Driving working equipment feedback power control method and device and hydrogen energy driving vehicle

Abstract

The invention discloses a feedback power control method and device for driving working equipment and a hydrogen energy driving vehicle. The method comprises the steps that real-time voltage parameters for driving energy supply equipment are obtained; determining a feedback torque coefficient judgment result according to the real-time voltage parameter, a preset voltage threshold parameter and a preset power threshold parameter; determining a feedback torque coefficient according to the feedback torque coefficient judgment result; determining feedback power corresponding to the target driving working equipment according to the feedback torque coefficient and the original feedback torque of the target driving working equipment; and generating a feedback control instruction corresponding to the feedback power. According to the invention, the feedback power of the target driving work equipment can be correspondingly adjusted by fully considering the relationship among the real-time voltage parameter of the driving energy supply equipment, the preset voltage threshold and the preset power threshold parameter, and the overvoltage fault condition of the driving energy supply equipment can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of driving working equipment control, and in particular to a method and device for controlling feedback power of driving working equipment and a hydrogen-powered vehicle. Background Art

[0002] In the architecture of some devices, a core energy supply device is set up to power the drive energy supply device. At the same time, when the driven object device drives the working device during braking, it also powers the drive energy supply device through brake feedback. When the driven object device encounters some special working conditions, such as long slope braking, emergency braking, and high-speed braking, the braking feedback power of the driving working device will increase and last for a long time. At this time, if the feedback power of the driving working device is not controlled, the energy supply device and the driving working device will simultaneously power the drive energy supply device, causing the transient voltage of the driving energy supply device to easily exceed the voltage alarm threshold and trigger an overvoltage fault. In extreme cases, it may also cause the driven object device to fail to operate normally. It can be seen that the existing technology has defects that need to be solved urgently. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a method and device for controlling the feedback power of a driving working device and a hydrogen-powered vehicle, which can fully consider the relationship between the real-time voltage parameters of the driving energy supply device, the preset voltage threshold and the preset power threshold parameters to adjust the feedback power of the driving working device accordingly, and can effectively control the reasonable feedback power output of the driving working device, thereby avoiding the problem of the driving energy supply device triggering an overvoltage fault due to the transient voltage of the driving energy supply device being too high, thereby effectively providing protection for the driving energy supply device.

[0004] In order to solve the above technical problems, the first aspect of the present invention discloses a method for controlling feedback power of a driving working device, the method comprising:

[0005] Acquiring real-time voltage parameters of a drive energy supply device; the drive energy supply device is used to supply energy to a target drive working device; the target drive working device is used to drive a drive object device corresponding to the target drive working device or to supply energy to the drive energy supply device;

[0006] Determining a feedback torque coefficient judgment result according to the real-time voltage parameter, the preset voltage threshold parameter, and the preset power threshold parameter;

[0007] determining a feedback torque coefficient according to the feedback torque coefficient judgment result;

[0008] determining a feedback power corresponding to the target driven working device according to the feedback torque coefficient and the original feedback torque of the target driven working device;

[0009] Generate a feedback control instruction corresponding to the feedback power; the feedback control instruction is used to control the target driving working device to use the feedback power to perform feedback energy supply work for the driving energy supply device.

[0010] As an optional embodiment, in the first aspect of the present invention, the target driving working device includes a driving motor; and / or the driving energy supply device is a battery; and / or the driven object device is a vehicle; and / or the real-time voltage parameters include the current single cell voltage and the current total battery voltage; the current single cell voltage is the maximum single cell voltage.

[0011] As an optional embodiment, in the first aspect of the present invention, determining the feedback torque coefficient judgment result based on the real-time voltage parameter, the preset voltage threshold parameter, and the preset power threshold parameter includes:

[0012] Determining an overvoltage threshold corresponding to the drive energy supply device;

[0013] Calculating a ratio of the real-time voltage parameter to the overvoltage threshold to obtain a current voltage ratio;

[0014] It is determined whether the current voltage ratio is greater than or equal to the preset power threshold parameter to obtain a feedback torque coefficient determination result.

[0015] As an optional embodiment, in the first aspect of the present invention, the overvoltage threshold includes a single cell overvoltage threshold and a total battery overvoltage threshold; the current voltage ratio includes a current single cell voltage ratio and a total battery voltage ratio; and determining the overvoltage threshold corresponding to the driving energy supply device includes:

[0016] Obtaining a single cell test overvoltage threshold and a total battery test overvoltage threshold corresponding to the drive energy supply device;

[0017] Calculating the product of the single-cell test overvoltage threshold and the overvoltage fault coefficient to obtain the single-cell overvoltage threshold;

[0018] Calculating the product of the total battery test overvoltage threshold and the overvoltage fault coefficient to obtain the total battery overvoltage threshold;

[0019] And, calculating the ratio of the real-time voltage parameter to the overvoltage threshold to obtain a current voltage ratio, including:

[0020] Calculating a ratio of the current cell voltage to the cell overvoltage threshold to obtain a current cell voltage ratio;

[0021] Calculating a ratio of the current total battery voltage to the total battery overvoltage threshold to obtain a current total battery voltage ratio;

[0022] Furthermore, determining whether the current voltage ratio is greater than or equal to the preset power threshold parameter to obtain a feedback torque coefficient determination result includes:

[0023] It is determined whether the current single cell voltage ratio is greater than or equal to the preset power threshold parameter, or whether the current total battery voltage ratio is greater than or equal to the preset power threshold parameter, to obtain a feedback torque coefficient determination result.

