A power control method and related apparatus

Abstract

The application provides a power control method and related device, and relates to the field of range extenders. After receiving a hydraulic system working instruction, if it is determined that a power advance control strategy needs to be used, the power of an engine and the power of a target generator are both adjusted to engine demand total power calculated based on a target hydraulic power and power generation demand power before adjusting a hydraulic displacement control valve current according to the hydraulic system working instruction, so that the current engine power can meet the power generation power demand and the hydraulic system power demand after responding to the hydraulic system working instruction, and then the hydraulic displacement control valve current is adjusted according to the hydraulic system working instruction. After the hydraulic displacement control valve current is adjusted, the hydraulic power starts to change. During the change of the hydraulic power, the power of the target generator can be adjusted based on the change of the hydraulic power, so that the engine can provide the hydraulic power required by the hydraulic system in real time.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of range extenders, and more particularly, to a power control method and related device. BACKGROUND

[0002] A loader is an engineering machinery used for loading and carrying loose materials (such as sand, coal), and is equipped with a liftable bucket at the front end.

[0003] When the range extender is applied to the field of loaders, due to the working characteristics of the loader bucket, the hydraulic power changes dramatically and has strong transient nature. When the hydraulic power changes, the engine power in the range extender responds with lag, so that the engine power cannot follow the hydraulic power in real time, reducing the working reliability of the loader. SUMMARY

[0004] Therefore, the present application provides a power control method and related device to solve the problem that the engine power in the range extender responds with lag, so that the engine power cannot follow the hydraulic power in real time.

[0005] To solve the above technical problems, the present application adopts the following technical solutions:

[0006] A power control method applied to a range extender, the range extender comprising an engine, a target generator and a non-target generator, the power control method comprising:

[0007] In the case of receiving a hydraulic system working instruction, if it is determined that a power advance control strategy needs to be executed according to the comparison result of the predicted power change rate of the engine and the predicted power change rate of the hydraulic system, the target hydraulic power of the hydraulic system is obtained; the target hydraulic power is the hydraulic power after responding to the hydraulic system working instruction;

[0008] The power of the engine and the power of the target generator are both adjusted to the engine demand total power; the engine demand total power is calculated based on the target hydraulic power and the power demand of the generator; the speed of the non-target generator is the set speed of the range extender;

[0009] After the power of the engine and the power of the target generator are both the engine demand total power, the hydraulic displacement control valve current is adjusted according to the hydraulic system working instruction; wherein after the hydraulic displacement control valve current is adjusted, the hydraulic power starts to change;

[0010] According to the hydraulic power change data of the hydraulic system, the power of the target generator is adjusted in real time, so that the power of the engine is equal to the sum of the power of the target generator and the real-time hydraulic power; wherein during the real-time adjustment of the power of the target generator, the power of the engine remains unchanged.

[0011] Optionally, it is determined that the power advance control strategy needs to be executed according to a comparison result of a predicted power change rate of the engine and a predicted power change rate of the hydraulic system, including:

[0012] According to a mapping relationship between the hydraulic displacement control valve current of the hydraulic pump and the hydraulic power, a target hydraulic power corresponding to a target hydraulic displacement control valve current in the hydraulic system operation instruction is determined;

[0013] According to the hydraulic power at the current time and the target hydraulic power, a predicted power change rate of the hydraulic power is calculated;

[0014] According to an engine torque step response curve, a predicted power change rate between the engine power corresponding to the hydraulic power at the current time and the engine power corresponding to the target hydraulic power is determined;

[0015] In the case that the predicted power change rate of the hydraulic power is greater than the predicted power change rate of the engine power, it is determined that the power advance control strategy needs to be executed.

[0016] Optionally, the power of the engine and the power of the target generator are both adjusted to be an engine total demand power, including:

[0017] According to the driving motor demand power and the power battery demand charge-discharge power, a generator demand power is calculated;

[0018] According to the target hydraulic power and the generator demand power, an engine total demand power is calculated;

[0019] According to the engine total demand power and the range extender set speed, a first target torque of the engine is calculated, and the engine is controlled to operate according to the first target torque, so as to adjust the power of the engine to be the engine total demand power;

[0020] According to the real-time power of the engine and the range extender set speed, a second target torque of the target generator is calculated, and the target generator is controlled to operate according to the second target torque, so as to adjust the power of the target generator to be the engine total demand power.

[0021] Optionally, the power of the target generator is adjusted in real time according to the hydraulic power change data of the hydraulic system, including:

[0022] The difference between the real-time power of the engine and the real-time power of the hydraulic system is taken as the new power of the target generator;

[0023] The target generator is subjected to a power adjustment operation according to the new power of the target generator.

[0024] Optionally, a power adjustment operation is performed on the target generator according to the new power of the target generator, including:

[0025] A new second target torque of the target generator is calculated according to the new power of the target generator;

[0026] During the torque adjustment of the target generator according to the new second target torque, a deviation value between the range extender set speed and the range extender real-time speed is calculated;

[0027] In a case where the deviation value is greater than a first threshold value, the value of the new second target torque is reduced by a set step; the first threshold value is a positive number;

[0028] In a case where the deviation value is less than a second threshold value, the value of the new second target torque is increased by a set step; the second threshold value is a negative number.

[0029] Optionally, after it is determined that the power advance control strategy is not needed to be executed, the method further includes:

[0030] The hydraulic displacement control valve current is adjusted according to the hydraulic system working instruction;

[0031] A first target torque of the engine is calculated according to the engine demand total power and the range extender set speed, and the engine is controlled to operate according to the first target torque;

[0032] A second target torque of the target generator is calculated according to the power generation demand power and the range extender set speed, and the target generator is controlled to operate according to the second target torque;

[0033] The value of the second target torque of the target generator is adjusted based on the range extender real-time speed.

[0034] Optionally, the method further includes:

[0035] In a case where a power-off instruction is received, the power control on the engine and the power control on the target generator are stopped.

[0036] A power control device applied to a range extender, the range extender including an engine, a target generator and a non-target generator, the power control device including:

[0037] A power acquisition module is configured to, in a case where a hydraulic system working instruction is received, acquire a target hydraulic power of the hydraulic system if it is determined that a power advance control strategy needs to be executed according to a comparison result of a predicted power change rate of the engine and a predicted power change rate of the hydraulic system; the target hydraulic power is a hydraulic power after a response to the hydraulic system working instruction.

[0038] a first power adjustment module, configured to adjust the power of the engine and the power of the target generator to an engine required total power; the engine required total power is calculated based on the target hydraulic power and a generator required power; and a rotational speed of the non-target generator is a range extender setting rotational speed;

[0039] a current control module, configured to adjust a hydraulic displacement control valve current according to the hydraulic system operation instruction after the power of the engine and the power of the target generator are both the engine required total power; wherein, after the hydraulic displacement control valve current is adjusted, the hydraulic power starts to change;

[0040] a second power adjustment module, configured to adjust the power of the target generator in real time according to hydraulic power change data of the hydraulic system, so that the power of the engine is equal to the sum of the power of the target generator and the real-time hydraulic power; wherein, during the real-time adjustment of the power of the target generator, the power of the engine remains unchanged.

