Control method and device of hybrid loader, electronic equipment and storage medium

Abstract

The invention provides a control method and device of a hybrid loader, electronic equipment and a storage medium, and relates to the technical field of loaders. The method comprises the steps that the current load condition of the hybrid power loader is determined, and the working condition process of the hybrid power loader comprises forward running and backward running; if it is determined that the hybrid loader is in the preset low-load condition at present, a preset sliding step is executed, specifically, in response to starting of backward running in the next working condition process, the accelerator opening degree corresponding to the highest backward vehicle speed is limited; and if it is determined that the hybrid loader can reach the end point of the remaining retreating road section through sliding, power is cut off, and zero-torque sliding is started. By dynamically adjusting the accelerator response and recovery logic of the retreating working condition, braking energy recovery is stopped under the condition of low-load operation, so that invalid energy recovery is reduced, and the power utilization rate of the whole vehicle is increased.

Description

Technical Field

[0001] The present disclosure relates to the technical field of loaders, and in particular to a control method, device, electronic device, and storage medium for a hybrid loader. Background Art

[0002] One of the key reasons for hybrid loaders' high fuel efficiency is their brake energy recovery strategy. However, brake energy recovery also involves mechanical braking, which also results in wasted braking energy. Hybrid loaders operate under complex conditions. For high-load, high-efficiency conditions, brake energy recovery can improve the recovery and reuse of excess energy, thereby enhancing economic efficiency.

[0003] In related technologies, hybrid loaders use the same braking energy recovery strategy in any scenario, which can easily affect the working efficiency of the loader and result in ineffective braking recovery. Summary of the Invention

[0004] In view of this, the purpose of the present disclosure is to provide a control method, device, electronic device and storage medium for a hybrid loader, which can specifically solve the existing problems.

[0005] Based on the above objectives, in a first aspect, the present disclosure proposes a control method for a hybrid loader, comprising: determining a current load condition of the hybrid loader, wherein the operating process of the hybrid loader includes forward driving and reverse driving; if it is determined that the hybrid loader is currently in a preset low-load condition, executing a preset coasting step: in response to starting reverse driving in the next operating process, limiting the throttle opening corresponding to the maximum reverse speed; if it is determined that the hybrid loader can reach the end of the remaining reverse section by coasting, cutting off the power and entering zero-torque coasting.

[0006] In a second aspect, a control device for a hybrid loader is also provided, comprising: a determination unit configured to determine the current load condition of the hybrid loader, wherein the operating process of the hybrid loader includes forward driving and reverse driving; a triggering unit configured to execute a preset coasting step if it is determined that the hybrid loader is currently in a preset low-load condition; an execution unit configured to limit the throttle opening corresponding to the maximum reverse speed in response to starting reverse driving in the next operating process; and if it is determined that the hybrid loader can reach the end of the remaining reverse section by coasting, cutting off the power and entering zero-torque coasting.

[0007] In a third aspect, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in the first aspect.

[0008] In a fourth aspect, a computer-readable storage medium is further provided, on which a computer program is stored, and the computer program is executed by a processor to implement any method described in the first aspect.

[0009] In a fifth aspect, a computer program product is also provided, comprising a computer program, wherein the computer program is executed by a processor to implement any one of the methods described in the first aspect.

[0010] In general, the present disclosure has at least the following beneficial effects: it provides an adaptive brake energy recovery control method, which, under the premise of ensuring operating efficiency, dynamically adjusts the throttle response and recovery logic of the reverse working condition, stops brake energy recovery under low-load operation, thereby reducing invalid energy recovery, improving the power utilization of the entire vehicle, and achieving improved economy of the hybrid loader. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar components or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments according to the present disclosure and should not be regarded as limiting the scope of the present disclosure.