[0024] As an optional implementation manner, in the first aspect of the present invention, determining the feedback torque coefficient according to the feedback torque coefficient judgment result includes:

[0025] When the feedback torque coefficient judgment result is yes, the feedback torque coefficient is greater than or equal to 0 and less than 1, and the feedback torque coefficient is inversely proportional to the current voltage ratio;

[0026] When the feedback torque coefficient determination result is negative, the feedback torque coefficient is 1.

[0027] As an optional implementation manner, in the first aspect of the present invention, when the feedback torque coefficient judgment result is yes, the method further includes:

[0028] When the current cell voltage ratio is greater than or equal to 1, or the current total battery voltage ratio is greater than or equal to 1, the feedback torque coefficient is 0.

[0029] As an optional embodiment, in the first aspect of the present invention, determining the regenerative power corresponding to the target driven working device based on the regenerative torque coefficient and the original regenerative torque of the target driven working device includes:

[0030] Calculating the product of the feedback torque coefficient and the original feedback torque of the target driven working device to obtain a limited feedback torque value;

[0031] The limited feedback torque value is input into the controller of the target driven working device to determine the feedback power corresponding to the target driven working device.

[0032] A second aspect of the present invention discloses a device for controlling feedback power of a driving working device, the device comprising:

[0033] An acquisition module, configured to acquire real-time voltage parameters of a drive energy supply device; the drive energy supply device is configured to supply energy to a target drive working device; the target drive working device is configured to drive a drive object device corresponding to the target drive working device or to supply energy to the drive energy supply device;

[0034] a judgment result determination module, configured to determine a feedback torque coefficient judgment result based on the real-time voltage parameter, a preset voltage threshold parameter, and a preset power threshold parameter;

[0035] A coefficient determination module, configured to determine a feedback torque coefficient according to the feedback torque coefficient determination result;

[0036] a feedback power determination module, configured to determine the feedback power corresponding to the target driven working equipment according to the feedback torque coefficient and the original feedback torque of the target driven working equipment;

[0037] A generating module is used to generate a feedback control instruction corresponding to the feedback power; the feedback control instruction is used to control the target driving working device to perform feedback energy supply work for the driving energy supply device with the feedback power.

[0038] As an optional embodiment, in the second aspect of the present invention, the target driving working device includes a driving motor; and / or the driving energy supply device is a battery; and / or the driven object device is a vehicle; and / or the real-time voltage parameters include the current single cell voltage and the current total battery voltage; the current single cell voltage is the maximum single cell voltage.

[0039] As an optional embodiment, in the second aspect of the present invention, the judgment result determination module determines the feedback torque coefficient judgment result based on the real-time voltage parameter, the preset voltage threshold parameter, and the preset power threshold parameter, including:

[0040] Determining an overvoltage threshold corresponding to the drive energy supply device;

[0041] Calculating a ratio of the real-time voltage parameter to the overvoltage threshold to obtain a current voltage ratio;

[0042] It is determined whether the current voltage ratio is greater than or equal to the preset power threshold parameter to obtain a feedback torque coefficient determination result.

[0043] As an optional embodiment, in the second aspect of the present invention, the overvoltage threshold includes a single cell overvoltage threshold and a total battery overvoltage threshold; the current voltage ratio includes a current single cell voltage ratio and a total battery voltage ratio; the judgment result determination module determines the overvoltage threshold corresponding to the drive energy supply device, including:

[0044] Obtaining a single cell test overvoltage threshold and a total battery test overvoltage threshold corresponding to the drive energy supply device;

[0045] Calculating the product of the single-cell test overvoltage threshold and the overvoltage fault coefficient to obtain the single-cell overvoltage threshold;

[0046] Calculating the product of the total battery test overvoltage threshold and the overvoltage fault coefficient to obtain the total battery overvoltage threshold;

[0047] Furthermore, the judgment result determination module calculates the ratio of the real-time voltage parameter to the overvoltage threshold to obtain a current voltage ratio, including:

[0048] Calculating a ratio of the current cell voltage to the cell overvoltage threshold to obtain a current cell voltage ratio;

[0049] Calculating a ratio of the current total battery voltage to the total battery overvoltage threshold to obtain a current total battery voltage ratio;

[0050] Furthermore, the judgment result determination module determines whether the current voltage ratio is greater than or equal to the preset power threshold parameter, and obtains a feedback torque coefficient judgment result, including:

[0051] It is determined whether the current single cell voltage ratio is greater than or equal to the preset power threshold parameter, or whether the current total battery voltage ratio is greater than or equal to the preset power threshold parameter, to obtain a feedback torque coefficient determination result.

[0052] As an optional implementation manner, in the second aspect of the present invention, the coefficient determination module determines the feedback torque coefficient according to the feedback torque coefficient judgment result, including:

[0053] When the feedback torque coefficient judgment result is yes, the feedback torque coefficient is greater than or equal to 0 and less than 1, and the feedback torque coefficient is inversely proportional to the current voltage ratio;

[0054] When the feedback torque coefficient determination result is negative, the feedback torque coefficient is 1.

[0055] As an optional implementation manner, in the second aspect of the present invention, when the feedback torque coefficient judgment result is yes, the method further includes:

[0056] When the current cell voltage ratio is greater than or equal to 1, or the current total battery voltage ratio is greater than or equal to 1, the feedback torque coefficient is 0.