[0041] An electronic device, comprising at least one processor and a memory connected with the processor, wherein:

[0042] the memory is configured to store a computer program;

[0043] the processor is configured to execute the computer program, so that the electronic device can implement the power control method described above.

[0044] A computer storage medium, the storage medium carries one or more computer programs, when the one or more computer programs are executed by an electronic device, the electronic device can implement the power control method described above.

[0045] The application provides a power control method and related devices. After receiving a hydraulic system working instruction, if it is determined that the engine power cannot follow the hydraulic power in real time according to the comparison result of the predicted power change rate of the engine and the predicted power change rate of the hydraulic system, it is determined that the power advance control strategy needs to be used. At this time, before adjusting the hydraulic displacement control valve current according to the hydraulic system working instruction, the power of the engine and the power of the target generator are both adjusted to the engine demand total power calculated based on the target hydraulic power and the power generation demand power, so that the current engine power can meet the power generation power demand and the hydraulic system power demand after responding to the hydraulic system working instruction. Then, the hydraulic displacement control valve current is adjusted according to the hydraulic system working instruction. After the hydraulic displacement control valve current is adjusted, the hydraulic power starts to change. During the hydraulic power change, the power of the target generator can be adjusted based on the hydraulic power change, so that the power of the engine is equal to the sum of the power of the target generator and the real-time hydraulic power. The engine can provide the hydraulic power required by the hydraulic system in real time. That is, the application adjusts the engine power in advance to ensure that the engine power follows the hydraulic power in real time, and solves the problem that the engine power in the range extender lags in response when the hydraulic power changes, so that the engine power cannot follow the hydraulic power in real time. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the application or the related art, the following will briefly introduce the drawings needed to be used in the embodiment or related art description. Obviously, the drawings in the following description only constitute the embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor based on the provided drawings.

[0047] Figure 1 A range extender structure schematic diagram provided by the embodiment of the application;

[0048] Figure 2 A flowchart of a power control method provided by the embodiment of the application;

[0049] Figure 3 A power tracking schematic diagram provided by the embodiment of the application;

[0050] Figure 4 A strategy judgment flowchart provided by the embodiment of the application;

[0051] Figure 5 A power adjustment flowchart provided by the embodiment of the application;

[0052] Figure 6 A speed regulation flowchart provided by the embodiment of the application;

[0053] Figure 7 Flow chart of another power control method provided for the embodiments of the present application;

[0054] Figure 8 Structural schematic diagram of a power control device provided for the embodiments of the present application;

[0055] Figure 9 Structural schematic diagram of an electronic device provided for the embodiments of the present application. DETAILED DESCRIPTION

[0056] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work are within the protection scope of the present application.

[0057] In order for those skilled in the art to have a clearer understanding of the present application, the related terms in the present application will be explained and described.

[0058] Range Extender: Range extender is an auxiliary power device used to extend the cruising range in new energy vehicles (such as range-extended electric vehicles, loaders, etc.), usually composed of an internal combustion engine (such as a gasoline engine, a diesel engine) and a generator.

[0059] Hydraulic System: A system that transmits power and control through liquid (such as hydraulic oil), which uses Pascal's principle to achieve energy conversion and mechanical action.

[0060] Loader: A type of engineering machinery used for loading and transporting loose materials (such as sand, coal), equipped with a liftable bucket at the front end.

[0061] Traction Motor: An electric motor in electric or hybrid vehicles that directly drives the wheels, which is the core power source of the vehicle.

[0062] Range Extender Generator: A generator in the range extender that is specifically used for power generation, which is used in conjunction with the internal combustion engine to convert the chemical energy of fuel into electrical energy.

[0063] When applying the range extender to the loader field, due to the working characteristics of the loader bucket, the hydraulic power changes dramatically and has strong transient nature. When the hydraulic power suddenly changes, the engine power in the range extender responds with a lag, making the engine power unable to follow the hydraulic power in real time, and the range extender speed cannot be stabilized, reducing the working reliability of the loader.

[0064] To this end, in the present application, when the hydraulic power suddenly changes, the engine power is compensated by a certain time advance. Specifically, when the hydraulic power does not increase, the engine power in the range extender increases in advance. Specifically, after receiving the hydraulic system working instruction, the time for adjusting the hydraulic displacement control valve current according to the hydraulic system working instruction is delayed. During the delay time, if it is determined that the engine power cannot follow the hydraulic power in real time according to the comparison result of the predicted power change rate of the engine and the predicted power change rate of the hydraulic system, it is determined that the power advance control strategy needs to be used. At this time, before adjusting the hydraulic displacement control valve current according to the hydraulic system working instruction, the power of the engine and the power of the target generator are both adjusted to the engine demand total power calculated based on the target hydraulic power and the power demand of the generator, so that the current engine power can meet the power demand of the generator and the hydraulic system power demand after responding to the hydraulic system working instruction. Then, the hydraulic displacement control valve current is adjusted according to the hydraulic system working instruction. After the hydraulic displacement control valve current is adjusted, the hydraulic power starts to change. During the hydraulic power change, the power of the target generator can be adjusted accordingly based on the hydraulic power change, so that the power of the engine is equal to the sum of the power of the target generator and the real-time hydraulic power. The engine can provide the hydraulic power required by the hydraulic system in real time. That is, the present application ensures that the engine power follows the hydraulic power in real time by adjusting the engine power in advance, solving the problem that the engine power in the range extender lags behind when the hydraulic power changes, so that the engine power cannot follow the hydraulic power in real time.

[0065] On the basis of the above, the present application discloses a power control method applied to a controller in a range extender, such as an RCU (Range extender Control Unit, range extender controller).

[0066] In actual scenarios, referring to Figure 1 , the range extender is internally provided with an engine, a generator 1 and a generator 2 and the like. The engine can be a diesel engine, adopts a torque control mode, the generator 1 adopts a speed control mode and is used as a non-target generator, and the generator 2 adopts a torque control mode and is used as a target generator.

[0067] The range extender adopts a diesel engine-double motor coupling architecture, the engine output shaft is mechanically connected to the double motor generator set (generator 1 / generator 2) through a shaft coupling, and drives the hydraulic pump through a PTO (Power Take-Off, power take-off). The electric energy generated by the range extender is preferentially supplied to the driving motor, and the remaining electric energy is dynamically stored and compensated by the power battery. The hydraulic system including the hydraulic pump provides power for the bucket mechanism, and the driving motor provides power for the walking mechanism, forming a mechatronics and hydraulic cooperative energy supply system.