[0012] Figure 1 A flow chart showing a control method of a hybrid loader according to an embodiment of the present disclosure is shown;

[0013] Figure 2 Another flow chart of a control method for a hybrid loader according to an embodiment of the present disclosure is shown;

[0014] Figure 3 A schematic diagram of a curve showing a change in vehicle speed in a control method for a hybrid loader according to an embodiment of the present disclosure is shown;

[0015] Figure 4 A schematic diagram of a control device for a hybrid loader according to an embodiment of the present disclosure is shown;

[0016] Figure 5 A schematic structural diagram of an electronic device provided by an embodiment of the present disclosure is shown;

[0017] Figure 6 A schematic diagram of a storage medium provided by an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0018] The present disclosure will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are intended only to illustrate the relevant invention and are not intended to limit the invention. It should also be noted that, for ease of description, only portions relevant to the relevant invention are shown in the accompanying drawings.

[0019] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present disclosure may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0020] Figure 1 The control method of the hybrid loader disclosed in the present invention is shown. In an embodiment of the present invention, the method includes:

[0021] Step S101 : determining the current load condition of the hybrid loader, wherein the operating process of the hybrid loader includes forward and reverse driving.

[0022] In step S102 , if it is determined that the hybrid loader is currently in a preset low-load state, a preset coasting step is executed.

[0023] The preset coasting step includes step S103, in response to starting reverse driving during the next working condition, limiting the maximum throttle opening of the hybrid loader; if it is determined that the hybrid loader can reach the end of the remaining reverse section by coasting, cutting off the power and entering zero torque coasting.

[0024] In this embodiment, the execution subject of the control method of the hybrid loader may limit the maximum throttle opening of the hybrid loader in various ways, such as limiting the maximum throttle opening of the hybrid loader to a preset value.

[0025] The load condition can be expressed by various parameters of the loader, such as engine load, energy consumption rate, etc.

[0026] If it is determined that the hybrid loader can reach the end of the remaining reverse section by coasting, braking energy recovery is stopped.

[0027] Braking energy recovery refers to a technology that converts the kinetic energy generated during vehicle braking into stored electrical energy. This energy conversion is achieved by driving the motor in reverse, recovering energy lost as heat during traditional mechanical braking and improving energy efficiency. Coasting refers to a vehicle's operating state where it relies on inertia after power output is interrupted.

[0028] The present invention provides an adaptive brake energy recovery control method. Under the premise of ensuring operating efficiency, the throttle response and recovery logic of the reverse working condition are dynamically adjusted. Under low-load operation, brake energy recovery is stopped, thereby reducing invalid energy recovery, improving the power utilization rate of the whole vehicle, and achieving economic improvement of the hybrid loader.

[0029] In some optional implementations of any embodiment of the present disclosure, limiting the maximum throttle opening of the hybrid loader includes: determining a target maximum vehicle speed for an acceleration section in the remaining reverse section based on a coasting deceleration at a current position of the hybrid loader and the mileage of the remaining reverse section; and updating the maximum throttle opening of the hybrid loader based on the target maximum vehicle speed.

[0030] Specifically, the vehicle speed corresponding to the maximum throttle opening of the hybrid loader may be updated to the target maximum vehicle speed.

[0031] In some optional application scenarios of these implementations, the preset sliding step also includes: compensating for the difference in the reverse driving time of the hybrid loader in the working process starting from the next working process, the difference being the difference between the reverse driving time and the reference reverse time, and the reference reverse time being the time when the hybrid loader uses power to travel backward.

[0032] Optionally, the compensation for the difference in the reverse driving time of the hybrid loader in the working process starting from the next working process includes: dynamically adjusting the target maximum vehicle speed so that the absolute value of the difference between the reverse driving time and the preset standard reverse time is less than or equal to a preset value, and the adjusted target maximum vehicle speed is greater than the reverse maximum vehicle speed of the hybrid loader when using power for reverse driving.

[0033] In some optional implementations of any embodiment of the present disclosure, determining the current load condition of the hybrid loader includes: determining the load rate of the hybrid loader based on the motor output power and motor rated power of the drive motor in the hybrid loader; if the load rate of the hybrid loader is less than a preset threshold value during a preset time, determining that the hybrid loader is currently in a preset low load condition.