[0057] As an optional embodiment, in the second aspect of the present invention, the regenerative power determination module determines the regenerative power corresponding to the target driven working device according to the regenerative torque coefficient and the original regenerative torque of the target driven working device, including:

[0058] Calculating the product of the feedback torque coefficient and the original feedback torque of the target driven working device to obtain a limited feedback torque value;

[0059] The limited feedback torque value is input into the controller of the target driven working device to determine the feedback power corresponding to the target driven working device.

[0060] A third aspect of the present invention discloses another device for controlling feedback power of a driving working device, the device comprising:

[0061] a memory storing executable program code;

[0062] a processor coupled to the memory;

[0063] The processor calls the executable program code stored in the memory to execute the feedback power control method for driving a working device disclosed in the first aspect of the present invention.

[0064] The fourth aspect of the present invention discloses a hydrogen-powered vehicle, which includes a hydrogen fuel energy supply device for supplying energy, a driving energy supply device connected to the hydrogen fuel energy supply device, and a driving working device connected to the hydrogen fuel energy supply device and the driving energy supply device; the hydrogen-powered vehicle controls the driving working device through the driving working device output power control method disclosed in the first aspect of the present invention.

[0065] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: It can be seen that the present invention can first determine the ratio of the real-time voltage parameter to the preset voltage threshold parameter, then determine the feedback torque coefficient based on the comparison result of the ratio and the preset power threshold parameter, and finally determine the feedback power corresponding to the driving working device based on the feedback torque coefficient, so as to fully consider the relationship between the real-time voltage parameter of the driving energy supply device, the preset voltage threshold and the preset power threshold parameter to adjust the feedback power of the driving working device accordingly, effectively control the reasonable feedback power output of the driving working device, avoid the problem of the driving energy supply device triggering an overvoltage fault due to the transient voltage of the driving energy supply device being too high, and thus effectively provide protection for the driving energy supply device. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0067] Figure 1 This is a flow chart of a method for controlling the output power of a driving working device disclosed in an embodiment of the present invention;

[0068] Figure 2This is a schematic structural diagram of a device for controlling output power of a driving working device disclosed in an embodiment of the present invention;

[0069] Figure 3 This is a schematic structural diagram of another device for controlling output power of a driving working device disclosed in an embodiment of the present invention;

[0070] Figure 4 It is a logic block diagram for controlling the output power of a hydrogen fuel cell that can be coordinated with a method for controlling the output power of a driving working device disclosed in an embodiment of the present invention;

[0071] Figure 5 This is a logic block diagram for controlling the braking feedback power of a drive motor in an energy control method for a drive energy supply device disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0072] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0073] The terms "first," "second," and so on, in the description and claims of the present invention and the accompanying drawings are used to distinguish between different items, not to describe a specific order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product, or end comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed therein, or may optionally include other steps or elements inherent to such process, method, product, or end.

[0074] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0075] The present invention discloses a method and device for controlling the feedback power of a driving working device, and a hydrogen-powered vehicle. The method and device can first determine the ratio of a real-time voltage parameter to a preset voltage threshold parameter, then determine the feedback torque coefficient based on the comparison result of the ratio and the preset power threshold parameter, and finally determine the feedback power corresponding to the driving working device based on the feedback torque coefficient. In this way, the feedback power of the driving working device can be adjusted accordingly by fully considering the relationship between the real-time voltage parameter of the driving energy supply device, the preset voltage threshold, and the preset power threshold parameter. The method can effectively control the reasonable feedback power output of the driving working device, avoid the problem of the driving energy supply device triggering an overvoltage fault due to excessive transient voltage of the driving energy supply device, and thus effectively provide protection for the driving energy supply device. The following are detailed descriptions.

[0076] Example 1

[0077] See also Figure 1 , Figure 1 This is a flow chart of a method for controlling the feedback power of a driving device disclosed in an embodiment of the present invention. Figure 1 The described driving working device feedback power control method is applied to a data processing chip, a processing terminal or a processing server, and the processing server can be a local server or a cloud server, which is not limited in the embodiment of the present invention. Figure 1 As shown, the driving working device feedback power control method may include the following operations:

[0078] 101. Obtain real-time voltage parameters of the drive power supply device.

[0079] Specifically, the driving energy supply device is used to supply energy to the target driving working equipment, and the driving energy supply device provides energy to the target driving working equipment; the target driving working equipment is used to drive the driving object equipment corresponding to the target driving working equipment, or to supply energy to the driving energy supply device when the driving object equipment brakes.

[0080] Optionally, the target driving working device includes a motor, and optionally, the driving energy supply device is a battery.

[0081] Optionally, the real-time voltage parameter includes the current cell voltage and the current total battery voltage. Optionally, the real-time voltage parameter can be directly acquired or detected by a controller driving the energy supply device.

[0082] Optionally, the driven device is a vehicle, such as an electric family car or a hydrogen-powered commercial truck.

[0083] 102. Determine a feedback torque coefficient judgment result according to the real-time voltage parameter, the preset voltage threshold parameter, and the preset power threshold parameter.

[0084] 103. Determine the feedback torque coefficient based on the feedback torque coefficient judgment result.

[0085] 104. Determine the feedback power corresponding to the target driven working device according to the feedback torque coefficient and the original feedback torque of the target driven working device.

[0086] 105. Generate a feedback control instruction corresponding to the feedback power.

[0087] Specifically, the feedback control instruction is used to control the target driving working device to use the feedback power to drive the energy supply device to perform feedback energy supply work.

