Hybrid range extender control method and system and all-terrain hybrid range-extending mower

Abstract

The invention discloses a hybrid range extender control method and system and an all-terrain hybrid range-extending mower, and belongs to the technical field of range extender control, and the method comprises the steps: predicting the required power generation amount of the operation according to historical operation data; obtaining the current battery electric quantity; and determining the working mode of the range extender according to the current battery electric quantity. Further, header required power is determined, required engine rotating speed is calculated, generator running rotating speed is obtained, the engine rotating speed is dynamically adjusted according to the running rotating speed, and stable running of the range extender is ensured. And if the rotating speed exceeds the highest preset value, the header is lifted to reduce the load. Through intelligent energy management and power control, the operation efficiency and reliability of the system are remarkably improved, fuel consumption and tail gas emission are reduced, and remarkable economic benefits and environmental friendliness are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of range extender control, and more specifically, to a control method and system for a hybrid range extender and an all-terrain hybrid range-extended lawn mower. Background Art

[0002] With the application of hybrid power technology in the field of agricultural machinery, the hybrid range-extended all-terrain lawn mower, as an efficient and energy-saving device, has gradually attracted attention. However, the existing hybrid range-extended lawn mowers still face challenges in energy management. Specifically, while the range extender powers the battery, it also needs to meet the power consumption of the drive motor and the power demand of the hydraulic pump. This complex demand scenario poses higher requirements for the stability of the energy flow and the energy-saving performance of the whole vehicle.

[0003] Currently, the control strategies of most hybrid range extenders mainly focus on the optimization of the power generation, such as controlling the start and power generation of the range extender through the state of charge (SOC) of the battery. However, these methods often ignore the power demands of other key components such as the hydraulic pump, resulting in the range extender being unable to simultaneously meet the power demands of the vehicle and the hydraulic system in actual working conditions.

[0004] In addition, although some patents in the prior art involve multi-scenario control strategies for range extenders, most of these strategies are for passenger cars or light trucks and do not fully consider the special working conditions of all-terrain lawn mowers, such as heavy-duty operations and driving on complex terrains. In these working conditions, the power demand of the hydraulic pump fluctuates greatly, and the existing control strategies are difficult to achieve the balance between the battery power and the power of the hydraulic pump.

[0005] Therefore, how to provide a control method, system and all-terrain hybrid range-extended lawn mower that can enable the hybrid range extender to achieve both power output and power generation balance, and then achieve stable control of the energy flow is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0006] In view of this, the present invention provides a control method and system for a hybrid range extender and an all-terrain hybrid range-extended lawn mower, which can enable the hybrid range extender to flexibly and accurately coordinate the power output and power generation functions according to different working conditions during the operation of the vehicle, ensure the power generation balance, maintain the stable control of the energy flow, and thus improve the overall performance and energy utilization efficiency of the hybrid vehicle.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] On the one hand, the present invention provides a control method for a hybrid range extender, including:

[0009] Real-time monitoring of the operating state parameters of the hybrid vehicle;

[0010] Based on the monitored operating state parameters and the stored historical operating data, predict the required generated electricity for this operation through a preset filtering algorithm, historical weighting algorithm, and intelligent optimal efficiency algorithm under power constraints;

[0011] Obtain the current battery power;

[0012] Determine the operating mode of the range extender according to the current battery power, specifically including:

[0013] When the battery power is greater than the first preset value, do not start the range extender;

[0014] When the battery power is less than the second preset value, the range extender generates electricity at the rated power, and the first preset value is greater than the second preset value;

[0015] When the battery power is within the first preset value and the second preset value, based on the required generated electricity and the current battery power, construct an objective function for maximizing the power generation efficiency of the range extender; solve the objective function for maximizing the power generation efficiency of the range extender to determine the power output of the range extender.

[0016] Preferably, based on the monitored operating state parameters and the stored historical operating data, predict the required generated electricity for this operation through a preset filtering algorithm, historical weighting algorithm, and intelligent optimal efficiency algorithm under power constraints, specifically including:

[0017] According to the historical operating data, use a filtering algorithm to identify the work cycles during the actual operation of the vehicle;

[0018] Calculate the average power of K work cycles;

[0019] Predict the required generated electricity for this operation according to the average power.