[0068] The engine is provided with an engine controller, which can be an ECU (Electronic Control Unit). The RCU sends control instructions (such as operating mode, set torque, etc.) of the engine to the ECU, and the ECU controls the engine to execute the instructions, changes the operating mode, or adjusts the operating torque of the range extender to the set torque. The generator is provided with a motor controller, which can be an MCU1 (MCU: Motor Control Unit), and the RCU sends control instructions (such as set speed, operating mode, etc.) of the generator 1 to the MCU1, and the MCU1 controls the generator 1 to execute the instructions, changes the operating mode, or makes the speed of the range extender to be the set speed. The RCU sends control instructions (such as set torque, operating mode, etc.) of the generator 2 to the MCU1, and the MCU1 controls the generator 2 to execute the instructions, changes the operating mode, or adjusts the torque. The drive motor is controlled by the MCU2.

[0069] Wherein, the power of the generator 1 is represented by pGen1, the power of the generator 2 is represented by pGen2, the power of the drive motor is represented by pTM, the power of the hydraulic system is represented by pHPS, the power of the engine is represented by pEng, and the energy storage parameter of the power battery, such as the power required for charging and discharging of the power battery, is represented by pBatt.

[0070] The above parameters can be obtained from the CAN (Controller Area Network) bus message.

[0071] With reference to Figure 2 The application discloses a power control method, which can include the following steps:

[0072] S11, in the case of receiving a hydraulic system operating instruction, if it is determined that the power advance control strategy needs to be executed according to the comparison result of the predicted power change rate of the engine and the predicted power change rate of the hydraulic system, the target hydraulic power of the hydraulic system is obtained.

[0073] Wherein, the target hydraulic power is the hydraulic power after responding to the hydraulic system operating instruction.

[0074] In actual scenarios, it is determined that the hydraulic system operating instruction is received when the user presses the hydraulic device button. The hydraulic system operating instruction includes: target hydraulic displacement control valve current, which can be 800A or other current supported by the hydraulic system.

[0075] As Figure 3 In the related art, the conventional control logic of the hydraulic system is:

[0076] At time T1, a user, such as a driver, presses a hydraulic device button to start controlling the hydraulic pump solenoid valve to perform an action, and the hydraulic displacement control valve current increases and stabilizes at a certain value.

[0077] When the hydraulic displacement control valve current begins to rise, the hydraulic power slowly increases, reaching its maximum value after time dt, at time T2. This maximum value is the target hydraulic power pHPS1. Simultaneously, as the hydraulic displacement control valve current begins to rise, the power of generator 2 remains constant, while the engine power also begins to rise. After time DT, at time T3, it reaches the target hydraulic power. During this time, the engine power fails to keep pace with the hydraulic power, resulting in a delayed engine power response.

[0078] To this end, in this application, after the driver presses the hydraulic device button, the hydraulic pump solenoid valve is not immediately controlled to perform the action. Instead, the engine power and the power of generator 2 are adjusted first so that the engine power can meet the power generation power requirements and the hydraulic system power requirements after responding to the hydraulic system working instructions, and then the hydraulic pump solenoid valve is controlled to perform the action. At this time, by adjusting the power of generator 2, the engine power is equal to the sum of the target generator power and the real-time hydraulic power.

[0079] Before executing the above-mentioned adjustment of the engine power and the power of generator 2, it is necessary to determine whether the engine power can keep up with the hydraulic power in time. The specific judgment can be made based on the comparison result of the predicted power change rate of the engine and the predicted power change rate of the hydraulic system. If it is determined based on the comparison result that the engine power cannot keep up with the hydraulic power in time, it is necessary to execute the power advance control strategy at this time, and increase the engine power and the power of generator 2 before controlling the hydraulic pump solenoid valve to perform the action.

[0080] In one implementation, referring to Figure 4 , determining the need to execute a power advance control strategy based on a comparison result of the predicted power change rate of the engine and the predicted power change rate of the hydraulic system, may include:

[0081] S21. Determine a target hydraulic power corresponding to a target hydraulic displacement control valve current in a hydraulic system operation instruction according to a mapping relationship between a hydraulic displacement control valve current of a hydraulic pump and hydraulic power.

[0082] Among them, reference Figure 3For example, if the hydraulic device button is pressed at the TI moment, the hydraulic power before the hydraulic system responds to the hydraulic system working instruction is the hydraulic power at the T1 moment, the hydraulic power after the hydraulic system responds to the hydraulic system working instruction is the hydraulic power at the T2 moment, and the time length required for the hydraulic power to change from the hydraulic power at the T1 moment to the hydraulic power at the T2 moment is dt, then the calculation process of the predicted power change rate of the hydraulic power before and after the hydraulic system responds to the hydraulic system working instruction is as follows:

[0083] The hydraulic power at the T2 moment minus the hydraulic power at the T1 moment is obtained, and ΔpHPS / dt is the predicted power change rate of the hydraulic power.

[0084] In an implementation manner, the hydraulic power at the T2 moment can be determined based on a mapping relationship between the hydraulic displacement control valve current of the hydraulic pump and the hydraulic power in the hydraulic power feedforward model. The mapping relationship is obtained through calibration experiments, and the mapping relationship includes the hydraulic power corresponding to different hydraulic displacement control valve currents. Then, the target hydraulic power corresponding to the target hydraulic displacement control valve current in the hydraulic system working instruction can be determined according to the mapping relationship between the hydraulic displacement control valve current of the hydraulic pump and the hydraulic power.

[0085] Specifically, since the target hydraulic displacement control valve current is included in the hydraulic system working instruction, the mapping relationship can be queried to obtain the target hydraulic power corresponding to the target hydraulic displacement control valve current.

[0086] S22, according to the current hydraulic power and the target hydraulic power, calculating the predicted power change rate of the hydraulic power.

[0087] Specifically, as shown in Figure 3 the current hydraulic power is the hydraulic power at the T1 moment, the target hydraulic power is obtained based on the hydraulic power change after the dt time is predicted based on the hydraulic valve current signal, the target hydraulic power is the hydraulic power at the T2 moment, and the time length required for the hydraulic power to change from the hydraulic power at the T1 moment to the hydraulic power at the T2 moment is dt.

[0088] Then, the predicted power change rate of the hydraulic power = ΔpHPS / dt, and ΔpHPS = the hydraulic power at the T2 moment minus the hydraulic power at the T1 moment.

[0089] S23, according to the engine torque step response curve, determining the predicted power change rate between the engine power corresponding to the current hydraulic power and the engine power corresponding to the target hydraulic power.

[0090] Before, after or at the same time of determining the predicted power change rate of the hydraulic power, the predicted power change rate of the engine power before and after the engine following the change of the hydraulic power needs to be determined. The predicted power change rate can be the maximum predicted power change rate, and the maximum predicted power change rate is also the maximum responsive power change rate of the engine.

[0091] As shown in Figure 3 , the engine power before the engine following the change of the hydraulic power is the engine power at T1, the engine power after the engine following the change of the hydraulic power is the engine power at T3, and the maximum predicted power change rate of the engine power before and after the engine following the change of the hydraulic power is the power change rate of the engine power at T3 compared with the engine power at T1.

