value, is the SOC upper limit value, is the SOC lower limit value.

[0043] Step S205: Adjust the value of the equivalent factor using the bisection method and return to Step S201.

[0044] The bisection method is an algorithm for numerical calculation and problem solving. The basic idea is to divide the problem into two parts, then select one part to continue solving, and repeat this process until a solution is found or specific conditions are met.

[0045] This application is based on Figure 2 The principle shown is that a larger equivalent factor means a larger SOC, and a smaller equivalent factor means a smaller SOC. When it is determined that the value of the last equivalent factor makes the actual SOC of the power battery at the end of the predicted time domain after the current moment converge to the theoretical SOC of the power battery, the value of the equivalent factor will be adjusted by the binary method, and the process will return to step S201 until the actual SOC of the power battery converges to the theoretical SOC of the power battery, and the final target equivalent factor is obtained.

[0046] Step S206: Determine the equivalent factor corresponding to the actual SOC of the power battery converging to the theoretical SOC of the power battery as the target equivalent factor.

[0047] Among them, the process of determining the theoretical SOC of the power battery includes: (1) Determine the initial SOC of the extended-range mining truck at the starting position and the terminal SOC at the terminal position.

[0048] When the extended-range mining truck is in an uphill state, the starting position of the extended-range mining truck is the bottom of the slope, and the end position is the top of the slope; when the extended-range mining truck is in a downhill state, the starting position of the extended-range mining truck is the top of the slope, and the end position is the bottom of the slope.

[0049] For the convenience of subsequent discussion, the initial SOC of the extended-range mining truck at the starting point is Indicates that the terminal SOC of the extended-range mine is used to express.

[0050] In practical applications, is a calibration value. The specific value can be determined according to the SOC range of the power battery provided by the manufacturer. For example, when the end position is the top of the slope, It can be set to 70%, when the end point is at the bottom of the slope. Can be set to 30%.

[0051] In actual applications, the extended-range mining truck usually goes uphill with full load after loading, and then goes downhill empty after unloading on the slope. Based on this, the load status of the extended-range mining truck can be collected by the mass sensor set on the extended-range mining truck to determine whether the extended-range mining truck is in the uphill state or the downhill state.

[0052] During the uphill process of the range-extended mining truck, the slope usually gradually increases, and during the downhill process, the slope usually gradually decreases. Therefore, the slope of the range-extended mining truck is collected by the slope sensor set on the range-extended mining truck, and according to the slope change, it can be determined whether the range-extended mining truck is in the uphill state or the downhill state.

[0053] See Figure 4 , taking the uphill of the range-extended mining truck as an example, the driving distance of the range-extended mining truck from the starting point a to the ending point b is S, and the slope during the driving process is θ, that is, the included angle between the tangent direction of the range-extended mining truck's driving and the horizontal plane. When it is detected that the slope gradually increases, it indicates that the range-extended mining truck is in the uphill state.

[0054] (2) Determine the prediction horizon length and the total duration for the range-extended mining truck to run from the starting position to the ending position.

[0055] Prediction horizon length The value is determined according to actual needs, and this application does not make any limitations here.

[0056] The total duration for the range-extended mining truck to run from the starting position to the ending position , which can be obtained by timing the range-extended mining truck from the starting position to the ending position.

[0057] (3) Obtain the theoretical SOC of the power battery based on the initial SOC, the ending SOC, the prediction horizon length, and the total duration.

[0058] The expression of the theoretical SOC of the power battery is as follows: ; In the formula, represents the theoretical SOC of the power battery, represents the initial SOC of the range-extended mining truck at the starting position, represents the ending SOC of the range-extended mining truck at the ending position, represents the total duration for the range-extended mining truck to run from the starting position to the ending position, represents the prediction horizon length, represents the duration experienced in the current uphill stage or downhill stage.

[0059] In one embodiment, step S103 may specifically include: When the equivalent factor in the equivalent consumption minimization strategy algorithm is the target equivalent factor, the power generation power when the energy consumption cost of the range-extended mining truck corresponding to the actual vehicle demand power is minimized and the power of the power battery does not exceed the power limit of the power battery charging and discharging is determined as the target power generation power.

[0060] In practical applications, when the equivalent factor in the equivalent consumption minimization strategy algorithm is the target equivalent factor, the target power generation power corresponding to the actual vehicle demand power is determined by using the calculation formula for the energy consumption cost of the range-extended mining truck, where the energy consumption cost of the range-extended mining truck is minimized and the power of the power battery does not exceed the power limit of the charge and discharge of the power battery.

[0061] Corresponding to the above method embodiments, the present application also discloses a device for determining the power generation power of a range-extended mining truck.

