Energy recovery control method and system for mining dump truck based on feedback analysis

Abstract

The present application discloses an energy recovery control method and system for a mining dump truck based on feedback analysis, which belongs to the field of energy recovery control. The present application performs road driving matching analysis based on vehicle operation data information and driving road data information, and then performs braking section evaluation analysis. The present application performs electric feedback stability analysis and braking depth analysis based on braking section road surface data, determines the energy recovery position based on the obtained electric feedback stability analysis results and braking depth analysis results, performs vehicle electric feedback stability analysis and braking depth analysis on the driving road, and determines the energy recovery position based on a comprehensive evaluation of the electric feedback stability analysis results and the braking depth analysis results, thereby improving the safety and recovery efficiency of the energy recovery process, and also improving the efficiency of power supply use.

Description

Technical Field

[0001] The present application relates to the field of energy recovery control, and more specifically to an energy recovery control method and system for a mining dump truck based on feedback analysis. Background Art

[0002] During the operation of electric wheel dump trucks for mining, especially when going downhill or braking, a large amount of kinetic energy is generated. Through the energy recovery system, this kinetic energy that would have been wasted in the form of heat energy can be converted into electrical energy and stored for use in other operating links of the vehicle, greatly improving the energy utilization efficiency. Energy recovery technology can effectively extend the mileage of electric vehicles. The energy recovered when going downhill or decelerating can provide additional power for the vehicle on flat roads or uphill, thereby reducing battery consumption and increasing the vehicle's driving distance when the battery is fully charged. When controlling the energy recovery process of electric wheel dump trucks, an energy recovery control method and system for electric wheel dump trucks for mining are required; when performing energy recovery control of electric wheel dump trucks, the existing technology only determines whether energy recovery is needed based on whether the power load is sufficient. Due to the high temperature and humidity of the mine road surface, the energy recovery of the electric wheel dump truck is very important. Figure 4 As shown in the figure 1, there is a large fluctuation between the road surfaces. The fluctuating electrical feedback stability and braking depth frequently change, resulting in poor energy recovery quality. However, the existing technology does not consider the impact of electrical feedback stability and braking depth during energy recovery on the safety and recovery efficiency of the energy recovery process, resulting in low safety and recovery efficiency during the energy recovery process. Most existing technologies have the above problems.

[0003] In order to solve the problems raised in this background technology, the present application designs an energy recovery control method and system for a mining dump truck based on feedback analysis. Summary of the Invention

[0004] In order to address the deficiencies in the prior art mentioned in the background technology, the present application proposes an energy recovery control method and system for a mining dump truck based on feedback analysis. The present application performs road driving matching analysis based on vehicle operation data information and driving road data information, and then performs braking section evaluation analysis. The application performs electric feedback stability analysis and braking depth analysis based on the braking section road surface data, and determines the energy recovery position based on the obtained electric feedback stability analysis results and braking depth analysis results. The vehicle electric feedback stability analysis and braking depth analysis are performed on the driving road, and the energy recovery position is determined based on a comprehensive evaluation of the electric feedback stability analysis results and the braking depth analysis results, thereby improving the safety and recovery efficiency during the energy recovery process, and also improving the efficiency of power supply utilization.

[0005] To achieve the above objectives, the present application provides the following technical solutions: In a first aspect, the present application provides an energy recovery control method for a mining dump truck based on feedback analysis, which includes the following specific steps:

[0006] S1. Acquire vehicle operation data and road data;

[0007] S2. Performing road driving matching analysis based on vehicle operation data and road driving data, and then performing braking section evaluation analysis;

[0008] S3. Conducting electric feedback stability analysis and braking depth analysis based on braking section road surface data;

[0009] S4. determining an energy recovery position based on the obtained electric feedback stability analysis results and braking depth analysis results;

[0010] S5. Control the vehicle to perform energy recovery when it reaches the energy recovery position.

[0011] As a preferred technical solution for the energy recovery control method of a mining dump truck based on feedback analysis, the vehicle operation data information in S1 includes the transport weight data of the vehicle at each working position and the vehicle operation swing data, and the driving road data information in S1 includes the slope data, length and concavity data of each section of the road surface.