[0092] In an implementation manner, according to the engine torque step response curve, the predicted power change rate between the engine power corresponding to the current hydraulic power and the engine power corresponding to the target hydraulic power is determined.

[0093] Specifically, the engine torque step response curve is constructed based on the bench test data, and the curve is configured to the engine response capability model. The engine response capability model and the above-mentioned hydraulic power feedforward model are the feedforward control model in the application.

[0094] Subsequently, the engine torque step response curve in the engine response capability model can be used to predict the engine power at T3 after DT. Then, the engine power corresponding to the current hydraulic power, i.e. the engine power at T1, is obtained, and the difference between the engine power at T3 and the engine power at T1 is calculated to obtain ΔpEng. Since the engine power at T1 changes to the engine power at T3 needs DT, the calculation formula of the maximum predicted power change rate is ΔpEng / DT.

[0095] S24, in the case that the predicted change rate of the hydraulic power is greater than the predicted power change rate of the engine power, it is determined that the power advance control strategy needs to be executed.

[0096] Specifically, the response capability constraint is that the predicted change rate of the hydraulic power is greater than the predicted power change rate of the engine power, i.e. ΔpHPS / dt>ΔpEng / DT, at this time, it is indicated that the change of the hydraulic power is greater than the change of the engine power in this hydraulic device operation, the change of the hydraulic power exceeds the engine response capability, and there is the engine power response lag, at this time, it is determined that the power advance control strategy needs to be executed. The specific content of the power advance control strategy can refer to the dynamic prediction control in Figure 3 .

[0097] After determining that the power advance control strategy needs to be executed, the target hydraulic power after the hydraulic system responds to the hydraulic system working instruction can be obtained through the above-mentioned mapping relationship between the hydraulic displacement control valve current and the hydraulic power. The target hydraulic power is the hydraulic power at the above-mentioned time T2.

[0098] If ΔpHPS / dt≤ΔpEng / DT, it means that the change of hydraulic power is less than or equal to the change of engine power during the hydraulic device operation. The change of hydraulic power does not exceed the response capability of the engine. There is no engine power response lag. At this time, it is determined that there is no need to execute the power advance control strategy. Figure 3 Just run the normal control in .

[0099] S12: Adjust the power of the engine and the power of the target generator to the total power required by the engine.

[0100] The total engine power requirement is calculated based on the target hydraulic power and the power generation requirement. When control begins, the power generation requirement is zero and the total engine power requirement is the target hydraulic power.

[0101] In one implementation, the speed of the non-target generator is the set speed of the range extender. Specifically, because generator 1 uses speed control mode, it serves as the non-target generator. During the power adjustment process between the engine and the target generator, the speed of generator 1 is set to the set speed of the range extender, nSet. For a certain period of time, the set speed of the range extender, nSet, remains constant.

[0102] Generator 2 is used as the target generator. Since both the engine and generator 2 are in torque control mode, the torque of the engine and generator 2 can be adjusted so that the power of the engine and generator 2 is adjusted to the total power required by the engine.

[0103] In one implementation, the total engine power requirement is calculated based on the target hydraulic power and the generator power requirement, such that the adjusted engine power meets both the generator power requirement and the hydraulic system power requirement after responding to the hydraulic system operating command. It should be noted that in actual scenarios, the generator power requirement is zero when control is initiated.

[0104] like Figure 3 As shown in FIG5 , in dynamic predictive control, assuming that at time T1′, the driver presses the hydraulic device button and receives the hydraulic system work command, the hydraulic pump solenoid valve is not immediately controlled based on the target hydraulic displacement control valve current in the hydraulic system work command. Instead, the hydraulic pump solenoid valve is controlled based on the target hydraulic displacement control valve current in the hydraulic system work command after a delay of DT time (because the engine power changes from the engine power at time T1 to the engine power at time T3, which requires DT time).

[0105] In the DT time, i.e. after receiving the hydraulic system working instruction, the target hydraulic power pHPS1 corresponding to the target hydraulic displacement control valve current is obtained according to the mapping relationship between the hydraulic displacement control valve current of the hydraulic pump and the hydraulic power.

[0106] Then the torque of the engine and the generator 2 is adjusted so that the power of the engine and the power of the generator 2 are continuously increased, and when the DT time is reached, i.e. at the T1’’ moment, the power of the engine and the power of the generator 2 are the total engine demand power. Since the total engine demand power is calculated based on the target hydraulic power and the generator demand power, the generator demand power is zero at the T1’’ moment, and at this time the total engine demand power is the target hydraulic power.

[0107] At this time, since the hydraulic pump solenoid valve is not controlled based on the target hydraulic displacement control valve current in the hydraulic system working instruction, the hydraulic power does not change in the DT time.

[0108] S13, after the power of the engine and the power of the target generator are both the total engine demand power, the hydraulic displacement control valve current is adjusted according to the hydraulic system working instruction.

[0109] Wherein, after the hydraulic displacement control valve current is adjusted, the hydraulic power starts to change.

[0110] Specifically, after the power of the engine and the power of the target generator are both the total engine demand power, the hydraulic displacement control valve current can be adjusted according to the hydraulic system working instruction, as shown in Figure 3 At the T1’’ moment, the hydraulic displacement control valve current suddenly changes, and the hydraulic power starts to increase.

[0111] S14, according to the hydraulic power change data of the hydraulic system, the power of the target generator is adjusted in real time so that the power of the engine is equal to the sum of the power of the target generator and the real-time hydraulic power.

[0112] Wherein, during the real-time adjustment of the power of the target generator, the power of the engine remains unchanged.

[0113] Specifically, at T1’’ time, the hydraulic power starts to increase, at this time, because the engine can provide the power to the hydraulic system is the target hydraulic power pHPS1, and during the hydraulic power increases, that is, T1’ to T1’’ time, the real-time power of the hydraulic system is less than pHPS1, that is, the power that the engine can provide to the hydraulic system is greater than the power that the hydraulic system real-time demand, in order to make the engine to provide the power to the hydraulic system is the power that the hydraulic system real-time demand, in the application, the power of the target generator will be adjusted in real time according to the hydraulic power change data of the hydraulic system. In specific implementation, the power of the target generator will be reduced, so that the power of the engine is equal to the sum of the power of the target generator and the real-time hydraulic power, and the power that the engine provides to the hydraulic system in real time is equal to the power that the hydraulic system real-time demand.

[0114] In an implementation manner, the dynamic prediction control in the application is specifically implemented as follows:

[0115] At T1’ time when the driver presses the hydraulic device button, the target hydraulic displacement control valve current will be sent to the hydraulic pump electromagnetic valve with a delay DT time, and the target hydraulic power pHPS1 is obtained according to the target hydraulic displacement control valve current.