[0020] Preferably, according to the historical operating data, using a filtering algorithm to identify the work cycles during the actual operation of the vehicle, including:

[0021] Let the historical operating time be t, extract the periodic characteristics of the historical operating data through a filtering algorithm, and identify N work cycles within the kth operating time;

[0022] Define the power sequence of the ith work cycle as:

[0023] P i ={p i (t1), p i (t2), …, p i (t m )}

[0024] After filtering the power sequence, the power characteristics of the stable operating cycle are obtained:

[0025]

[0026] Preferably, calculating the average power of K operating cycles includes:

[0027] Taking K operating cycles within the historical power-on period and calculating the weighted average power:

[0028]

[0029] Where: is the average power of the i-th cycle, w i is the weight coefficient, w i =e -λ(N-i) .

[0030] Preferably, predicting the required power generation for the current operation according to the average power includes:

[0031] Predicting the hourly energy consumption for the current operation according to the weighted average power:

[0032] E pred =P avg ·Δt

[0033] Calculating the average total energy consumption of J operation cycles:

[0034]

[0035] Where, E j is the actual total energy consumption of the j-th operation cycle.

[0036] Predicting the total energy consumption of the current operation according to the average total energy consumption:

[0037] E total_pred =E pred ·T

[0038]

[0039] Where, T is the predicted operation time of the current operation;

[0040] Predicting the comprehensive energy consumption of the current operation according to the predicted hourly energy consumption and the total energy consumption of the current operation, which is the required power generation for the current operation:

[0041] E target =αE prev +(1-α)E total_pred

[0042] α∈[0,1] is the weight factor of history and current prediction.

[0043] Preferably, based on the required power generation amount and the current battery power, an objective function for maximizing the power generation efficiency of the range extender is constructed, including:

[0044] Based on the required power generation amount and the current battery power, an objective function for maximizing the power generation efficiency of the range extender is constructed: max η (η(P gen ))

[0045] The constraint conditions are:

[0046] Power balance:

[0047] Power limit: P gen ∈[P min ,P max

[0048] Rotation speed limit: n ∈ [n min , n max

[0049] Where: η(P gen ) is the power generation efficiency curve of the range extender, t remain is the remaining operation time, C batt is the battery capacity, S min is the lower SOC safety limit, n min is the input of the lowest rotation speed of the cutter bar, n max is the upper limit of the engine rotation speed.

[0050] Preferably, after determining the operation mode of the range extender according to the battery power, it further includes:

[0051] Obtain the required power of the cutter bar, and determine the required engine rotation speed based on the required power of the cutter bar;

[0052] Obtain the operation rotation speed of the generator;

[0053] Judge whether the operation rotation speed is lower than the lowest preset rotation speed;

[0054] If not, it is determined that the range extender operates stably; if so, increase the operation rotation speed of the engine, and judge whether the operation rotation speed of the engine exceeds the highest preset rotation speed;

[0055] If so, stop decelerating and raise the cutter bar; if not, return to judge whether the operation rotation speed is lower than the lowest preset rotation speed.

[0056] On the other hand, the present invention provides a hybrid range extender control system, including:

[0057] ​​A prediction module, configured to predict the required generated power for the current operation according to the monitored operating state parameters and the stored historical operation data through a preset filtering algorithm, historical weighting algorithm, and intelligent optimal efficiency algorithm under power constraint;

[0058] An acquisition module, configured to monitor the operating state parameters of the hybrid vehicle in real time and obtain the current battery power;

[0059] A strategy generation module, configured to determine the operating mode of the range extender according to the current battery power, specifically including:

[0060] When the battery power is greater than a first preset value, the range extender is not started;

[0061] When the battery power is less than a second preset value, the range extender generates electricity at the rated power, and the first preset value is greater than the second preset value;

[0062] When the battery power is between the first preset value and the second preset value, based on the required generated power and the current battery power, a target function for maximizing the power generation efficiency of the range extender is constructed; the target function for maximizing the power generation efficiency of the range extender is solved to determine the power output of the range extender.

[0063] Preferably, the control system further includes:

[0064] A required speed calculation module, configured to obtain the required power of the cutter bar and determine the required engine speed based on the required power of the cutter bar;

[0065] A speed acquisition module, configured to obtain the operating speed of the generator;

[0066] A judgment module, configured to judge whether the operating speed is lower than the lowest preset speed;

[0067] A control module, configured to generate a control instruction according to the judgment result of the second judgment module, including: if not, it is determined that the range extender operates stably; if so, the operating speed of the engine is increased, and it is judged whether the operating speed of the engine exceeds the highest preset speed; if so, deceleration is stopped and the cutter bar is lifted; if not, return to judge whether the operating speed is lower than the lowest preset speed.