[0034] In some optional implementations of any embodiment of the present disclosure, determining the current load condition of the hybrid loader includes: determining the load rate of the hybrid loader based on the motor output power and motor rated power of the drive motor in the hybrid loader; if the load rate of the hybrid loader is less than a preset threshold value during a preset time, determining that the hybrid loader is currently in a preset low load condition.

[0035] In some optional implementations of any embodiment of the present disclosure, the preset coasting step further includes: terminating the execution of the preset coasting step in response to determining that the load rate of the drive motor in the hybrid loader exceeds a preset threshold in two consecutive operating conditions, or receiving an emergency braking signal.

[0036] In some optional implementations of any embodiment of the present disclosure, the preset coasting step further includes: integrating the reverse vehicle speed based on the reverse time of the hybrid loader to obtain the mileage of the reverse section of the reverse travel.

[0037] Figure 2 The control method of the hybrid loader according to the embodiment of the present disclosure is shown. Figure 2 As shown, it is necessary to monitor the vehicle's operating status in real time and continuously record n ​​forward and reverse working conditions (n=10), including: drive motor load rate, vehicle speed, throttle opening, brake pedal travel, and analyze the target reverse distance based on the reverse speed and time. Based on the recorded historical action data, it is judged that the vehicle is in medium and low load conditions, and the dynamic acceleration-coasting strategy is enabled for the reverse action of medium and low load conditions, and reverse coasting is used instead of brake energy recovery. The error compensation of the reverse operation time is realized through PID control, which reduces the cut-in of mechanical braking and improves the economy of the whole vehicle's reverse. Among them, PID control is a closed-loop control algorithm that combines proportional, integral, and differential links. This control method is based on the drive motor load rate α b , vehicle speed v1, gear signal β, and throttle opening μ1 are used to jointly identify whether the target working condition of the loader meets the triggering of the dynamic acceleration-coasting strategy (preset coasting steps).

[0038] Specifically, the control method of the hybrid loader includes:

[0039] Step 1: Identify the continuous cycle working condition and calculate the reverse target distance. The continuous forward and reverse actions of the loader are regarded as a set of working conditions. Continuously record n ​​sets of working condition data (n = 10). The variable signals collected include the output power P of the drive motor. a , real-time vehicle speed v1, maximum reverse speed (maximum reverse speed when hybrid loader uses power to move backward) v 1max , gear position signal β, throttle opening μ1 and throttle opening μ corresponding to the maximum reverse speed 1max The reverse gear duration is also referred to as the reverse time t1. The target reverse distance L1 is obtained based on the reverse speed and the reverse time integral (Formula 2); the drive motor load rate α is calculated based on the drive motor output power and the drive motor rated power. b (Formula 1). When the load rate average α b Below the set threshold α c (α c =50%), that is, in the preset low load situation, it is determined that the next working condition begins, and the reverse action triggers the dynamic acceleration-coasting strategy.

[0040]

[0041] P a -----Output power of driving motor, kW;

[0042] P e ---Rated power of the drive motor, kW;

[0043]

[0044] Step 2: Determine the switching point between acceleration and coasting. After the conditions in the first step are met, the reverse action executes the dynamic acceleration-coasting strategy. First, define the reference reverse time t1, and dynamically calculate the target maximum vehicle speed v in the reverse acceleration section based on the coasting deceleration a (calculated by the slope θ measured by the slope sensor and the calibrated constant rolling resistance coefficient ρ) and the remaining reverse section mileage L2. 2max (Formula 4), and adjust the throttle strategy to set the throttle opening μ 1max The corresponding vehicle speed v 1max becomes v 2max When formula 4 is satisfied, the vehicle cuts off the power and enters zero torque coasting. The PID controller dynamically adjusts the v 2max (Formula 5), ​​so that the actual reverse travel time t2 satisfies |t2-t1|≤Δt, L1=L2+L3.