[0088] It can be seen that the above-mentioned embodiment of the invention can first determine the ratio of the real-time voltage parameter to the preset voltage threshold parameter, then determine the feedback torque coefficient based on the comparison result of the ratio and the preset power threshold parameter, and finally determine the feedback power corresponding to the target drive working device based on the feedback torque coefficient, so as to fully consider the relationship between the real-time voltage parameter of the drive energy supply device, the preset voltage threshold and the preset power threshold parameter to adjust the feedback power of the target drive working device accordingly, effectively control the reasonable feedback power output of the target drive working device, avoid the problem of the drive energy supply device triggering an overvoltage fault due to the transient voltage of the drive energy supply device being too high, and thus effectively provide protection for the drive energy supply device.

[0089] As an optional embodiment, in the above steps, determining the feedback torque coefficient judgment result according to the real-time voltage parameter, the preset voltage threshold parameter, and the preset power threshold parameter includes:

[0090] Determine the overvoltage threshold corresponding to the drive power supply device;

[0091] Calculate the ratio of the real-time voltage parameter to the overvoltage threshold to obtain the current voltage ratio;

[0092] It is determined whether the current voltage ratio is greater than or equal to a preset power threshold parameter to obtain a feedback torque coefficient determination result.

[0093] Through the above embodiment, the ratio of the real-time voltage parameter to the overvoltage voltage threshold can be used as the current voltage ratio, and the current voltage ratio can be compared with the preset power threshold parameter to obtain the feedback torque coefficient judgment result, and the feedback power of the target driving working equipment can be indirectly determined based on the feedback torque coefficient judgment result, thereby achieving control of the feedback power of the target driving working equipment, maintaining the voltage of the driving power supply equipment at a relatively reasonable level, and thus avoiding the problem of overvoltage fault caused by excessive voltage of the driving power supply equipment.

[0094] As an optional embodiment, in the above steps, the overvoltage threshold includes a single cell overvoltage threshold and a total battery overvoltage threshold; the current voltage ratio includes a current single cell voltage ratio and a total battery voltage ratio; and determining the overvoltage threshold corresponding to the driving energy supply device includes:

[0095] Obtain the single cell test overvoltage threshold and total battery test overvoltage threshold corresponding to the drive energy supply device;

[0096] Calculate the product of the single-cell test overvoltage threshold and the overvoltage fault coefficient to obtain the single-cell overvoltage threshold;

[0097] Calculate the product of the total battery test overvoltage threshold and the overvoltage fault coefficient to obtain the total battery overvoltage threshold;

[0098] And, calculating the ratio of the real-time voltage parameter to the overvoltage threshold to obtain the current voltage ratio, including:

[0099] Calculate the ratio of the current cell voltage to the cell overvoltage threshold to obtain the current cell voltage ratio;

[0100] Calculate the ratio of the current total battery voltage to the total battery overvoltage threshold to obtain the current total battery voltage ratio;

[0101] Furthermore, determining whether the current voltage ratio is greater than or equal to a preset power threshold parameter to obtain a feedback torque coefficient determination result includes:

[0102] It is determined whether the current single cell voltage ratio is greater than or equal to a preset power threshold parameter, or whether the current total battery voltage ratio is greater than or equal to a preset power threshold parameter, to obtain a feedback torque coefficient determination result.

[0103] Optionally, the overvoltage thresholds for single-cell and total battery tests can be confirmed by personnel through the technical agreement for the drive power supply equipment. Optionally, the overvoltage failure coefficient is obtained through calibration testing of the drive target equipment, with a value range of 0.86 to 0.96. Optionally, the preset power threshold parameter is obtained through calibration testing of the drive target equipment, with a value range of 0.78 to 0.88.

[0104] According to the above embodiment, the overvoltage fault coefficient is first multiplied by the single cell test overvoltage threshold and the total battery test overvoltage threshold respectively to obtain the single cell overvoltage threshold and the total battery overvoltage threshold. Then, the current single cell voltage ratio is determined based on the current single cell voltage and the single cell overvoltage threshold, and the current total battery voltage ratio is determined based on the current total battery voltage and the total battery overvoltage threshold. The single cell voltage ratio and the total battery voltage ratio can directly reflect the current voltage condition of the drive energy supply device. Finally, the current single cell voltage ratio and the current total battery voltage ratio are compared with the preset power threshold parameter to determine the feedback torque coefficient judgment result. The feedback torque coefficient is then determined based on the feedback torque coefficient judgment result obtained in the above process. The feedback power of the target drive working device is indirectly determined based on the obtained feedback torque coefficient. In this way, the obtained feedback power can be more suitable for the drive energy supply device under the current voltage condition, thereby achieving control of the feedback power of the target drive working device and maintaining the voltage of the drive energy supply device at a relatively reasonable level, thereby avoiding the problem of overvoltage fault caused by excessive voltage of the drive energy supply device.

[0105] As an optional embodiment, in the above step, determining the feedback torque coefficient according to the feedback torque coefficient judgment result includes:

[0106] When the feedback torque coefficient judgment result is yes, the feedback torque coefficient is greater than or equal to 0 and less than 1, and the feedback torque coefficient is inversely proportional to the current voltage ratio;

[0107] When the feedback torque coefficient judgment result is no, the feedback torque coefficient is 1.