[0068] On the other hand, the present invention further provides an all-terrain hybrid range-extended lawn mower, including: a mowing device, a power supply device, a traveling device, a frame chassis, and a vehicle controller;

[0069] The vehicle controller is electrically connected to the mowing device, the power supply device, and the traveling device respectively; the traveling device and the mowing device are both arranged above the frame chassis;

[0070] The power supply device includes: a hybrid range extender, a battery pack, and a power controller, and the power controller is used to implement the control of the range extender by any one of the described hybrid range extender control methods.

[0071] As can be seen from the above technical solutions, compared with the prior art, the present invention discloses a hybrid range extender control method, system, and all-terrain hybrid range-extended lawn mower, which significantly improve the operating efficiency and reliability of the system through intelligent energy management and power control. The control method includes the evaluation of the power generation amount, the judgment of the battery power, and the dynamic adjustment of the engine power generation mode. When the battery power is higher than the first preset value, the engine stops generating power; when it is lower than the second preset value, it generates power at the rated power; when the power is between the two, it generates power in combination with the average power of the motor. In addition, the system also evaluates the required power of the cutting table, calculates the required engine speed, and dynamically adjusts the engine speed according to the operating speed to ensure the stable operation of the range extender. If the speed exceeds the highest preset value, the load is reduced by raising the cutting table to avoid overspeed operation. Description of the Drawings

[0072] 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 the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings according to the provided drawings without creative efforts.

[0073] Figure 1 It is a flow schematic diagram provided by the present invention.

[0074] Figure 2 It is a system structure schematic diagram provided by the present invention.

[0075] Figure 3 It is a structural schematic diagram of the hybrid range extender provided by the present invention.

[0076] Figure 4 It is a structural schematic diagram of the all-terrain hybrid range-extended lawn mower provided by the present invention. Detailed Embodiments

[0077] 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 a part of the embodiments of the present invention, rather than all of the 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.

[0078] From the perspective of controlling the energy flow of the range extender, the present invention ensures that the battery SOC is maintained between 45% and 95%, ensures that the output speed of the PTO maintains the hydraulic pump or the power output of the PTO, and controls the power following mode of the range extender. The three energy flows are coordinated and comprehensively controlled to ensure the highest overall efficiency of the machine.

[0079] An embodiment of the present invention discloses a control method for a hybrid range extender, as Figure 1 shown, including:

[0080] Real-time monitor the operating state parameters of the hybrid vehicle, where the operating state parameters include but are not limited to the vehicle speed, battery power, engine speed, and load demand;

[0081] According to the monitored operating state parameters and the stored historical operating data, predict the required power generation for this operation through a preset filtering method, historical weighting algorithm, and intelligent optimal efficiency algorithm under power constraint;

[0082] Obtain the current battery power;

[0083] Determine the operating mode of the range extender according to the current battery power, specifically including:

[0084] When the battery power is greater than the first preset value, the range extender is not started;

[0085] When the battery power is less than the second preset value, the range extender generates electricity at the rated power, and the first preset value is greater than the second preset value;

[0086] When the battery power is within the first preset value and the second preset value, based on the required power generation and the current battery power, construct an objective function for maximizing the power generation efficiency of the range extender; solve the objective function for maximizing the power generation efficiency of the range extender to determine the power output of the range extender. In the actual control process, the first preset value is set to 45%, and the second threshold is set to 95%, that is, the power generation of the ISG motor is judged according to the battery power SOC. If the SOC is low (below 45%), the rated power is generated. If the power is high (SOC>95%), the ISG motor does not generate electricity and the motor idles; when the power is moderate (SOC>45% and SOC<95%), power following power generation is adopted.

[0087] Further, according to the monitored operating state parameters and the stored historical operating data, predicting the required power generation for this operation through a preset filtering algorithm, historical weighting algorithm, and intelligent optimal efficiency algorithm under power constraint specifically includes:

[0088] According to the historical operating data, use a filtering algorithm to identify the working cycle in the actual operation process of the vehicle;

[0089] Calculate the average power of K working cycles;

[0090] Predict the required generated electricity for this operation based on the average power.

[0091] Furthermore, based on historical operation data, use a filtering algorithm to identify the work cycles during the actual operation of the vehicle, including:

[0092] Set the historical operation time as t, extract the periodic characteristics of the historical operation data through the filtering algorithm, and identify N work cycles within the k-th operation time;

[0093] Define the power sequence of the i-th work cycle as:

[0094] P i ={p i (t1), p i (t2), …, p i (t m )}

[0095] After filtering the power sequence, obtain the power characteristics of the stable work cycle:

[0096]

[0097] Specifically, calculate the average power of K work cycles, including:

[0098] Select K work cycles within the historical power-on period and calculate the weighted average power:

[0099]

[0100] Where: is the average power of the i-th cycle, w i is the weight coefficient, w i =e -λ(N-i) .