[0012] As a preferred technical solution of the energy recovery control method for mining dump trucks based on feedback analysis, the road driving matching analysis based on vehicle operation data information and driving road data information in S2 includes the following specific steps:

[0013] S21. Acquire transport weight data and vehicle operation swing data of the vehicle, and perform vehicle driving abnormality analysis based on the transport weight data and vehicle operation swing data;

[0014] S22, simultaneously acquiring road surface concavity and convexity data, and evaluating road surface abnormalities based on the road surface concavity and convexity data;

[0015] S23. After performing a weighted summation based on the vehicle driving abnormality analysis results and the road surface abnormality assessment results, the inverse is calculated to obtain a road matching analysis result. If the obtained road matching analysis result is greater than or equal to a set road matching analysis threshold, the corresponding road is set as an energy recovery safe road. If the corresponding road matching analysis result is less than the set road matching analysis threshold, the corresponding road is set as an energy recovery unsafe road.

[0016] As a preferred technical solution of the energy recovery control method for mining dump trucks based on feedback analysis, the braking position evaluation analysis in S2 includes the following specific steps:

[0017] S24, obtaining data on each downhill section in the energy recovery safety road, and obtaining slope data of each downhill section;

[0018] S25. Compare the slope of the downhill section with the set braking slope. If the slope of the downhill section is greater than or equal to the set braking slope, set the corresponding section as the braking section. If the slope of the downhill section is less than the set braking slope, do not set the corresponding section as the braking section.

[0019] As a preferred technical solution for the energy recovery control method for mining dump trucks based on feedback analysis, the electric feedback stability analysis based on braking section road surface data in S3 includes the following specific contents:

[0020] S31, obtaining the slope data and length data of each road section corresponding to the braking section, and simultaneously obtaining the assessed corresponding road surface abnormality;

[0021] S32. Evaluate the volatility of the corresponding braking section based on the slope data and length data of each road section, and analyze the stability of the electric feedback based on the volatility of the corresponding braking section and the corresponding road surface abnormality.

[0022] As a preferred technical solution for the energy recovery control method for mining dump trucks based on feedback analysis, the braking depth analysis based on braking section road surface data and operation data includes the following specific contents:

[0023] Obtain the slope data and length data of each road section corresponding to the braking section, and import the obtained data into the braking depth value calculation formula to calculate the braking depth value, wherein the braking depth value calculation formula is: , where Kz is the volatility of the corresponding braking section, mj is the number of roads with different slopes in the corresponding braking section, Dz is the standard length value, and Dv is the length of the road with the vth slope. is the slope value of the v-th slope road surface, is the standard value of slope, and v is the vth slope road surface.

[0024] As a preferred technical solution for the energy recovery control method of a mining dump truck based on feedback analysis, the determination of the energy recovery position based on the obtained electrical feedback stability analysis results and braking depth analysis results includes the following specific contents: obtaining the calculated electrical feedback stability and braking depth values ​​of the corresponding braking section, performing weighted summation to obtain a determination value of the corresponding braking section, comparing the obtained determination value of the corresponding braking section with a determination threshold, and selecting the corresponding braking section that is greater than or equal to the determination threshold as the energy recovery position.

[0025] On the second aspect, the present application provides an energy recovery control system for a mining dump truck based on feedback analysis, which is implemented based on the above-mentioned energy recovery control method for a mining dump truck based on feedback analysis, and specifically includes: a data acquisition module, used to obtain vehicle operation data information, and at the same time obtain data information of the driving road; a braking section evaluation module, which performs road driving matching analysis based on vehicle operation data information and driving road data information, and then performs braking section evaluation analysis; a braking analysis module, which performs electric feedback stability analysis and braking depth analysis based on braking section road surface data; an energy recovery position determination module, which determines the energy recovery position based on the obtained electric feedback stability analysis results and braking depth analysis results; an energy recovery module, which controls the vehicle to recover energy when it drives to the energy recovery position.

[0026] In a third aspect, the present application provides an electronic device, comprising: a processor and a memory, wherein the memory stores a computer program that can be called by the processor;

[0027] The processor executes the above-mentioned energy recovery control method for mining dump trucks based on feedback analysis by calling the computer program stored in the memory.