[0045]

[0046] Among them, L3 is the cumulative mileage of accelerating backward to the maximum speed, m;

[0047] k is the acceleration time, s;

[0048]

[0049] v3-----the maximum allowed terminal speed, km / h (usually close to 0);

[0050] a------sliding deceleration (determined by rolling resistance, air resistance, slope, etc.);

[0051] a=gsinθ+ρgcosθ where g is the acceleration due to gravity (10), θ is the slope, and ρ is the rolling resistance coefficient (0.03).

[0052] Commonly used PID formula: v 2max (k+1)=v 2max (k)+k p Δt+k i ∫Δtdt--Formula 5

[0053] Wherein, Δt = |t2-t1|, t2 is the actual retreat time (s) after adopting the dynamic acceleration-coasting strategy;

[0054] k-----current moment, s.

[0055] The first step is to determine the entry strategy, and the second step is to perform the maximum speed v of the reverse action. 2max During the dynamic adjustment of the maximum vehicle speed, the original throttle opening remains unchanged but the corresponding maximum vehicle speed follows the dynamic adjustment, ultimately realizing the dynamic acceleration-coasting strategy of the loader's reverse action under medium and low load conditions, thereby improving economic efficiency.

[0056] The third step is to restore the original state. When the load rate of the driving motor exceeds 50% for two consecutive working conditions (forward and reverse movements), or when emergency braking (sudden braking), the original state is restored.

[0057] Figure 3 FIG. 2 shows a curve showing a change in vehicle speed in a control method for a hybrid loader according to an embodiment of the present disclosure. Figure 3 As shown, the dynamically adjusted v 2max Greater than v 1max The difference between the time t2 and t1 for retreating using the dynamic acceleration-gliding strategy needs to be controlled within a certain value range to ensure that the time required for the strategy is not too long.

[0058] The embodiment of the present disclosure provides a control device for a hybrid loader, which is used to execute the control method for the hybrid loader described in the above embodiment. Figure 4 As shown, the device includes: a determination unit 401, configured to determine the current load condition of the hybrid loader, the operating process of the hybrid loader including forward driving and reverse driving; a triggering unit 402, configured to execute a preset coasting step if it is determined that the hybrid loader is currently in a preset low-load condition; an execution unit 403, configured to limit the throttle opening corresponding to the maximum reverse speed in response to starting reverse driving in the next operating process; if it is determined that the hybrid loader can reach the end of the remaining reverse section by coasting, then the power is cut off and zero-torque coasting is entered.

[0059] The control device of the hybrid loader provided by the above embodiment of the present disclosure and the control method of the hybrid loader provided by the embodiment of the present disclosure are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0060] The embodiment of the present disclosure further provides an electronic device corresponding to the control method of the hybrid loader provided in the above embodiment, so as to execute the control method of the hybrid loader.

[0061] Please refer to Figure 5 , which shows a schematic diagram of an electronic device provided by some embodiments of the present disclosure. Figure 5As shown, the electronic device 50 includes: a processor 500, a memory 501, a bus 502 and a communication interface 503, and the processor 500, the communication interface 503 and the memory 501 are connected via the bus 502; the memory 501 stores a computer program that can be run on the processor 500, and when the processor 500 runs the computer program, it executes the method provided in any of the aforementioned embodiments of the present disclosure.

[0062] The memory 501 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage. The system network element and at least one other network element are connected via at least one communication interface 503 (which may be wired or wireless), and may use the Internet, a wide area network, a local area network, a metropolitan area network, or the like.

[0063] Bus 502 can be an ISA bus, a PCI bus, or an EISA bus. Such buses can be classified as address buses, data buses, and control buses. Memory 501 is used to store programs, and processor 500 executes the programs upon receiving execution instructions. The control method for the hybrid loader disclosed in any of the aforementioned embodiments of the present disclosure can be applied to or implemented by processor 500.

[0064] The processor 500 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method may be completed by hardware integrated logic circuits or software instructions in the processor 500. The processor 500 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It may implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present disclosure. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present disclosure may be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory 501 , and the processor 500 reads the information in the memory 501 and completes the steps of the above method in combination with its hardware.

[0065] The electronic device provided by the embodiment of the present disclosure and the control method of the hybrid loader provided by the embodiment of the present disclosure are based on the same inventive concept and have the same beneficial effects as the methods adopted, operated or implemented by them.