[0101] Specifically, predict the required generated electricity for this operation based on the average power, including:

[0102] Predict the hourly energy consumption for this operation based on the weighted average power:

[0103] E pred =P avg ·Δt

[0104] Calculate the average total energy consumption of J operation cycles:

[0105]

[0106] Where, E j is the actual total energy consumption of the j-th operation cycle.

[0107] Predict the total energy consumption of this operation based on the average total energy consumption:

[0108] E total_pred = E pred ·T

[0109]

[0110] where T is the predicted operating time of this current operation;

[0111] Predict the comprehensive energy consumption of this operation based on the predicted hourly energy consumption and the total energy consumption of this operation, which is the required power generation for this operation:

[0112] E target = αE prev + (1 - α)E total_pred

[0113] α ∈ [0, 1] is the weight factor of historical and current predictions.

[0114] In another embodiment, based on the required power generation and the current battery level, construct an objective function for maximizing the power generation efficiency of the range extender, including:

[0115] Based on the required power generation and the current battery level, construct an objective function for maximizing the power generation efficiency of the range extender: max η (η(P gen ))

[0116] The constraint conditions are:

[0117] Power balance:

[0118] Power limit: P gen ∈ [P min , P max

[0119] Speed limit: n ∈ [n min , n max

[0120] where: η(P gen ) is the power generation efficiency curve of the range extender, t remain is the remaining operating time, C batt is the battery capacity, S min is the lower safety limit of SOC, n min is the minimum speed input of the cutter bar, n max is the maximum engine speed limit.

[0121] In another embodiment, after determining the operating mode of the range extender according to the battery level, it further includes:

[0122] ​​Obtain the power requirement of the cutter bar, and determine the required engine speed based on the power requirement of the cutter bar; the cutter bar power is determined according to the current load of the weeding object, which is the minimum motor speed and its torque that meet the current operation requirements. The purpose is to calculate the appropriate power generation requirement, thereby evaluating the optimal energy consumption point of the engine and achieving the maximum energy consumption. If the current speed does not meet the cutter bar power requirement, the engine speed will be suppressed and reduced by the load. To meet the cutter bar power requirement, the control strategy will adaptively adjust the engine speed to meet the cutter bar power requirement; the power output of the cutter bar is jointly determined by the engine speed and the operation object; it is not easy to determine the harvesting power of the cutter bar. Therefore, when the cutter bar is working, it first works at the high-efficiency speed point of the engine (such as 1800 rpm). If the engine speed drops by a certain speed (more than 100 revolutions) during the whole vehicle harvesting process, the controller will automatically increase the engine speed in steps of 100 revolutions, and then run to judge whether the engine speed continues to drop until the engine speed drop range is within 100 revolutions and the maximum speed does not exceed the engine rated speed; if the cutter bar power still drops by more than 100 revolutions at the engine rated speed point, the cutter bar needs to be lifted appropriately to reduce the cutter bar power.

[0123] Find the optimal speed of the engine in the universal characteristic curve of the engine according to the total required power, which is the required speed of the engine. After obtaining the required speed of the engine, the engine runs at this speed, and calculates the required torque of the generator at this speed. The formula is: Power = Generator Torque * Engine Speed / 9550.

[0124] Obtain the operating speed of the generator;

[0125] Judge whether the operating speed is lower than the minimum preset speed;

[0126] If not, it is determined that the range extender is running stably; if so, increase the operating speed of the engine and judge whether the operating speed of the engine exceeds the maximum preset speed;

[0127] If so, stop decelerating and lift the cutter bar; if not, return to judge whether the operating speed is lower than the minimum preset speed.

[0128] For example, in a specific embodiment, during operation, when the state of charge (SOC) of the battery is 60% and the average power of each motor is 10 kW, the engine operates at 1800 revolutions per minute (rpm), and the output torque is approximately 53 Nm. The calculation formula is: 10 * 9550 / 1800 = 54 (Nm). When the engine operates at 1800 rpm and the motor torque is 53 Nm, the battery charge is basically balanced. At the same time, the engine drives the hydraulic pump at 1800 rpm. If the engine speed drops to more than 1600 rpm during operation, the vehicle controller will increase the engine speed to 1900 rpm through a CAN message. If the engine speed still drops to more than 1700 rpm at 1900 rpm, the controller needs to further increase the engine speed. If the speed can be maintained, the engine will operate at the current speed. Since the engine speed increases, according to the power calculation formula, the torque of the ISG motor will be appropriately reduced to maintain a stable generated power. If the engine speed rises to the rated speed and still cannot be maintained, the cutter bar needs to be manually raised to reduce the cutter bar load, and then the above actions are repeated.