[0062] See Figure 5 , a schematic structural diagram of a device for determining the power generation power of a range-extended mining truck disclosed in an embodiment of the present application. The device may include: A power prediction unit 301, configured to predict the target vehicle demand power within a future second time domain length based on the historical vehicle demand power within a first time domain length before the current moment.

[0063] Wherein, the values of the first time domain length and the second time domain length may be the same or different, specifically determined according to actual needs, and the present application does not make any limitation here.

[0064] The power prediction unit 301 may specifically be configured to: input the historical vehicle demand power within a first time domain length before the current moment into a generalized regression neural network, and predict the target vehicle demand power within a future second time domain length.

[0065] The generalized regression neural network is a four-layer forward propagation neural network with good non-linear approximation ability, and it is an improved network based on the radial basis function network.

[0066] In practical applications, the sliding window method may be used to generate training samples for the generalized regression neural network: intercept multiple segments with a time domain length of T 1 +T 2 from the historical vehicle demand power before the first time domain length. The historical vehicle demand power corresponding to the first T 1 is used as the input, and the historical vehicle demand power corresponding to the subsequent T 2 is used as the output. After the generalized regression neural network is trained with the training samples, the historical vehicle demand power within a first time domain length before the current moment can be input into the trained generalized regression neural network to predict the target vehicle demand power within a future second time domain length.

[0067] An equivalent factor determination unit 302, configured to determine the target equivalent factor by using the dichotomy method based on the target vehicle demand power and the equivalent consumption minimization strategy, so that the actual SOC of the power battery at the end of the prediction time domain after the current moment converges to the theoretical SOC of the power battery.

[0068] The Equivalent Consumption Minimization Strategy (ECMS) is an energy management strategy for hybrid vehicles, aiming to achieve the lowest fuel consumption or emissions by optimizing the power distribution between the electric motor and the internal combustion engine.

[0069] This application uses the Equivalent Consumption Minimization Strategy to optimize the power distribution between the generated power and the power battery power in the vehicle's required power, so as to minimize the energy consumption cost of the range-extended mining truck.

[0070] The equivalent factor in the Equivalent Consumption Minimization Strategy is the core parameter for achieving multi-objective optimization. In this application, the equivalent factor realizes the optimization between the generated power and the power battery power, and the equivalent factor is positively correlated with the SOC. Refer to Figure 2 the schematic diagram showing the influence of the equivalent factor on the SOC trajectory as shown, Figure 2 Curve 01 in it represents that a larger equivalent factor corresponds to a larger SOC, and curve 02 represents that a smaller equivalent factor corresponds to a smaller SOC. Therefore, a reasonable equivalent factor can improve the accuracy of the SOC. Curve 03 represents the SOC corresponding to the reasonable equivalent factor as the target SOC. Based on this, this application uses the bisection method to determine the target equivalent factor, which is the equivalent factor at which the actual SOC of the power battery at the end of the prediction time domain converges to the theoretical SOC of the power battery after the current moment.

[0071] The generated power determination unit 303 is used to determine the target generated power of the range-extended mining truck by using the Equivalent Consumption Minimization Strategy based on the target equivalent factor and the actual vehicle required power.

[0072] Among them, the actual vehicle required power is determined according to the actual operating conditions of the range-extended mining truck.

[0073] In this application, the target equivalent factor is obtained by using the Equivalent Consumption Minimization Strategy based on the predicted target vehicle required power. To meet the actual operating conditions of the range-extended mining truck, this application uses the Equivalent Consumption Minimization Strategy again for the target equivalent factor and the actual vehicle required power, so as to obtain the target generated power that conforms to the actual operating conditions of the range-extended mining truck.

[0074] In summary, the present application discloses a device for determining the power generation power of an extended-range mining truck. Based on the historical vehicle demand power within the first time domain length before the current moment, the target vehicle demand power within the next second time domain length is predicted. Based on the target vehicle demand power and the equivalent consumption minimization strategy, the bisection method is used to determine the target equivalent factor, so that the actual SOC of the power battery at the end of the prediction time domain after the current moment converges to the theoretical SOC of the power battery. Based on the target equivalent factor and the actual vehicle demand power, the equivalent consumption minimization strategy is used to determine the target power generation power of the extended-range mining truck. First, according to the predicted target vehicle demand power combined with the equivalent consumption minimization strategy, by determining the target equivalent factor that makes the actual SOC of the power battery at the end of the prediction time domain after the current moment converge to the theoretical SOC of the power battery, it is ensured that the power of the power battery corresponding to the actual SOC of the power battery meets the actual demand. Then, based on the target equivalent factor and combined with the actual vehicle demand power, the equivalent consumption minimization strategy is used again to obtain the target power generation power that meets the actual operating conditions of the extended-range mining truck.