[0116] From T1’ time, the engine starts to adjust its power based on the target hydraulic power pHPS1 and the power demand of the generator, and the power of the generator 2 is the same as the power of the engine. At T1’’ time, the power of the engine and the power of the generator 2 are both the total power demand of the engine, at this time, the power that the engine can provide to the hydraulic system is pHPS1.

[0117] From T1’’ time, the hydraulic electromagnetic valve starts to respond to the driver's operation demand, the hydraulic power increases ΔpHPS, and the power of the generator 2 decreases ΔpHPS, and the power output by the engine to the hydraulic system is the power that the hydraulic system real-time demand. Wherein, the real-time hydraulic power can be obtained by calculation, or can be predicted by the mapping relationship between the hydraulic displacement control valve current of the hydraulic pump and the hydraulic power.

[0118] When the driver presses the hydraulic device button again, repeat the above steps.

[0119] In the embodiment, after receiving the hydraulic system operation instruction, if it is determined that the engine power cannot follow the hydraulic power in real time according to the comparison result of the predicted power change rate of the engine and the predicted power change rate of the hydraulic system, it is determined that the power advance control strategy needs to be used. At this time, before adjusting the hydraulic displacement control valve current according to the hydraulic system operation instruction, the power of the engine and the power of the target generator are both adjusted to the engine demand total power calculated based on the target hydraulic power and the power generation demand power, so that the current engine power can meet the power generation power demand and the hydraulic system power demand after responding to the hydraulic system operation instruction, and then the hydraulic displacement control valve current is adjusted according to the hydraulic system operation instruction. After the hydraulic displacement control valve current is adjusted, the hydraulic power starts to change. During the change of the hydraulic power, the power of the target generator can be adjusted accordingly based on the change of the hydraulic power, so that the power of the engine is equal to the sum of the power of the target generator and the real-time hydraulic power. The engine can provide the hydraulic power required by the hydraulic system in real time. That is, the engine power is adjusted in advance to ensure that the engine power follows the hydraulic power in real time, solving the problem that the engine power in the range extender lags in response when the hydraulic power changes, so that the engine power cannot follow the hydraulic power in real time.

[0120] Through the above-mentioned optimized engine and generator coordination control strategy, the system can realize stable and reliable operation while meeting the electric power demand of the drive motor and the power demand of the hydraulic system.

[0121] On the basis of any of the above-mentioned embodiments, with reference to Figure 5 Adjusting the power of the engine and the power of the target generator to the engine demand total power can include:

[0122] S31, calculating the power generation demand power according to the drive motor demand power and the power battery demand charge-discharge power.

[0123] In the present application, the drive motor demand power, i.e., the power of the drive motor, is represented by pTM, and the power battery demand charge-discharge power is represented by pBatt.

[0124] The power generation demand power is represented by pCharg1, and according to the law of conservation of energy, pCharg1=pTM+pBatt=pGen1+pGen2.

[0125] Wherein, pCharg1 is the power generation demand power, pTM is the drive motor demand power, pBatt is the power battery demand charge-discharge power, pGen1 is the power of the generator 1, and pGen2 is the power of the generator 2.

[0126] S32, calculating the engine demand total power according to the target hydraulic power and the power generation demand power.

[0127] Specifically, the total engine demand power is denoted as pEng1, pEng1 = pHPS1 + pCharg1.

[0128] Wherein, pHPS1 is the target hydraulic power, and pCharg1 is the power demand of the generator.

[0129] S33, according to the total engine demand power and the range extender set speed, the first target torque of the engine is calculated, and the engine is controlled to operate according to the first target torque to adjust the power of the engine to the total engine demand power.

[0130] Specifically, the first target torque of the engine is denoted as Te.

[0131] In an implementation manner, the product of the total engine demand power and a preset conversion constant is calculated, and the ratio of the product to the range extender set speed is determined as the first target torque of the engine.

[0132] Specifically, the calculation formula of Te is:

[0133] Te = (pEng1 x 9550) / nSet.

[0134] Wherein, pEng1 is the total engine demand power, nSet is the range extender set speed, and 9550 is a preset conversion constant, specifically, a conversion constant of kW and N·m·r / min.

[0135] After obtaining the first target torque of the engine, the RCU sends the engine control instruction including the first target torque to the ECU, and the ECU controls the engine to execute the instruction to adjust the operating torque to the first target torque, and adjusts the power of the engine to the total engine demand power.

[0136] S34, according to the real-time power of the engine and the range extender set speed, the second target torque of the target generator is calculated, and the target generator is controlled to operate according to the second target torque to adjust the power of the target generator to the total engine demand power.

[0137] The second target torque of the target generator, i.e. the second target torque of the generator 2, is denoted as Tm2.

[0138] In an implementation manner, the efficiency of the target generator can be calculated based on the power generation of the target engine and the mechanical power, and the second target torque of the target generator is calculated based on the real-time power of the engine, the efficiency of the target generator and the range extender set speed.

[0139] Specifically, the efficiency of the target generator is denoted as etaGen2, etaGen2 = power generation of the target engine / mechanical power of the target engine.

[0140] Tm2 = (pCharg / 2 / etaGen2 x 9550) / (nSet).

[0141] Wherein, Tm2 is the second target torque of the target generator, pCharg is the power demand, the value is pCharg2, pCharg2 represents the power demand, pCharg2 = pEng-pHPS, wherein pEng represents the real-time power of the engine, and the real-time power of the hydraulic system is represented by pHPS. Between T1'-T1'', pHPS is zero, at this time pCharg2 = pEng.

[0142] pCharg / 2 represents that the two generators are divided to meet the power demand, etaGen2 is the efficiency of the target generator, nSet is the set speed of the range extender, and 9550 is the conversion constant of kW and N·m·r / min.

[0143] After calculating the second target torque of the target generator, the RCU sends the control command of the generator 2 including the second target torque to the MCU1, and the MCU1 controls the generator 2 to execute the command, adjusts the torque to the second target torque, and adjusts the power of the target generator to the total power demand of the engine.

[0144] In the embodiment, before adjusting the hydraulic power, the power of the engine and the power of the target generator are both adjusted to the total power demand of the engine based on the torque adjustment of the engine and the target generator, so as to improve the power of the engine in advance and avoid that the engine does not respond in time when the hydraulic system power suddenly changes.

[0145] On the basis of any of the above embodiments, the power of the target generator is adjusted in real time according to the hydraulic power change data of the hydraulic system, comprising:

[0146] The difference between the real-time power of the engine and the real-time power of the hydraulic system is used as the new power of the target generator, and the power adjustment operation is performed on the target generator according to the new power of the target generator.