[0028] In a fourth aspect, the present application provides a computer-readable storage medium storing instructions, which, when executed on a computer, enables the computer to execute the above-mentioned feedback analysis-based energy recovery control method for a mining dump truck.

[0029] Compared with the prior art, the beneficial effects of the present application are: the present application performs road driving matching analysis based on vehicle operation data information and driving road data information, and then performs braking section evaluation analysis, performs electric feedback stability analysis and braking depth analysis based on braking section road surface data, determines the energy recovery position based on the obtained electric feedback stability analysis results and braking depth analysis results, performs vehicle electric feedback stability analysis and braking depth analysis on the driving road, and determines the energy recovery position through comprehensive evaluation based on the electric feedback stability analysis results and braking depth analysis results, thereby improving the safety and recovery efficiency of the energy recovery process, and also improving the efficiency of power supply utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings;

[0031] Figure 1 This is a flow chart of Example 1 of the method of this application;

[0032] Figure 2 This is a schematic diagram of step S2 of Example 1 of the method of this application;

[0033] Figure 3 This is a schematic diagram of the overall framework of Example 2 of the system of this application;

[0034] Figure 4 A schematic diagram of the mine road surface for this application;

[0035] In the figure, 1 represents the road surface. DETAILED DESCRIPTION

[0036] To better understand the present application, various aspects of the present application will be described in more detail with reference to the accompanying drawings. It should be understood that these detailed descriptions are merely descriptions of exemplary embodiments of the present application and are not intended to limit the scope of the present application in any way. Throughout the specification, the same reference numerals refer to the same elements. The expression "and / or" includes any and all combinations of one or more of the associated listed items.

[0037] In the accompanying drawings, the size, dimensions, and shapes of the elements have been slightly adjusted for ease of illustration. The accompanying drawings are for illustration only and are not drawn strictly to scale. As used herein, the terms "substantially," "approximately," and similar terms are used to indicate approximate values, not degrees, and are intended to illustrate inherent deviations in measurements or calculations that would be recognized by a person of ordinary skill in the art. In addition, in this application, the order in which the steps are described does not necessarily represent the order in which these steps would occur in actual operation, unless otherwise specified or inferred from the context.

[0038] It should also be understood that expressions such as "including", "comprising", "having", "containing" and / or "comprising" are open rather than closed expressions in this specification, which indicate the presence of the stated features, elements and / or parts, but do not exclude the presence of one or more other features, elements, parts and / or combinations thereof. In addition, when expressions such as "at least one of" appear after a list of listed features, they modify the entire list of features rather than just the individual elements in the list. In addition, when describing the embodiments of the present application, "may" is used to mean "one or more embodiments of the present application". And, the term "exemplary" is intended to refer to an example or illustration. Unless otherwise specified, all words used in this document (including engineering terms and scientific terms) have the same meaning as those generally understood by those skilled in the art to which this application belongs. It should also be understood that, unless expressly stated in this application, words defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an idealized or overly formal sense.

[0039] Example 1

[0040] In order to solve the technical problems raised in the background technology, this application provides a preferred embodiment: Figure 1-Figure 2 As shown in FIG, the energy recovery control method for a mining dump truck based on feedback analysis includes the following specific steps:

[0041] S1. Acquire vehicle operation data and road data;

[0042] In this embodiment, the vehicle operation data information in S1 includes the transport weight data of the vehicle at each working position and the vehicle operation swing data. The travel road data information in S1 includes the slope data, length and road surface unevenness data of each section of the road. It should be noted that the relevant parameters in this embodiment are all collected by the corresponding collection terminal.