[0075] In one embodiment, the equivalent factor determination unit 302 may specifically be used for: Based on the value of the equivalent factor in the equivalent consumption minimization strategy, determine the theoretical power generation power when the power of the power battery does not exceed the power charge and discharge power limit of the power battery; Obtain the actual power of the power battery according to the difference between the target vehicle demand power and the theoretical power generation power; Determine the corresponding actual SOC of the power battery based on the actual power of the power battery; When the energy consumption cost of the extended-range mining truck corresponding to the actual SOC of the power battery is the smallest, determine whether the actual SOC of the power battery at the end of the prediction time domain after the current moment converges to the theoretical SOC of the power battery; If not, adjust the value of the equivalent factor using the bisection method, and return to the step of determining the theoretical power generation power when the power of the power battery does not exceed the power charge and discharge power limit of the power battery; If so, determine the equivalent factor corresponding to the convergence of the actual SOC of the power battery to the theoretical SOC of the power battery as the target equivalent factor.

[0076] In one embodiment, the power generation power determination device may further include: The theoretical SOC determination unit is used for Determine the initial SOC of the extended-range mining truck at the starting position and the end SOC at the ending position; Determine the length of the prediction time domain, and the total duration of the extended-range mining truck running from the starting position to the ending position; The theoretical SOC of the power battery is obtained based on the initial SOC, the end SOC, the prediction time domain length, and the total duration.

[0077] In one embodiment, the power generation power determination unit may further include: An energy consumption cost determination unit for determining the change in the SOC of the power battery at the current power generation power; Based on the SOC change amount, the actual SOC of the power battery, the theoretical SOC of the power battery, and the set energy consumption cost calculation strategy for the range-extended mining truck, the energy consumption cost of the range-extended mining truck corresponding to the actual SOC of the power battery is obtained.

[0078] In one embodiment, the power generation power determination unit 303 may specifically be used for: When the equivalent factor in the equivalent consumption minimization strategy is the target equivalent factor, the power generation power at which the energy consumption cost of the range-extended mining truck corresponding to the actual vehicle demand power is minimized and the power of the power battery does not exceed the power charge and discharge power limit of the power battery is determined as the target power generation power.

[0079] Corresponding to the above embodiment, the present application also discloses a storage medium storing at least one instruction, and when the at least one instruction is executed by a processor, the steps shown in the embodiment of the power generation power determination method for a range-extended mining truck are implemented.

[0080] As a computer-readable storage medium, the storage medium can be used to store software programs, computer-executable programs, and modules, data, etc., such as the program instructions / modules corresponding to power generation power determination, generalized regression neural network, and ECMS algorithm in the embodiments of the present invention. The controller reads the change curve data therein by running the software programs, instructions, and modules stored in the storage medium, so as to execute the power generation power determination method for the range-extended mining truck in the above embodiment.

[0081] The storage medium mainly includes a program storage area and a data storage area. The program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the terminal, etc. In addition, the storage medium may include a high-speed random access memory, and may further include a non-volatile memory, such as at least one disk memory, a flash memory device, or other non-volatile solid-state storage devices. In some instances, the storage medium may further include a storage medium remotely set relative to the controller, and these remote storage media can be connected to the vehicle through a network, including but not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0082] Corresponding to the above embodiment, as Figure 6As shown in the figure, the present invention also provides an electronic device, which may include: a processor 1 and a memory 2; Wherein, the processor 1 and the memory 2 communicate with each other through a communication bus 3; The processor 1 is configured to execute at least one instruction; The memory 2 is configured to store at least one instruction; The processor 1 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0083] The memory 2 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory.

[0084] Wherein, the processor executes at least one instruction to implement the steps shown in the embodiment of the method for determining the power generation power of the range-extended mining truck.

[0085] Corresponding to the above embodiment, refer to Figure 7 , a topology diagram of the composition of a system for determining the power generation power of a range-extended mining truck disclosed in an embodiment of the present application. The system includes: a power battery 401, a slope sensor 402, a mass sensor 403, a storage medium 404, and a controller 405 that are connected to each other.

[0086] The power battery 401 is configured to provide electrical energy for the drive motor of the range-extended mining truck.

[0087] The slope sensor 402 is configured to collect the slope during the operation of the range-extended mining truck.

[0088] The mass sensor 403 is configured to collect the mass during the operation of the range-extended mining truck.

[0089] For the working principles of the storage medium 404 and the controller 405, please refer to the corresponding parts of the above embodiment, which will not be elaborated here.

[0090] Finally, 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 variant thereof is intended to cover non-exclusive inclusion, such 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 further includes 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 said element.

[0091] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other.