[0066] The present disclosure also provides a computer-readable storage medium corresponding to the control method of the hybrid loader provided in the above embodiment. Figure 6 The computer-readable storage medium shown is a CD 60 on which a computer program (ie, a program product) is stored. When the computer program is run by a processor, the control method of the hybrid loader provided by any of the aforementioned embodiments is executed.

[0067] It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0068] The computer-readable storage medium provided by the above-mentioned embodiment of the present disclosure and the control method of the hybrid loader provided by the embodiment of the present disclosure are based on the same inventive concept and have the same beneficial effects as the method adopted, run or implemented by the application program stored therein.

[0069] It should be noted that:

[0070] In the above text, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present disclosure is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0071] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present disclosure, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present disclosure.

[0072] The embodiments of the present disclosure are described above in conjunction with the accompanying drawings, which are only specific implementation methods of the present disclosure. However, the present disclosure is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present disclosure, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present disclosure and the claims, which are all within the protection of the present disclosure.

Claims

1. A control method for a hybrid loader, characterized in that: include: Determining a current load condition of the hybrid loader, wherein the operating conditions of the hybrid loader include forward travel and reverse travel; If it is determined that the hybrid loader is currently in a preset low load condition, the preset coasting step is performed: In response to starting reverse travel during the next working condition, the throttle opening corresponding to the maximum reverse speed is limited; if it is determined that the hybrid loader can reach the end of the remaining reverse section by coasting, the power is cut off and zero torque coasting is entered.

2. The method according to claim 1, characterized in that The limiting the maximum throttle opening of the hybrid loader includes: determining a target maximum vehicle speed for an acceleration section in the remaining reverse section based on a coasting deceleration at a current position of the hybrid loader and the mileage of the remaining reverse section; The maximum throttle opening of the hybrid loader is updated according to the target maximum vehicle speed.

3. The method according to claim 2, characterized in that The preset sliding step further includes: Compensation is performed for a difference in the reverse travel time of the hybrid loader in the working process starting from the next working process, the difference being the difference between the reverse travel time and a reference reverse time, the reference reverse time being the time during which the hybrid loader uses power to travel reversely.

4. The method according to claim 3, characterized in that The compensating for the difference in the reverse travel time of the hybrid loader in the working process starting from the next working process includes: The target maximum vehicle speed is dynamically adjusted so that the absolute value of the difference between the reverse travel time and the preset standard reverse travel time is less than or equal to a preset value, and the adjusted target maximum vehicle speed is greater than the reverse maximum vehicle speed of the hybrid loader when using power for reverse travel.

5. The method according to claim 1, characterized in that Determining the current load condition of the hybrid loader includes: determining a load factor of the hybrid loader based on a motor output power and a motor rated power of a drive motor in the hybrid loader; If the load rate of the hybrid loader during a preset time period is less than a preset threshold, it is determined that the hybrid loader is currently in a preset low load condition.

6. The method according to claim 1, characterized in that The preset sliding step further includes: In response to determining that the load rate of the driving motor in the hybrid loader exceeds a preset threshold during two consecutive working conditions, or receiving an emergency braking signal, the preset coasting step is terminated.

7. The method according to claim 1, characterized in that The preset sliding step further includes: Based on the reverse time of the hybrid loader, the reverse speed is integrated to obtain the mileage of the reverse section of the reverse travel.

8. A control device for a hybrid loader, characterized in that: include: a determining unit configured to determine a current load condition of the hybrid loader, wherein the operating process of the hybrid loader includes forward travel and reverse travel; The triggering unit is configured to execute a preset coasting step if it is determined that the hybrid loader is currently in a preset low-load situation: The execution unit is configured to limit the throttle opening corresponding to the maximum reverse speed in response to starting reverse travel during the next working condition; if it is determined that the hybrid loader can reach the end of the remaining reverse section by coasting, cut off the power and enter zero-torque coasting.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: The processor runs the computer program to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the method according to any one of claims 1 to 7.

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