[0129] On the other hand, the present invention also provides a control system for a hybrid range extender, as Figure 2 shown, including:

[0130] A prediction module for predicting the required generated power for the current operation according to the monitored operating state parameters and the stored historical operation data through a preset filtering algorithm, historical weighting algorithm, and intelligent optimal efficiency algorithm under power constraints;

[0131] An acquisition module for real-time monitoring of the operating state parameters of the hybrid vehicle and obtaining the current battery charge;

[0132] A strategy generation module for determining the operating mode of the range extender according to the current battery charge, specifically including:

[0133] When the battery charge is greater than a first preset value, the range extender is not started;

[0134] When the battery charge is less than a second preset value, the range extender generates electricity at the rated power, and the first preset value is greater than the second preset value;

[0135] When the battery charge is between the first preset value and the second preset value, based on the required generated power and the current battery charge, a target function for maximizing the power generation efficiency of the range extender is constructed; the target function for maximizing the power generation efficiency of the range extender is solved to determine the power output of the range extender.

[0136] In another embodiment, the control system further includes:

[0137] A required speed calculation module for obtaining the required power of the cutter bar and determining the required engine speed based on the required power of the cutter bar;

[0138] A speed acquisition module for obtaining the operating speed of the generator;

[0139] A judgment module, configured to judge whether the operating speed is lower than the lowest preset speed;

[0140] A control module, configured to generate a control instruction according to the judgment result of the second judgment module, including: if not, it is determined that the range extender operates stably; if so, the operating speed of the engine is increased, and it is judged whether the operating speed of the engine exceeds the highest preset speed; if so, deceleration is stopped and the cutter bar is lifted; if not, return to judge whether the operating speed is lower than the lowest preset speed.

[0141] On the other hand, the present invention provides a full-terrain hybrid range-extended lawn mower, as Figures 3 - 4 shown, including: a mowing device, a power supply device, a traveling device, a frame chassis, and a vehicle controller;

[0142] The vehicle controller is electrically connected to the mowing device, the power supply device, and the traveling device respectively; the traveling device and the mowing device are both arranged above the frame chassis;

[0143] The power supply device includes: a hybrid range extender, a battery pack, and a power controller, and the power controller is configured to implement range extender control by any one of the above-mentioned hybrid range extender control methods.

[0144] In the present specification, each embodiment is described in a progressive manner. The key points of each embodiment are the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0145] 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 obvious 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 will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for a hybrid range extender, characterized in that It includes: Real-time monitoring of the operating state parameters of a hybrid vehicle; According to the monitored operating state parameters and the stored historical operating data, predicting the required power generation for this operation through a preset filtering algorithm, historical weighting algorithm, and intelligent optimal efficiency algorithm under power constraints; Obtaining the current battery power; Determining the operating mode of the range extender according to the current battery power, specifically including: When the battery power is greater than the first preset value, the range extender is not started; When the battery power is less than the second preset value, the range extender generates power at the rated power, and the first preset value is greater than the second preset value; When the battery power is within the first preset value and the second preset value, based on the required power generation and the current battery power, constructing an objective function for maximizing the power generation efficiency of the range extender; solving the objective function for maximizing the power generation efficiency of the range extender to determine the power output of the range extender.

2. The control method of a hybrid range extender according to claim 1, wherein According to the monitored operating state parameters and the stored historical operating data, predicting the required power generation for this operation through a preset filtering algorithm, historical weighting algorithm, and intelligent optimal efficiency algorithm under power constraints, specifically including: According to the historical operating data, using a filtering algorithm to identify the work cycles during the actual operation of the vehicle; Calculating the average power of K work cycles; Predicting the required power generation for this operation according to the average power.