[0108] Through the above embodiment, when the feedback torque coefficient judgment result is yes, it indicates that the current voltage of the driving energy supply device is relatively high, and therefore it is necessary to control the feedback power corresponding to the target driving working device by reducing the feedback torque coefficient. When the feedback torque coefficient judgment result is no, it indicates that the current voltage of the driving energy supply device is relatively low, and therefore the feedback torque coefficient is determined to be 1, so that the target driving working device can supply energy to the driving energy supply device with the original feedback power. When the driven object device brakes, the driven object device can recycle more energy, which not only improves the safety of the driven object device, but also reduces the energy loss of the driven object device.

[0109] As an optional embodiment, in the above steps, when the feedback torque coefficient judgment result is yes, the method further includes:

[0110] When the current single cell voltage ratio is greater than or equal to 1, or the current total battery voltage ratio is greater than or equal to 1, the feedback torque coefficient is 0.

[0111] Through the above embodiment, when the current single-cell voltage ratio or the current total voltage ratio is greater than or equal to 1, it means that the drive energy supply device is in or close to an overvoltage fault. At this time, the feedback torque coefficient is set to 0 to cut off the energy supply of the target drive working device to the drive energy supply device, which can effectively provide protection for the drive energy supply device.

[0112] As an optional embodiment, in the above step, determining the regenerative power corresponding to the target driven working device according to the regenerative torque coefficient and the original regenerative torque of the target driven working device includes:

[0113] Calculate the product of the feedback torque coefficient and the original feedback torque of the target driving working device to obtain the limited feedback torque value;

[0114] The limited feedback torque value is input into a controller of the target driven working device to determine the feedback power corresponding to the target driven working device.

[0115] Through the above embodiment, the feedback torque coefficient is multiplied by the original feedback torque of the target driven working device to obtain a limited feedback torque value, and then the limited feedback torque value is input into the controller of the target driven working device. The controller can control the feedback power of the target driven working device according to the limited feedback torque value.

[0116] The following describes an embodiment of the present invention in which the solution is applied to a hydrogen fuel-powered vehicle to illustrate the beneficial effects of the present invention.

[0117] In a mature drive architecture for hydrogen fuel cell-powered vehicles, a hydrogen fuel cell is used to supply energy to the power battery, which in turn supplies energy to the drive motor. When the vehicle brakes, the drive motor also supplies energy to the power battery through brake feedback. However, currently available hydrogen fuel cell-powered vehicles usually control the power output of the hydrogen fuel cell by judging the SOC and the power demand of the vehicle. If the SOC is small or the power demand is large, the hydrogen fuel cell is controlled to output high power. When the power battery triggers a slight overvoltage fault warning, the power battery management system will send the maximum allowable charging power to the vehicle controller, and the vehicle controller will then limit the stack power request and motor feedback power based on this power. The above technical solution works better when the SOC is accurate, but after comparing actual operating data, hydrogen fuel cell-powered vehicles are more likely to have inaccurate SOC than pure electric vehicles, because most power batteries require constant current charging or discharging when calibrating the SOC, and even require an external charging gun to fully charge before calibration. Since pure electric vehicles can only be charged through external charging piles, the SOC can be calibrated during charging; however, in actual use, hydrogen fuel cell-driven vehicles basically rely on the power output of the fuel cell for replenishment, and the replenishment is basically dynamic. The charging and discharging current cannot be kept constant for a long time. As a result, the SOC is prone to inaccurate after the vehicle has been in operation for a period of time. When the SOC is inaccurate, it is easy to cause the power battery to recharge too much and cause power battery overvoltage. This is because when the SOC is inaccurate, it is easy for the SOC to be low but the power battery voltage to be high. Only when the SOC is judged to be low, the fuel cell will output high power. In this way, when the vehicle performs drive motor braking feedback, the drive motor feedback power plus the hydrogen fuel cell output power supply energy to charge the power battery. The drive battery transient voltage is likely to exceed the power battery voltage alarm threshold, thereby triggering a power battery overvoltage fault. In extreme cases, it will also cause the vehicle to lose power.

[0118] When the solution of the present invention is applied to a hydrogen fuel-powered vehicle, refer to Figure 4 , the output power of the hydrogen fuel cell to the power battery can be controlled through the relationship between the real-time voltage parameters of the power battery and the preset voltage threshold, and the power battery voltage can be maintained at a relatively reasonable level in advance, leaving enough margin for the vehicle to drive the motor braking feedback; refer to Figure 5At the same time, the feedback power of the drive motor to the power battery is controlled through the relationship between the real-time voltage parameters of the power battery, the preset voltage threshold and the preset power threshold, so that the braking recharging power is within the acceptable range of the power battery; at the same time, by controlling the output power of the hydrogen fuel cell to the power battery and controlling the feedback power of the drive motor to the power battery, the overvoltage problem of the power battery can be handled from two aspects at the same time. The two solutions complement and cooperate with each other, which can effectively avoid the safety and reliability of the driving energy supply equipment, and at the same time can effectively balance the overall energy flow of the energy supply target equipment, thereby improving practicality and economy.

[0119] Example 2

[0120] See also Figure 2 , Figure 2 This is a schematic diagram of the structure of a feedback power control device for a driving working device disclosed in an embodiment of the present invention. Figure 2 The described driving working equipment feedback power control device can be applied to a data processing chip, a processing terminal or a processing server, and the processing server can be a local server or a cloud server, which is not limited in the embodiment of the present invention. Figure 2 As shown, the driving working equipment feedback power control device may include the following operations:

[0121] The acquisition module 201 is used to acquire real-time voltage parameters of the driving energy supply device.