[0043] S2. Performing road driving matching analysis based on vehicle operation data and road driving data, and then performing braking section evaluation analysis;

[0044] In this embodiment, the road driving matching analysis based on the vehicle operation data information and the driving road data information in S2 includes the following specific steps:

[0045] S21. Obtain the transport weight data and the running swing data of the vehicle, and perform a vehicle driving abnormality analysis based on the transport weight data and the running swing data of the vehicle. The calculation formula may be: , where mx is the total weight of the vehicle, m is the safety weight of the vehicle, nt is the number of swings of the vehicle per unit time, Lc is the swing amplitude data of the cth swing, and Lm is the swing amplitude threshold data;

[0046] S22. Acquire road surface concavity data at the same time, and evaluate road surface anomalies based on the road surface concavity data. The road surface anomaly evaluation formula is: , N is the total number of depressions and protrusions per unit area of ​​the road surface, Dj is the distance of the jth depression and protrusion relative to the road surface, and Dm is the safety distance data;

[0047] S23. After performing a weighted summation based on the vehicle driving abnormality analysis result and the road surface abnormality assessment result, the inverse is calculated to obtain a road matching analysis result. If the obtained road matching analysis result is greater than or equal to a set road matching analysis threshold, the corresponding road is set as a safe road for energy recovery. If the obtained road matching analysis result is less than the set road matching analysis threshold, the corresponding road is set as an unsafe road for energy recovery. The braking position assessment analysis in S2 includes the following specific steps:

[0048] S24, obtaining data on each downhill section in the energy recovery safety road, and obtaining slope data of each downhill section;

[0049] S25. Comparing the slope of the downhill section with the set braking slope; if the slope of the downhill section is greater than or equal to the set braking slope, setting the corresponding section as a braking section; if the slope of the downhill section is less than the set braking slope, not setting the corresponding section as a braking section;

[0050] S3. Conducting electric feedback stability analysis and braking depth analysis based on braking section road surface data;

[0051] In this embodiment, the electric feedback stability analysis based on the braking section road surface data in S3 includes the following specific contents:

[0052] S31, obtaining the slope data and length data of each road section corresponding to the braking section, and simultaneously obtaining the assessed corresponding road surface abnormality;

[0053] S32. Evaluate the volatility of the corresponding braking section using the slope data and length data of each road section. Analyze the stability of the electric feedback based on the volatility of the corresponding braking section and the corresponding road surface abnormality. The volatility evaluation formula for the corresponding braking section is: , where Kc is the volatility of the corresponding braking section, mj is the number of roads with different slopes in the corresponding braking section, D is the vehicle length, and Dv is the length of the road with the vth slope, representing the degree of aggregation of the slope change. is the slope value of the v-th slope road surface, v is the v-th slope road surface, is the slope value of the v-1th slope road surface, such as Figure 4 The road surface 1 shown represents the abnormal degree of slope change. w is a constant value used to prevent the numerator from being zero. At the same time, the formula for the electric feedback stability analysis is: , where Ly is the road surface abnormality assessment result;

[0054] Secondly, the braking depth analysis based on the braking section road surface data includes the following specific contents:

[0055] Obtain the slope data and length data of each road section corresponding to the braking section, and import the obtained data into the braking depth value calculation formula to calculate the braking depth value, wherein the braking depth value calculation formula is: ,in, is the standard value of slope, Dz is the standard value of length, kz is the braking depth value, is the slope value of the v-th slope road surface, Dv is the length of the v-th slope road surface, and mj is the number of roads with different slopes corresponding to the braking section;

[0056] S4. determining an energy recovery position based on the obtained electric feedback stability analysis results and braking depth analysis results;

[0057] In this embodiment, determining the energy recovery position based on the obtained electric feedback stability analysis results and braking depth analysis results includes the following specific contents: obtaining the calculated electric feedback stability and braking depth values ​​of the corresponding braking section, performing weighted summation to obtain a determination value of the corresponding braking section, comparing the obtained determination value of the corresponding braking section with a determination threshold, and selecting the corresponding braking section that is greater than or equal to the determination threshold as the energy recovery position;

[0058] In this embodiment, it should be noted that the setting parameters (such as weights and thresholds) in this embodiment are obtained through experiments by those skilled in the art. The specific experimental method is: historical vehicle operation data information and driving road data information are obtained, and the data information is substituted into each step of this embodiment to obtain the energy recovery position. At the same time, the evaluation results of the recovery effects of the historical recovery positions by experts are obtained to find the best historical recovery position. The best historical recovery position and the recovery positions obtained in each step are imported into the fitting software for continuous fitting to obtain the setting parameters (such as weights and thresholds) that meet the maximum coincidence accuracy.

[0059] S5. Control the vehicle to perform energy recovery when it reaches the energy recovery position.