3. The control method of a hybrid range extender according to claim 2, wherein According to the historical operating data, using a filtering algorithm to identify the work cycles during the actual operation of the vehicle, including: Assuming the historical operating time is t, extracting the periodic characteristics of the historical operating data through a filtering algorithm, and identifying N work cycles within the kth operating time; Defining the power sequence of the ith work cycle as: P i = {p i (t1), p i (t2),..., p i (t m )} After filtering the power sequence, obtaining the power characteristics of a stable work cycle:

4. A hybrid range extender control method according to claim 2, characterized in that, Calculating the average power of K work cycles, including: Taking K work cycles within the historical power-on period and calculating the weighted average power: Wherein: is the average power of the i-th cycle, w i is the weight coefficient, w i = e -λ(N-i) .

5. The control method of a hybrid range extender according to claim 2, wherein Predicting the required power generation for this operation according to the average power, including: Predicting the hourly energy consumption for this operation according to the weighted average power: E pred = P avg ·Δt Calculating the average total energy consumption of J operating cycles: Among them, E j is the actual total energy consumption in the j-th operation cycle; Predicting the total energy consumption for this operation according to the average total energy consumption: E total_pred = E pred · T where T is the predicted operating time of the current operation; Predicting the comprehensive energy consumption for this operation according to the predicted hourly energy consumption and the total energy consumption for this operation, which is the required power generation for this operation: E target = αE prev + (1 - α)E total_pred α∈[0,1] is the weight factor between history and current prediction.

6. The control method of a hybrid range extender according to claim 1, wherein, Based on the required power generation and the current battery power, constructing an objective function for maximizing the power generation efficiency of the range extender, including: Based on the required power generation amount and the current battery power, construct an objective function for maximizing the power generation efficiency of the range extender: max η (η(P gen )) The constraint conditions are: Power balance: Power limit: P gen ∈ [P min , P max ​ Speed limit: n ∈ [n min , n max ​ where: θ(P gen ) is the power generation efficiency curve of the range extender, t remain is the remaining operating time, C batt is the battery capacity, S min is the lower safety limit of SOC, n min is the input of the lowest speed of the cutter bar, n max is the maximum engine speed limit.

7. A control method for a hybrid range extender according to claim 1, characterized in that, After determining the operating mode of the range extender according to the battery power, it further includes: Obtaining the power demand of the cutter bar, and determining the required engine speed based on the power demand of the cutter bar; Obtaining the operating speed of the generator; Judging whether the operating speed is lower than the lowest preset speed; If not, it is determined that the range extender is operating stably; if so, increasing the operating speed of the engine and judging whether the operating speed of the engine exceeds the highest preset speed; If so, stopping decelerating and raising the cutter bar; if not, returning to judge whether the operating speed is lower than the lowest preset speed.

8. A control system for a hybrid range extender, characterized in that, It includes: A prediction module, configured to predict the required generated power for the current operation based on the monitored operating state parameters and the stored historical operation data through a preset filtering algorithm, historical weighting algorithm, and intelligent optimal efficiency algorithm under power constraints; An acquisition module, configured to monitor the operating state parameters of the hybrid vehicle in real time and obtain the current battery power; A strategy generation module, configured to determine the operating mode of the range extender according to the current battery power, specifically including: When the battery power is greater than a first preset value, the range extender is not started; When the battery power is less than a second preset value, the range extender generates electricity at the rated power, and the first preset value is greater than the second preset value; When the battery power is between the first preset value and the second preset value, based on the required generated power and the current battery power, a target function for maximizing the power generation efficiency of the range extender is constructed; the target function for maximizing the power generation efficiency of the range extender is solved to determine the power output of the range extender.

9. A control system for a hybrid range extender according to claim 8, characterized in that, The control system further includes: A required speed calculation module, configured to obtain the required power of the cutter bar and determine the required engine speed based on the required power of the cutter bar; A speed acquisition module, configured to obtain the operating speed of the generator; A judgment module, configured to judge whether the operating speed is lower than the lowest preset speed; A control module, configured to generate a control instruction according to the judgment result of the second judgment module, including: if not, it is determined that the range extender operates stably; if so, the operating speed of the engine is increased, and it is judged whether the operating speed of the engine exceeds the highest preset speed; if so, deceleration is stopped and the cutter bar is lifted; if not, return to judge whether the operating speed is lower than the lowest preset speed.

10. An all-terrain hybrid range-extended lawn mower, characterized in that, Including: A mowing device, a power supply device, a traveling device, a frame chassis, and a vehicle controller; The vehicle controller is electrically connected to the mowing device, the power supply device, and the traveling device respectively; The traveling device and the mowing device are both arranged above the frame chassis; The power supply device includes: a hybrid range extender, a battery pack, and a power controller, and the power controller is used to implement the range extender control through the hybrid range extender control method according to any one of claims 1 to 7.

Images