[0122] Specifically, the driving energy supply device is used to supply energy to the target driving working equipment, and the driving energy supply device provides energy to the target driving working equipment; the target driving working equipment is used to drive the driving object equipment corresponding to the target driving working equipment, or to supply energy to the driving energy supply device when the driving object equipment brakes.

[0123] Optionally, the target driving working device includes a motor, and optionally, the driving energy supply device is a battery.

[0124] Optionally, the real-time voltage parameter includes the current cell voltage and the current total battery voltage. Optionally, the real-time voltage parameter can be directly acquired or detected by a controller driving the energy supply device.

[0125] Optionally, the driven device is a vehicle, such as an electric family car or a hydrogen-powered commercial truck.

[0126] The judgment result determination module 202 is used to determine the feedback torque coefficient judgment result according to the real-time voltage parameter, the preset voltage threshold parameter and the preset power threshold parameter.

[0127] The coefficient determination module 203 is configured to determine the feedback torque coefficient according to the feedback torque coefficient determination result.

[0128] The regenerative power determination module 204 is configured to determine the regenerative power corresponding to the target driven working device according to the regenerative torque coefficient and the original regenerative torque of the target driven working device.

[0129] The generating module 205 is configured to generate a feedback control instruction corresponding to the feedback power.

[0130] Specifically, the feedback control instruction is used to control the target driving working device to use the feedback power to drive the energy supply device to perform feedback energy supply work.

[0131] It can be seen that the above-mentioned embodiment of the invention can first determine the ratio of the real-time voltage parameter to the preset voltage threshold parameter, then determine the feedback torque coefficient based on the comparison result of the ratio and the preset power threshold parameter, and finally determine the feedback power corresponding to the target drive working device based on the feedback torque coefficient, so as to fully consider the relationship between the real-time voltage parameter of the drive energy supply device, the preset voltage threshold and the preset power threshold parameter to adjust the feedback power of the target drive working device accordingly, effectively control the reasonable feedback power output of the target drive working device, avoid the problem of the drive energy supply device triggering an overvoltage fault due to the transient voltage of the drive energy supply device being too high, and thus effectively provide protection for the drive energy supply device.

[0132] As an optional embodiment, the judgment result determination module 202 determines the feedback torque coefficient judgment result according to the real-time voltage parameter, the preset voltage threshold parameter, and the preset power threshold parameter, including:

[0133] Determine the overvoltage threshold corresponding to the drive power supply device;

[0134] Calculate the ratio of the real-time voltage parameter to the overvoltage threshold to obtain the current voltage ratio;

[0135] It is determined whether the current voltage ratio is greater than or equal to a preset power threshold parameter to obtain a feedback torque coefficient determination result.

[0136] Through the above embodiment, the ratio of the real-time voltage parameter to the overvoltage voltage threshold can be used as the current voltage ratio, and the current voltage ratio can be compared with the preset power threshold parameter to obtain the feedback torque coefficient judgment result, and the feedback power of the target driving working equipment can be indirectly determined based on the feedback torque coefficient judgment result, thereby achieving control of the feedback power of the target driving working equipment, maintaining the voltage of the driving power supply equipment at a relatively reasonable level, and thus avoiding the problem of overvoltage fault caused by excessive voltage of the driving power supply equipment.

[0137] As an optional embodiment, the overvoltage threshold includes a single cell overvoltage threshold and a total battery overvoltage threshold; the current voltage ratio includes a current single cell voltage ratio and a total battery voltage ratio; the judgment result determination module 202 determines the overvoltage threshold corresponding to the driving energy supply device, including:

[0138] Obtain the single cell test overvoltage threshold and total battery test overvoltage threshold corresponding to the drive energy supply device;

[0139] Calculate the product of the single-cell test overvoltage threshold and the overvoltage fault coefficient to obtain the single-cell overvoltage threshold;

[0140] Calculate the product of the total battery test overvoltage threshold and the overvoltage fault coefficient to obtain the total battery overvoltage threshold;

[0141] Furthermore, the judgment result determination module 202 calculates the ratio of the real-time voltage parameter to the overvoltage threshold to obtain the current voltage ratio, including:

[0142] Calculate the ratio of the current cell voltage to the cell overvoltage threshold to obtain the current cell voltage ratio;

[0143] Calculate the ratio of the current total battery voltage to the total battery overvoltage threshold to obtain the current total battery voltage ratio;

[0144] Furthermore, the judgment result determination module 202 determines whether the current voltage ratio is greater than or equal to a preset power threshold parameter, and obtains a feedback torque coefficient judgment result, including:

[0145] It is determined whether the current single cell voltage ratio is greater than or equal to a preset power threshold parameter, or whether the current total battery voltage ratio is greater than or equal to a preset power threshold parameter, to obtain a feedback torque coefficient determination result.

[0146] Optionally, the single cell test overvoltage threshold and the total battery test overvoltage threshold can be confirmed by the staff through the technical agreement of the driving power supply equipment. Optionally, the overvoltage failure coefficient is obtained by calibration testing of the driving target equipment, and its value range is 0.86 to 0.96.