[0060] In this example, it should be noted that the present embodiment has the following advantages over the prior art: road driving matching analysis is performed based on vehicle operation data information and driving road data information, and then a braking section evaluation analysis is performed; electric feedback stability analysis and braking depth analysis are performed based on the braking section road surface data; the energy recovery position is determined based on the obtained electric feedback stability analysis results and braking depth analysis results; vehicle electric feedback stability analysis and braking depth analysis are performed on the driving road, and the energy recovery position is determined based on a comprehensive evaluation of the electric feedback stability analysis results and the braking depth analysis results, thereby improving the safety and recovery efficiency during the energy recovery process, and also improving the efficiency of power supply use.

[0061] Example 2

[0062] like Figure 3As shown, the energy recovery control system of a mining dump truck based on feedback analysis is implemented based on the above-mentioned energy recovery control method of a mining dump truck based on feedback analysis, which specifically includes: a data acquisition module for acquiring vehicle operation data information and simultaneously acquiring data information of the driving road; a braking section evaluation module for performing road driving matching analysis based on vehicle operation data information and driving road data information, and then performing braking section evaluation analysis; a braking analysis module for performing electric feedback stability analysis and braking depth analysis based on braking section road surface data; an energy recovery position determination module for determining the energy recovery position based on the obtained electric feedback stability analysis results and braking depth analysis results; an energy recovery module for controlling the vehicle to perform energy recovery when driving to the energy recovery position; and at the same time, the data transmission direction of each module in this embodiment is as follows Figure 3 As shown by the arrow direction in the figure, the specific steps of each module in this embodiment have been described in detail in the above method embodiment and will not be repeated here.

[0063] Example 3

[0064] This embodiment provides an electronic device, comprising: a processor and a memory, wherein the memory stores a computer program that can be called by the processor;

[0065] The processor executes the above-mentioned energy recovery control method for a mining dump truck based on feedback analysis by calling a computer program stored in the memory.

[0066] The electronic device may vary significantly due to configuration or performance, and may include one or more processors and one or more memories, wherein the memories store at least one computer program, which is loaded and executed by the processor to implement the energy recovery control method for a mining dump truck based on feedback analysis provided in the above-mentioned method embodiment. The electronic device may also include other components for implementing the device's functions. For example, the electronic device may also include components such as a wired or wireless network interface and an input / output interface for data input and output. This embodiment is not described in detail here.

[0067] Example 4

[0068] This embodiment provides a computer-readable storage medium having a rewritable computer program stored thereon;

[0069] When the computer program is executed on a computer device, the computer device is caused to execute the above-mentioned energy recovery control method for a mining dump truck based on feedback analysis.

[0070] For example, the computer readable storage medium can be a read-only memory, a random access memory, a read-only CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0071] The above embodiments can be implemented in whole or in part via software, hardware, firmware, or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. A computer program product comprises one or more computer instructions or computer programs. When the computer instructions or computer program are loaded or executed on a computer, the processes or functions according to the embodiments of the present application are fully or partially generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. Computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, computer instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via a wired network or / and a wireless network. A computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server or data center that contains a collection of one or more available media. Available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media. Semiconductor media can be solid-state drives.

[0072] The terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0073] The above description is merely a preferred embodiment of the present application and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of application of this application is not limited to technical solutions formed by a specific combination of the aforementioned technical features. It also encompasses other technical solutions formed by any combination of the aforementioned technical features or their equivalents, without departing from the aforementioned application concept. For example, a technical solution formed by replacing the aforementioned features with (but not limited to) technical features with similar functions claimed in this application.