[0092] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for determining the power generation of an extended-range mining truck, characterized in that: include: Based on the historical vehicle demand power in the first time domain length before the current moment, predict the target vehicle demand power in the second time domain length in the future; Based on the target vehicle required power and equivalent consumption minimization strategy, a target equivalent factor is determined by a dichotomy method, so that the actual SOC of the power battery at the end of the prediction time domain after the current moment converges to the theoretical SOC of the power battery; Based on the target equivalent factor and the actual vehicle power demand, the target power generation power of the extended-range mining truck is determined by adopting the equivalent consumption minimization strategy.

2. The method for determining the generated power according to claim 1, characterized in that: The method of predicting the target vehicle demand power within a second time domain length in the future based on the historical vehicle demand power within a first time domain length before the current moment includes: The historical vehicle demand power within a first time domain length before the current moment is input into a generalized regression neural network to predict the target vehicle demand power within a second time domain length in the future.

3. The method for determining the generated power according to claim 1 or 2, characterized in that: The target equivalent factor is determined by using a dichotomy method based on the target vehicle required power and equivalent consumption minimization strategy, so that the actual SOC of the power battery at the end of the prediction time domain after the current moment converges to the theoretical SOC of the power battery, including: Based on the value of the equivalent factor in the equivalent consumption minimization strategy, determine the theoretical power generation power when the power of the power battery does not exceed the power charging and discharging power limit of the power battery; Obtaining the actual power of the power battery according to the difference between the target vehicle required power and the theoretical generated power; Determine the corresponding actual SOC of the power battery based on the actual power of the power battery; When the energy consumption cost of the extended-range mining truck corresponding to the actual SOC of the power battery is the smallest, determining whether the actual SOC of the power battery at the end of the prediction time domain after the current moment converges to the theoretical SOC of the power battery; If not, the value of the equivalent factor is adjusted by using a binary method, and the process returns to the step of determining the theoretical power generation power when the power of the power battery does not exceed the power charge and discharge power limit of the power battery; If so, the equivalent factor corresponding to the actual SOC of the power battery converging to the theoretical SOC of the power battery is determined as the target equivalent factor.

4. The method for determining the generated power according to claim 3, characterized in that: The process of determining the theoretical SOC of the power battery includes: Determine an initial SOC of the extended-range mining truck when it is at a starting position and an end SOC when it is at an end position; Determine the predicted time domain length and the total time it takes for the extended-range mining truck to run from the starting position to the end position; The power battery theoretical SOC is obtained based on the initial SOC, the terminal SOC, the predicted time domain length and the total time length.

5. The method for determining the generated power according to claim 3, characterized in that: The energy consumption cost of the extended-range mining truck is determined based on the actual SOC of the power battery, including: Determine the SOC change of the power battery under the current power generation; Based on the SOC change, the actual SOC of the power battery, the theoretical SOC of the power battery and the set extended-range mining truck energy consumption cost calculation strategy, the energy consumption cost of the extended-range mining truck corresponding to the actual SOC of the power battery is obtained.

6. The method for determining the generated power according to claim 1, characterized in that: The target power generation power of the extended-range mining truck is determined by adopting the equivalent consumption minimization strategy based on the target equivalent factor and the actual vehicle demand power, including: When the equivalent factor in the equivalent consumption minimization strategy is the target equivalent factor, the power generation power when the energy consumption cost of the extended-range mining truck corresponding to the actual vehicle demand power is minimized and the power battery power does not exceed the power battery charge and discharge power limit is determined as the target power generation power.

7. A device for determining the power generation of an extended-range mining truck, characterized in that: include: A power prediction unit, configured to predict a target vehicle power demand within a second time domain length in the future based on a historical vehicle power demand within a first time domain length before a current moment; An equivalent factor determination unit, for determining a target equivalent factor by using a dichotomy method based on the target vehicle required power and the equivalent consumption minimization strategy, so that the actual SOC of the power battery at the end of the prediction time domain after the current moment converges to the theoretical SOC of the power battery; The power generation determination unit is used to determine the target power generation of the extended-range mining truck by adopting the equivalent consumption minimization strategy based on the target equivalent factor and the actual vehicle demand power.

8. A storage medium, characterized in that: The storage medium stores at least one instruction, and when the at least one instruction is executed by the processor, the method for determining the power generation power of the extended-range mining truck according to any one of claims 1 to 6 is implemented.

9. A controller, characterized in that: The controller includes: a memory and a processor; The memory is used to store at least one instruction; The processor is used to execute the at least one instruction to implement the method for determining the power generation power of the extended-range mining truck as described in any one of claims 1 to 6.

10. A system for determining the power generation of an extended-range mining truck, characterized in that: include: A connected power battery, a slope sensor, a mass sensor, a storage medium as claimed in claim 8, and a controller as claimed in claim 9; The power battery is used to provide electric energy for the driving motor of the extended-range mining truck; The slope sensor is used to collect the slope during the operation of the extended-range mining truck; The mass sensor is used to collect the mass of the extended-range mining truck during operation.

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