[0147] According to the above embodiment, the single cell overvoltage threshold and the total battery overvoltage threshold are first multiplied by the overvoltage fault coefficient respectively. Then, the current single cell voltage ratio is determined based on the current single cell voltage and the single cell overvoltage threshold, and the current total battery voltage ratio is determined based on the current total battery voltage and the total battery overvoltage threshold. The single cell voltage ratio and the total battery voltage ratio can directly reflect the current voltage condition of the drive energy supply device. Finally, the current single cell voltage ratio and the current total battery voltage ratio are compared with the preset power threshold parameter to determine the feedback torque coefficient judgment result. If the feedback torque coefficient is determined based on the feedback torque coefficient judgment result obtained in the above process, the feedback power of the target drive working device is indirectly determined based on the obtained feedback torque coefficient. In this way, the obtained feedback power can be more suitable for the drive energy supply device under the current voltage condition, thereby achieving control of the feedback power of the target drive working device and maintaining the voltage of the drive energy supply device at a relatively reasonable level, thereby avoiding the problem of overvoltage fault caused by excessive voltage of the drive energy supply device.

[0148] As an optional embodiment, the coefficient determination module 203 determines the feedback torque coefficient according to the feedback torque coefficient judgment result, including:

[0149] When the feedback torque coefficient judgment result is yes, the feedback torque coefficient is greater than or equal to 0 and less than 1, and the feedback torque coefficient is inversely proportional to the current voltage ratio;

[0150] When the feedback torque coefficient judgment result is no, the feedback torque coefficient is 1.

[0151] Through the above embodiment, when the feedback torque coefficient judgment result is yes, it indicates that the current voltage of the driving energy supply device is relatively high, and therefore it is necessary to control the feedback power corresponding to the target driving working device by reducing the feedback torque coefficient. When the feedback torque coefficient judgment result is no, it indicates that the current voltage of the driving energy supply device is relatively low, and therefore the feedback torque coefficient is determined to be 1, so that the target driving working device can supply energy to the driving energy supply device with the original feedback power. When the driven object device brakes, the driven object device can recycle more energy, which not only improves the safety of the driven object device, but also reduces the energy loss of the driven object device.

[0152] As an optional embodiment, when the feedback torque coefficient judgment result is yes, the method further includes:

[0153] When the current single cell voltage ratio is greater than or equal to 1, or the current total battery voltage ratio is greater than or equal to 1, the feedback torque coefficient is 0.

[0154] Through the above embodiment, when the current single-cell voltage ratio or the current total voltage ratio is greater than or equal to 1, it means that the drive energy supply device is in or close to an overvoltage fault. At this time, the feedback torque coefficient is set to 0 to cut off the energy supply of the target drive working device to the drive energy supply device, which can effectively provide protection for the drive energy supply device.

[0155] As an optional embodiment, the regenerative power determination module 204 determines the regenerative power corresponding to the target driven working device according to the regenerative torque coefficient and the original regenerative torque of the target driven working device, including:

[0156] Calculate the product of the feedback torque coefficient and the original feedback torque of the target driving working device to obtain the limited feedback torque value;

[0157] The limited feedback torque value is input into a controller of the target driven working device to determine the feedback power corresponding to the target driven working device.

[0158] Through the above embodiment, the feedback torque coefficient is multiplied by the original feedback torque of the target driven working device to obtain a limited feedback torque value, and then the limited feedback torque value is input into the controller of the target driven working device. The controller can control the feedback power of the target driven working device according to the limited feedback torque value.

[0159] Example 3

[0160] See also Figure 3 , Figure 3 FIG. 1 is a schematic diagram of another structure of a driving working device feedback power control device disclosed in an embodiment of the present invention. Figure 3 As shown, the device may include:

[0161] A memory 301 storing executable program code;

[0162] a processor 302 coupled to the memory 301;

[0163] The processor 302 calls the executable program code stored in the memory 301 to execute part or all of the steps in the method for controlling the feedback power of a driving working device disclosed in the first embodiment of the present invention.

[0164] Example 4

[0165] An embodiment of the present invention discloses a computer storage medium storing computer instructions. When the computer instructions are called, they are used to execute some or all steps of the method for controlling feedback power of a driving working device disclosed in the first embodiment of the present invention.

[0166] Example 5

[0167] An embodiment of the present invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute the steps of the method for controlling power feedback of a driving working device described in the first embodiment.

[0168] Example 6

[0169] An embodiment of the present invention discloses a hydrogen-powered vehicle, comprising a hydrogen fuel energy supply device for supplying energy, a drive energy supply device connected to the hydrogen fuel energy supply device, and a drive working device connected to the hydrogen fuel energy supply device and the drive energy supply device. The hydrogen-powered vehicle controls the drive working device using the drive working device feedback power control method disclosed in the first aspect of the present invention. For the technical details of the hydrogen-powered vehicle in this embodiment, please refer to the description in the first embodiment and will not be repeated here.

[0170] The device embodiments described above are merely illustrative, wherein the modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, i.e., they may be located in one place or distributed across multiple network modules. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Those skilled in the art can understand and implement the present invention without inventive effort.