Claims

1. A mining dump truck energy recovery control method based on feedback analysis is characterized in that: It includes the following specific steps: S1. Acquire vehicle operation data and road data; S2. Performing road driving matching analysis based on vehicle operation data and road driving data, and then performing braking section evaluation analysis; The specific steps include: S21. Acquire transport weight data and vehicle operation swing data of the vehicle, and perform vehicle driving abnormality analysis based on the transport weight data and vehicle operation swing data; S22, simultaneously acquiring road surface concavity and convexity data, and evaluating road surface abnormalities based on the road surface concavity and convexity data; S23. After performing a weighted summation based on the vehicle driving abnormality analysis result and the road surface abnormality assessment result, the inverse is calculated to obtain a road matching analysis result. If the obtained road matching analysis result is greater than or equal to a set road matching analysis threshold, the corresponding road is set as a safe road for energy recovery. If the obtained road matching analysis result is less than the set road matching analysis threshold, the corresponding road is set as an unsafe road for energy recovery. S3. Conducting electric feedback stability analysis and braking depth analysis based on braking section road surface data; S4. determining an energy recovery position based on the obtained electric feedback stability analysis results and braking depth analysis results; S5. Control the vehicle to perform energy recovery when it reaches the energy recovery position.

2. The energy recovery control method for a mining dump truck based on feedback analysis according to claim 1, characterized in that: The brake position evaluation analysis in S2 includes the following specific steps: S24, obtaining data on each downhill section in the energy recovery safety road, and obtaining slope data of each downhill section; S25. Compare the slope of the downhill section with the set braking slope. If the slope of the downhill section is greater than or equal to the set braking slope, set the corresponding section as the braking section. If the slope of the downhill section is less than the set braking slope, do not set the corresponding section as the braking section.

3. The energy recovery control method for a mining dump truck based on feedback analysis according to claim 2, characterized in that: The electric feedback stability analysis based on the braking section road surface data in S3 includes the following specific contents: S31, obtaining the slope data and length data of each road section corresponding to the braking section, and simultaneously obtaining the assessed corresponding road surface abnormality; S32. Evaluate the volatility of the corresponding braking section based on the slope data and length data of each road section, and analyze the stability of the electric feedback based on the volatility of the corresponding braking section and the corresponding road surface abnormality.

4. The energy recovery control method for a mining dump truck based on feedback analysis according to claim 3, characterized in that: The braking depth analysis based on the braking section road surface data and operation data includes the following specific contents: S33. Obtain the slope data and length data of each road section corresponding to the braking section, and import the obtained data into the braking depth value calculation formula to calculate the braking depth value.

5. The energy recovery control method for a mining dump truck based on feedback analysis according to claim 4, characterized in that: The determination of the energy recovery position based on the obtained electric feedback stability analysis results and braking depth analysis results includes the following specific contents: obtaining the calculated electric feedback stability and braking depth values ​​of the corresponding braking section, performing weighted summation to obtain a determination value of the corresponding braking section, comparing the obtained determination value of the corresponding braking section with a determination threshold, and selecting the corresponding braking section that is greater than or equal to the determination threshold as the energy recovery position.

6. The energy recovery control method for a mining dump truck based on feedback analysis according to claim 5, characterized in that: The volatility evaluation formula for the corresponding braking section in S32 is: , where Kc is the volatility of the corresponding braking section, mj is the number of roads with different slopes in the corresponding braking section, D is the vehicle length, and Dv is the length of the road with the vth slope. is the slope value of the v-th slope road surface, is the slope value of the v-1th slope road surface, w is a constant value, and v is the vth slope road surface.

7. A mining dump truck energy recovery control system based on feedback analysis, which is implemented based on the mining dump truck energy recovery control method based on feedback analysis according to any one of claims 1 to 6, characterized in that: It specifically includes: a data acquisition module for acquiring vehicle operation data information and driving road data information; a braking section evaluation module for performing road driving matching analysis based on vehicle operation data information and driving road data information, and then performing braking section evaluation analysis; The braking analysis module performs electric feedback stability analysis and braking depth analysis based on the braking section road surface data; the energy recovery position determination module determines the energy recovery position based on the obtained electric feedback stability analysis results and braking depth analysis results; The energy recovery module controls the vehicle to recover energy when it reaches the energy recovery position.

8. An electronic device comprising: A processor and a memory, wherein the memory stores a computer program that can be called by the processor; It is characterized in that the processor executes the energy recovery control method for a mining dump truck based on feedback analysis as described in any one of claims 1 to 6 by calling the computer program stored in the memory.

9. A computer-readable storage medium, characterized in that Instructions are stored, and when the instructions are run on a computer, the computer is caused to execute the energy recovery control method for a mining dump truck based on feedback analysis as described in any one of claims 1 to 6.

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