[0147] In an actual scenario, the hydraulic power is zero at the T1'' moment, and after the T1'' moment, the hydraulic electromagnetic valve starts responding to the driver's operation demand, the hydraulic power increases, such as pHPS, the power of the generator 2 decreases by ΔpHPS, the real-time power of the generator 2 is pEng-pHPS at this time, pHPS is zero at the T1'' moment, and after the T1'' moment, pHPS increases, and the increase ΔpHPS is the actual pHPS, pEng takes the value of pHPS1, and the real-time power of the generator 2 is pHPS1-pHPS, and the sum of the real-time power of the generator 2 and the increase of the hydraulic power is still pHPS1, that is, the engine can provide the power of pHPS to the hydraulic system.

[0148] The above-mentioned pEng-pHPS is the new power of the target generator, and the power adjustment operation needs to be performed on the target generator according to the new power of the target generator.

[0149] In an implementation manner, with reference to Figure 6 , the power adjustment operation on the target generator according to the new power of the target generator can include:

[0150] S41, a new second target torque of the target generator is calculated according to the new power of the target generator.

[0151] Specifically, in the calculation formula, Tm2=(pCharg / 2 / etaGen2×9550) / (nSet), pCharg takes the value of pCharg2=pEng-pHPS, and pHPS>0.

[0152] The new second target torque is obtained by using the calculation formula of Tm2.

[0153] S42, in the process of adjusting the torque of the target generator according to the new second target torque, a deviation value between the range extender set speed and the range extender real-time speed is calculated.

[0154] As shown in the conventional control in Figure 3 , when the engine power and the hydraulic power both change, the range extender real-time speed (with reference to the actual speed curve in Figure 3 ) is less than the range extender set speed (with reference to the set speed curve in Figure 3 ), and in the dynamic predictive control, the running torque of the target generator can be adjusted based on the speed closed-loop control to make the range extender real-time speed equal to the range extender set speed.

[0155] In specific implementation, the deviation value between the range extender set speed and the range extender real-time speed is calculated.

[0156] Wherein, the deviation value is represented by Δn, and Δn=nSet-nAct.

[0157] Wherein, nSet is the set speed of the range extender, and nAct is the real-time speed of the range extender.

[0158] S43, in the case of the deviation value being greater than the first threshold value, the value of the new second target torque is reduced by a set step.

[0159] The first threshold value is a positive number, such as +N, and N is a dead zone threshold value, which is a positive integer.

[0160] In this application, when |Δn|>N, PID (Proportional-Integral-Derivative) is used for dynamic torque compensation, and the execution speed stability control technology is adjusted to perform speed closed-loop control.

[0161] More specifically, if Δn>+N, it means that the speed of the generator 2 is greater than the speed of the engine, at this time the value of the new second target torque of the generator 2 is reduced by a set step, and the torque control of the generator 2 is performed according to the value of the new second target torque, and the value of the second target torque is continuously adjusted by PID control.

[0162] The set step can be Tstep, and the value of Tstep can be configured according to actual conditions.

[0163] S44, in the case of the deviation value being less than the second threshold value, the value of the new second target torque is increased by a set step.

[0164] The second threshold value is a negative number.

[0165] The second threshold value is a negative number, such as -N. Specifically, if Δn < -N: the value of the new second target torque of the generator 2 is increased by Tstep, and the torque control of the generator 2 is performed according to the value of the new second target torque, and the value of the second target torque is continuously adjusted by PID control.

[0166] In this embodiment, dynamic power balance is achieved by speed closed-loop PID adjustment, which is feedback control in this application. The feedback control is combined with the above-mentioned feedforward control to realize double-loop control that integrates feedforward prediction and feedback adjustment.

[0167] In addition, in this embodiment, the dead zone threshold value N and the step adjustment amount (i.e. Tstep) are set, and the reverse linkage adjustment of the generator torque and the engine torque is realized to achieve rapid convergence of the speed deviation.

[0168] The above-mentioned delay control hydraulic pump solenoid valve action in the present application adjusts the target generator, i.e. the generator 2, and the power of the engine and sets the non-target generator, i.e. the engine 2, to the specific implementation of the rotational speed. Referring to Figure 7 When the hydraulic power mutation exceeds the engine response capability, the hydraulic power buffer is realized by the engine power response in advance + generator power redistribution, and the rotational speed fluctuation is inhibited.

[0169] On the basis of the above-mentioned embodiment, after it is determined that the power advance control strategy is not needed to be executed, further comprising:

[0170] 1) Adjust the hydraulic displacement control valve current according to the hydraulic system working instruction.

[0171] Specifically, if ΔpHPS / dt≤ΔpEng / DT, at this time it is indicated that the change of the hydraulic power of the present hydraulic device operation is less than or equal to the change of the engine power, the change of the hydraulic power does not exceed the engine response capability, and there is no engine power response lag. At this time, it is determined that the power advance control strategy is not needed to be executed, and the hydraulic displacement control valve current is immediately adjusted according to the hydraulic system working instruction according to the conventional control operation in Figure 3

[0172] 2) Calculate the first target torque of the engine according to the total power required by the engine and the set rotational speed of the range extender, and control the engine to operate according to the first target torque.

[0173] In the present application, the calculation process of the first target torque and the implementation process of controlling the engine to operate according to the first target torque can refer to the corresponding description above.

[0174] 3) Calculate the second target torque of the target generator according to the power required by the generator and the set rotational speed of the range extender, and control the target generator to operate according to the second target torque.

[0175] In the present application, the second target torque is still calculated by Tm2=(pCharg / 2 / etaGen2×9550) / (nSet), at this time the value of pCharg is pCharg1 in the above-mentioned, i.e. it is not needed to be adjusted according to the real-time power of the engine and the real-time hydraulic power of the hydraulic system.

[0176] The implementation process of controlling the target generator to operate according to the second target torque refers to the corresponding description above.

[0177] 4) Adjust the value of the second target torque of the target generator based on the real-time rotational speed of the range extender.

[0178] Among them, the specific implementation of the present step refers to the steps S42-S44 above, and specifically includes:

[0179] ​The deviation value of the calculated range extender set rotating speed and the real-time rotating speed of the range extender is calculated, and in the case that the deviation value is greater than a first threshold value, the value of the new second target torque is reduced by a set step; the first threshold value is a positive number; in the case that the deviation value is less than a second threshold value, the value of the new second target torque is increased by a set step; the second threshold value is a negative number.

[0180] In the embodiment, after it is determined that the power advance control strategy is not needed to be performed, the power control of the engine and the target generator is performed by using the conventional control in the formula (1), so that the engine can follow the hydraulic power in real time. Figure 3

[0181] It should be noted that the specific implementation of each step in the embodiment can refer to the description of the power control method. Figure 7

[0182] On the basis of any of the above embodiments, in the case that the power-down instruction is received, the power control of the engine and the power control of the target generator can be stopped, the flow is ended, the demand of the driver is met, and when the driver presses the hydraulic device button again, the above steps are repeated. The specific implementation can refer to the description of the power control method. Figure 7

[0183] In summary, the application uses the control architecture of "hydraulic power feedforward + engine response prediction + dynamic torque compensation", and solves the problem of engine power lag caused by sudden change of hydraulic power of the traditional range extender in the hydraulic sudden loading working condition.