[0171] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus the necessary general hardware platform, or of course, by means of hardware. Based on this understanding, the above technical solution, in essence, or the portion that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, including a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0172] Finally, it should be noted that the method and device for controlling the feedback power of a driving working device and the hydrogen-powered vehicle disclosed in the embodiments of the present invention are only preferred embodiments of the present invention, and are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the aforementioned embodiments, it should be understood by those skilled in the art that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for controlling feedback power of a driving device, characterized in that: The method comprises: Acquiring real-time voltage parameters of a drive energy supply device; the drive energy supply device is used to supply energy to a target drive working device; the target drive working device is used to drive a drive object device corresponding to the target drive working device or to supply energy to the drive energy supply device; Determining a feedback torque coefficient judgment result according to the real-time voltage parameter, the preset voltage threshold parameter, and the preset power threshold parameter; determining a feedback torque coefficient according to the feedback torque coefficient judgment result; determining a feedback power corresponding to the target driven working device according to the feedback torque coefficient and the original feedback torque of the target driven working device; Generate a feedback control instruction corresponding to the feedback power; the feedback control instruction is used to control the target driving working device to use the feedback power to perform feedback energy supply work for the driving energy supply device.

2. The method for controlling feedback power of a driving working device according to claim 1, wherein: The target driving working device includes a driving motor; and / or the driving energy supply device is a battery; and / or the driven object device is a vehicle; and / or the real-time voltage parameters include the current single cell voltage and the current total battery voltage; the current single cell voltage is the maximum single cell voltage.

3. The method for controlling feedback power of a driving working device according to claim 2, wherein: The step of determining the feedback torque coefficient judgment result based on the real-time voltage parameter, the preset voltage threshold parameter, and the preset power threshold parameter includes: Determining an overvoltage threshold corresponding to the drive energy supply device; Calculating a ratio of the real-time voltage parameter to the overvoltage threshold to obtain a current voltage ratio; It is determined whether the current voltage ratio is greater than or equal to the preset power threshold parameter to obtain a feedback torque coefficient determination result.

4. The method for controlling feedback power of a driving working device according to claim 3, wherein: The overvoltage threshold includes a single cell overvoltage threshold and a total battery overvoltage threshold; the current voltage ratio includes a current single cell voltage ratio and a total battery voltage ratio; The determining of the overvoltage threshold corresponding to the driving energy supply device includes: Obtaining a single cell test overvoltage threshold and a total battery test overvoltage threshold corresponding to the drive energy supply device; Calculating the product of the single-cell test overvoltage threshold and the overvoltage fault coefficient to obtain the single-cell overvoltage threshold; Calculating the product of the total battery test overvoltage threshold and the overvoltage fault coefficient to obtain the total battery overvoltage threshold; And, calculating the ratio of the real-time voltage parameter to the overvoltage threshold to obtain a current voltage ratio, including: Calculating a ratio of the current cell voltage to the cell overvoltage threshold to obtain a current cell voltage ratio; Calculating a ratio of the current total battery voltage to the total battery overvoltage threshold to obtain a current total battery voltage ratio; Furthermore, determining whether the current voltage ratio is greater than or equal to the preset power threshold parameter to obtain a feedback torque coefficient determination result includes: It is determined whether the current single cell voltage ratio is greater than or equal to the preset power threshold parameter, or whether the current total battery voltage ratio is greater than or equal to the preset power threshold parameter, to obtain a feedback torque coefficient determination result.

5. The method for controlling feedback power of a driving working device according to claim 3, wherein: The step of determining the feedback torque coefficient according to the feedback torque coefficient judgment result includes: When the feedback torque coefficient judgment result is yes, the feedback torque coefficient is greater than or equal to 0 and less than 1, and the feedback torque coefficient is inversely proportional to the current voltage ratio; When the feedback torque coefficient determination result is negative, the feedback torque coefficient is 1.

6. The method for controlling feedback power of a driving working device according to claim 5, wherein: When the feedback torque coefficient judgment result is yes, the method further includes: When the current cell voltage ratio is greater than or equal to 1, or the current total battery voltage ratio is greater than or equal to 1, the feedback torque coefficient is 0.

7. The method for controlling feedback power of a driving working device according to claim 1, wherein: The step of determining the feedback power corresponding to the target driven working device according to the feedback torque coefficient and the original feedback torque of the target driven working device includes: Calculating the product of the feedback torque coefficient and the original feedback torque of the target driven working device to obtain a limited feedback torque value; The limited feedback torque value is input into the controller of the target driven working device to determine the feedback power corresponding to the target driven working device.

8. A feedback power control device for driving a working device, characterized in that: The device comprises: An acquisition module, configured to acquire real-time voltage parameters of a drive energy supply device; the drive energy supply device is configured to supply energy to a target drive working device; the target drive working device is configured to drive a drive object device corresponding to the target drive working device or to supply energy to the drive energy supply device; a judgment result determination module, configured to determine a feedback torque coefficient judgment result based on the real-time voltage parameter, a preset voltage threshold parameter, and a preset power threshold parameter; A coefficient determination module, configured to determine a feedback torque coefficient according to the feedback torque coefficient determination result; a feedback power determination module, configured to determine the feedback power corresponding to the target driven working equipment according to the feedback torque coefficient and the original feedback torque of the target driven working equipment; A generating module is used to generate a feedback control instruction corresponding to the feedback power; the feedback control instruction is used to control the target driving working device to perform feedback energy supply work for the driving energy supply device with the feedback power.

9. A feedback power control device for driving a working device, characterized in that: The device comprises: a memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the driving working device feedback power control method according to any one of claims 1 to 7.

10. A hydrogen-powered vehicle, characterized in that: The hydrogen-powered vehicle includes a hydrogen fuel supply device for supplying energy, a driving power supply device connected to the hydrogen fuel supply device, and a driving working device connected to the hydrogen fuel supply device and the driving power supply device; The hydrogen-powered vehicle controls the driving working equipment by using the driving working equipment output power control method according to any one of claims 1 to 7.

Images