[0184] It should be noted that if the driver presses the power-down button during the above control process, the flow is ended, and when the driver presses the hydraulic device button again, the above steps are repeated.

[0185] On the basis of the embodiment of the power control method, another embodiment of the application provides a power control device applied to a range extender, the range extender comprising an engine, a target generator and a non-target generator, and referring to the description of the power control method, the power control device comprises: Figure 8

[0186] The power acquisition module 11 is configured to, in the case that the hydraulic system working instruction is received, acquire the target hydraulic power of the hydraulic system if it is determined that the power advance control strategy needs to be performed according to the comparison result of the predicted power change rate of the engine and the predicted power change rate of the hydraulic system; the target hydraulic power is the hydraulic power after the hydraulic system working instruction is responded;

[0187] The first power adjustment module 12 is configured to adjust the power of the engine and the power of the target generator to the engine demand total power; the engine demand total power is calculated based on the target hydraulic power and the power demand of the generator; the rotating speed of the non-target generator is the range extender set rotating speed;

[0188] ​​​​The current control module 13 is configured to adjust the hydraulic displacement control valve current according to the hydraulic system operation instruction after the power of the engine and the power of the target generator are both the total power required by the engine; wherein, after the hydraulic displacement control valve current is adjusted, the hydraulic power starts to change.

[0189] The second power adjustment module 14 is configured to adjust the power of the target generator in real time according to the hydraulic power change data of the hydraulic system, so that the power of the engine is equal to the sum of the power of the target generator and the real-time hydraulic power; wherein, during the real-time adjustment of the power of the target generator, the power of the engine remains unchanged.

[0190] In an implementation manner, the power acquisition module 11 comprises:

[0191] The power determination sub-module is configured to determine the target hydraulic power corresponding to the target hydraulic displacement control valve current in the hydraulic system operation instruction according to the mapping relationship between the hydraulic displacement control valve current of the hydraulic pump and the hydraulic power.

[0192] The first change rate determination sub-module is configured to calculate the predicted power change rate of the hydraulic power according to the current hydraulic power and the target hydraulic power.

[0193] The second change rate determination sub-module is configured to determine the predicted power change rate between the engine power corresponding to the current hydraulic power and the engine power corresponding to the target hydraulic power according to the engine torque step response curve.

[0194] The strategy determination sub-module is configured to determine that the power advance control strategy needs to be executed in the case that the predicted change rate of the hydraulic power is greater than the predicted power change rate of the engine power.

[0195] In an implementation manner, the first power adjustment module 12 comprises:

[0196] The first calculation sub-module is configured to calculate the power generation demand power according to the driving motor demand power and the power battery demand charge-discharge power.

[0197] The second calculation sub-module is configured to calculate the total engine demand power according to the target hydraulic power and the power generation demand power.

[0198] The first control sub-module is configured to calculate the first target torque of the engine according to the total engine demand power and the range extender set speed, and control the engine to operate according to the first target torque, so as to adjust the power of the engine to the total engine demand power.

[0199] The second control sub-module is configured to calculate a second target torque of the target generator according to the real-time power of the engine and the range extender set speed, and control the target generator to operate according to the second target torque so as to adjust the power of the target generator to the total power required by the engine.

[0200] In an implementation, the second power adjustment module 14 is specifically configured to:

[0201] The power processing sub-module is configured to take the difference between the real-time power of the engine and the real-time power of the hydraulic system as the new power of the target generator.

[0202] The power adjustment sub-module is configured to perform a power adjustment operation on the target generator according to the new power of the target generator.

[0203] In an implementation, the power adjustment sub-module includes:

[0204] The torque calculation unit is configured to calculate a new second target torque of the target generator according to the new power of the target generator.

[0205] The deviation calculation unit is configured to calculate a deviation value between the range extender set speed and the real-time speed of the range extender in the process of adjusting the torque of the target generator according to the new second target torque.

[0206] The first torque adjustment unit is configured to reduce the value of the new second target torque by a set step size in the case that the deviation value is greater than a first threshold value; the first threshold value is a positive number.

[0207] The second torque adjustment unit is configured to increase the value of the new second target torque by a set step size in the case that the deviation value is less than a second threshold value; the second threshold value is a negative number.

[0208] In an implementation, the method further includes:

[0209] The current adjustment module is configured to adjust the hydraulic displacement control valve current according to the hydraulic system operation instruction.

[0210] The engine control module is configured to calculate a first target torque of the engine according to the total power required by the engine and the range extender set speed, and control the engine to operate according to the first target torque.

[0211] The generator control module is configured to calculate a second target torque of the target generator according to the power required by the generator and the range extender set speed, and control the target generator to operate according to the second target torque.

[0212] The torque adjustment module is configured to adjust the value of the second target torque of the target generator based on the real-time speed of the range extender.

[0213] In an implementation, the method further includes:

[0214] a power-off control module, configured to stop the power control to the engine and the power control to the target generator if a power-off instruction is received.

[0215] In the embodiment, after receiving the hydraulic system working instruction, if it is determined that the engine power cannot follow the hydraulic power in real time according to the comparison result of the predicted power change rate of the engine and the predicted power change rate of the hydraulic system, it is determined that the power advance control strategy needs to be used. At this time, before adjusting the hydraulic displacement control valve current according to the hydraulic system working instruction, the power of the engine and the power of the target generator are both adjusted to the engine demand total power calculated based on the target hydraulic power and the power generation demand power, so that the current engine power can meet the power generation power demand and the hydraulic system power demand after responding to the hydraulic system working instruction, and then the hydraulic displacement control valve current is adjusted according to the hydraulic system working instruction. After the hydraulic displacement control valve current is adjusted, the hydraulic power starts to change. During the change of the hydraulic power, the power of the target generator can be adjusted correspondingly based on the change of the hydraulic power, so that the power of the engine is equal to the sum of the power of the target generator and the real-time hydraulic power. The engine can provide the hydraulic power required by the hydraulic system in real time. That is, the engine power is adjusted in advance to ensure that the engine power follows the hydraulic power in real time, solving the problem that the engine power in the range extender cannot follow the hydraulic power in real time due to the power response lag when the hydraulic power changes.

[0216] It should be noted that the working processes of the modules and sub-modules in the embodiment are described above, and will not be described here.

[0217] The embodiment of the application further provides an electronic device, including at least one processor and a memory connected with the processor, wherein:

[0218] The memory is used to store a computer program;

[0219] The processor is used to execute the computer program, so that the electronic device can implement the power control method described above.

[0220] Reference Figure 9 As shown in the figure, it shows a structure schematic diagram suitable for realizing the electronic device in the embodiment of the application. The electronic device in the embodiment of the application can include but is not limited to fixed terminals such as mobile phones, notebook computers, PDAs (personal digital assistants), PADs (tablets), desktop computers and the like. Figure 9 The electronic device shown in the figure is only an example, and should not bring any limitation to the functions and use range of the embodiment of the application.

[0221] As Figure 9As shown, the electronic device can include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 601 that can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 602 or loaded into a random access memory (RAM) 603 from a storage device 608. In a state in which the electronic device is powered on, various programs and data required for operation of the electronic device are also stored in the RAM 603. The processing device 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0222] Generally, the following devices can be connected to the I / O interface 605: input devices 606 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 607 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 608 including, for example, a memory card, a hard disk, etc.; and communication devices 609. The communication devices 609 can allow the electronic device to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 9 An electronic device having various devices is shown, but it is understood that all of the shown devices are not required to be implemented or possessed. More or fewer devices can alternatively be implemented or possessed.

[0223] The embodiments of the present application also provide a computer program product including computer readable instructions, which, when executed on an electronic device, cause the electronic device to implement any of the power control methods provided by the embodiments of the present application.

[0224] The embodiments of the present application also provide a computer readable storage medium carrying one or more computer programs, which, when executed by an electronic device, can cause the electronic device to implement any of the power control methods provided by the embodiments of the present application.

[0225] The above description of disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A power control method, characterized by, The power control method is applied to a range extender, the range extender comprising an engine, a target generator and a non-target generator, and the power control method comprises: In the case of receiving a hydraulic system operation instruction, if it is determined that the power advance control strategy needs to be executed according to the comparison result of the predicted power change rate of the engine and the predicted power change rate of the hydraulic system, the target hydraulic power of the hydraulic system is obtained; the target hydraulic power is the hydraulic power after responding to the hydraulic system operation instruction; The power of the engine and the power of the target generator are both adjusted to the engine demand total power; the engine demand total power is calculated based on the target hydraulic power and the power generation demand power; the rotating speed of the non-target generator is the range extender setting rotating speed; After the power of the engine and the power of the target generator are both the engine demand total power, the hydraulic displacement control valve current is adjusted according to the hydraulic system operation instruction; wherein after the hydraulic displacement control valve current is adjusted, the hydraulic power starts to change; According to the hydraulic power change data of the hydraulic system, the power of the target generator is adjusted in real time, so that the power of the engine is equal to the sum of the power of the target generator and the real-time hydraulic power; wherein during the real-time adjustment of the power of the target generator, the power of the engine remains unchanged.

2. The power control method of claim 1, wherein, According to the comparison result of the predicted power change rate of the engine and the predicted power change rate of the hydraulic system, it is determined that the power advance control strategy needs to be executed, comprising: According to the mapping relationship between the hydraulic displacement control valve current of the hydraulic pump and the hydraulic power, the target hydraulic power corresponding to the target hydraulic displacement control valve current in the hydraulic system operation instruction is determined; According to the hydraulic power at the current time and the target hydraulic power, the predicted power change rate of the hydraulic power is calculated; According to the engine torque step response curve, the predicted power change rate between the engine power corresponding to the hydraulic power at the current time and the engine power corresponding to the target hydraulic power is determined; In the case that the predicted change rate of the hydraulic power is greater than the predicted power change rate of the engine power, it is determined that the power advance control strategy needs to be executed.

3. The power control method of claim 1, wherein, The power of the engine and the power of the target generator are both adjusted to the engine demand total power, comprising: According to the driving motor demand power and the power battery demand charge-discharge power, the power generation demand power is calculated; According to the target hydraulic power and the power generation demand power, the engine demand total power is calculated; According to the engine demand total power and the range extender setting rotating speed, the first target torque of the engine is calculated, and the engine is controlled to operate according to the first target torque, so as to adjust the power of the engine to the engine demand total power; According to the real-time power of the engine and the range extender setting rotating speed, the second target torque of the target generator is calculated, and the target generator is controlled to operate according to the second target torque, so as to adjust the power of the target generator to the engine demand total power.

4. The power control method of claim 1, wherein, According to the hydraulic power change data of the hydraulic system, the power of the target generator is adjusted in real time, comprising: determining a new power of the target generator according to the difference between the real-time power of the engine and the real-time power of the hydraulic system; performing a power adjustment operation on the target generator according to the new power of the target generator.

5. The power control method of claim 4, wherein, performing a power adjustment operation on the target generator according to the new power of the target generator, comprising: calculating a new second target torque of the target generator according to the new power of the target generator; calculating a deviation value between the range extender set speed and the real-time range extender speed during the torque adjustment of the target generator according to the new second target torque; decreasing the value of the new second target torque by a set step when the deviation value is greater than a first threshold value; the first threshold value is a positive number; increasing the value of the new second target torque by a set step when the deviation value is less than a second threshold value; the second threshold value is a negative number.

6. The power control method of claim 1, wherein, after determining that the power advance control strategy is not needed to be performed, further comprising: adjusting the hydraulic displacement control valve current according to the hydraulic system operation instruction; calculating a first target torque of the engine according to the engine total demand power and the range extender set speed, and controlling the engine to operate according to the first target torque; calculating a second target torque of the target generator according to the power generation demand power and the range extender set speed, and controlling the target generator to operate according to the second target torque; adjusting the value of the second target torque of the target generator based on the real-time range extender speed.

7. The power control method of claim 1, wherein, further comprising: stopping the power control of the engine and the power control of the target generator when a power-off instruction is received.

8. A power control device, characterized by applied to a range extender, the range extender comprising an engine, a target generator and a non-target generator, the power control device comprising: a power acquisition module, configured to acquire a target hydraulic power of the hydraulic system when a hydraulic system operation instruction is received, and if it is determined that the power advance control strategy needs to be performed according to a comparison result of a predicted power change rate of the engine and a predicted power change rate of the hydraulic system; the target hydraulic power is a hydraulic power after the hydraulic system operation instruction is responded; a first power adjustment module, configured to adjust the power of the engine and the power of the target generator to an engine total demand power; the engine total demand power is calculated based on the target hydraulic power and a power generation demand power; the speed of the non-target generator is a range extender set speed; a current control module, configured to adjust a hydraulic displacement control valve current according to the hydraulic system operation instruction after the power of the engine and the power of the target generator are both the engine total demand power; wherein the hydraulic power starts to change after the hydraulic displacement control valve current is adjusted; a second power adjustment module, configured to adjust the power of the target generator in real time according to hydraulic power change data of the hydraulic system, so that the power of the engine is equal to the sum of the power of the target generator and the real-time hydraulic power; wherein the power of the engine remains unchanged during the real-time adjustment of the power of the target generator.

9. An electronic device, comprising: An electronic device comprising at least one processor and a memory connected with the processor, wherein: the memory is configured to store a computer program; the processor is configured to execute the computer program to enable the electronic device to implement the power control method according to any one of claims 1 to 7.

10. A computer storage medium, characterized in that, The storage medium has one or more computer programs carried thereon, and when the one or more computer programs are executed by an electronic device, the electronic device is enabled to implement the power control method according to any one of claims 1 to 7.

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