Hybrid loader power generation control method and apparatus, computer program product

Abstract

The application discloses a power generation control method and device of a hybrid loader, and a computer program product. The method comprises the following steps: determining a target torque of an engine and a target rotating speed of a generator according to a current power generation demand power of the loader; in the process that the engine operates according to the target torque and the generator operates according to the target rotating speed, detecting whether the loader is in a cyclic operation working condition according to obtained whole vehicle operation parameters to obtain a detection result; if the detection result indicates that the loader is in the cyclic operation working condition, calculating an actual demand power of the loader in the cyclic operation working condition; updating the current power generation demand power according to the actual demand power; and repeating the above steps until the loader stops operating. The application solves the technical problem that the actual demand power in the operation process of the loader is not considered in the common control strategy of the loader in the related art, the battery is usually charged and discharged at high power, the service life of the battery is affected, and the comprehensive efficiency is low.

Description

Technical Field

[0001] This application relates to the field of electrical engineering technology, and more specifically, to a power generation control method and device for a hybrid loader, and a computer program product. Background Technology

[0002] Existing control strategies for range-extended hybrid loaders mainly include constant-temperature fixed-point control, multi-point fixed-point control, and power-following control. The constant-temperature fixed-point strategy controls the engine to operate at a fixed operating point, controlling the range extender to generate electricity at a constant power, and controlling the engine's start-stop based on the battery's state of charge (SOC). The multi-point fixed-point strategy controls the engine to operate at different fixed operating points based on the battery's SOC range, controlling the range extender to generate electricity at multiple fixed power levels. The power-following strategy controls the engine to operate at different operating points in real time according to actual power demand, controlling the range extender to generate electricity at different power levels according to changes in actual power demand.

[0003] Loaders are typical cyclical construction machinery with large load variations and numerous transient operating conditions. Range-extended hybrid loaders employ constant-temperature fixed-point and multi-point fixed-point control strategies, leading to high-power charging and discharging of the battery, resulting in a short battery life. Simultaneously, the low proportion of direct-drive power from the range extender results in significant charging and discharging losses, impacting overall fuel efficiency. Power-following control strategies reduce the degree of battery charging and discharging, which has some effect on improving battery life and reducing charging and discharging losses; however, this strategy causes the engine to operate across the entire workload range, with many operating points falling within the engine's non-fuel-efficient range, thus reducing overall efficiency.

[0004] The common control strategies for loaders in the aforementioned technologies do not take into account the actual power demand during loader operation, which usually leads to high-power charging and discharging of batteries, affecting battery life and resulting in low overall efficiency. No effective solution has been proposed yet. Summary of the Invention

[0005] This application provides a power generation control method and device for a hybrid loader, as well as a computer program product, to at least solve the technical problem in the related art that the common control strategies for loaders do not take into account the actual power demand during the operation of the loader, which usually causes the battery to charge and discharge at high power, affecting the battery life and resulting in low overall efficiency.

[0006] According to one aspect of the embodiments of this application, a power generation control method for a hybrid loader is provided, comprising: a determination step, determining a target torque of an engine and a target speed of a generator based on the current power generation demand of the loader, wherein the engine and the generator are both components of the loader, and the current power generation demand is a preset power generation demand before the loader performs a working condition; a detection step, during the process of the engine running at the target torque and the generator running at the target speed, detecting whether the loader is in a cyclic working condition based on the acquired vehicle operating parameters, and obtaining a detection result, wherein the vehicle operating parameters are those of the loader during operation, and the cyclic working condition is a working condition in which multiple sub-working conditions are executed completely once in the order of working condition execution; a calculation step, if the detection result indicates that the loader is in the cyclic working condition, calculating the actual power demand of the loader performing the cyclic working condition; a first update step, updating the current power generation demand based on the actual power demand; and repeating the determination step, the detection step, the calculation step, and the first update step at least once in sequence until the loader stops running.

[0007] Optionally, before determining the target torque of the engine and the target speed of the generator based on the current power generation demand of the loader, the power generation control method of the hybrid loader further includes: if the start-up time of the loader is not greater than a predetermined time, setting the initial power generation power of the loader according to a preset power requirement, and determining the initial power generation power as the current power generation demand, wherein the preset power requirement is the requirement for the loader's power generation to achieve the lowest fuel cost while satisfying the current power output of the loader; if the start-up time of the loader is greater than the predetermined time, determining the current power generation power of the loader as the current power generation demand.

[0008] Optionally, determining the target torque of the engine and the target speed of the generator based on the current power generation demand of the loader includes: acquiring the fuel economy curve of the engine and the output power curve of the generator, wherein the fuel economy curve is used to record the fuel consumption rate of the engine at different speeds and torques, and the output power curve is used to record the maximum power generation of the generator at different speeds; determining the speed corresponding to the current power generation demand as the target speed based on the output power curve; and determining the torque corresponding to the torque point with the lowest fuel consumption rate in the fuel economy curve as the target torque based on the target speed.

[0009] Optionally, during the process of the engine operating at the target torque and the generator operating at the target speed, determining whether the loader is in a cyclic operation condition based on the acquired vehicle operating parameters and obtaining a detection result includes: an acquisition step, acquiring the current operating parameters of the loader during the process of controlling the engine to operate at the target torque and the generator to operate at the target speed; a judgment step, determining whether the current operating parameters meet the requirements of the sub-operation condition and obtaining a judgment result; a second update step, if the judgment result indicates that the current operating parameters meet the requirements of the sub-operation condition, determining that the sub-operation condition corresponding to the sub-operation condition requirement has been completed, and updating the sub-operation condition requirement; and repeating the acquisition step, the judgment step, and the second update step sequentially until all the sub-operation conditions have been completed, and determining that the detection result indicates that the loader is in the cyclic operation condition.

[0010] Optionally, determining whether the current operating parameters meet the requirements of the sub-job condition and obtaining a determination result includes: acquiring multiple parameter condition relationships of the sub-job condition requirements, wherein each parameter condition relationship records a comparison relationship between the current operating parameter and a corresponding parameter threshold; if the current operating parameters meet all the parameter condition relationships, determining that the determination result is that the current operating parameters meet the requirements of the sub-job condition; if the current operating parameters do not meet any of the parameter condition relationships, determining that the determination result is that the current operating parameters do not meet the requirements of the sub-job condition.

[0011] Optionally, updating the sub-job condition requirements includes: obtaining the execution order of the sub-job conditions in the cyclic job conditions and the sub-job condition requirements corresponding to each sub-job condition; sorting the multiple sub-job condition requirements in ascending order according to the execution order to obtain a sequence identifier for each sub-job condition requirement; and updating the sub-job condition requirement to the content of the next sub-job condition requirement according to the sequence identifier.

[0012] Optionally, updating the current power generation demand based on the actual power demand includes: obtaining the sub-actual power demand of the loader in each sub-operation condition, wherein the first sum of all the sub-actual power demand is the actual power demand; and updating the sub-power generation demand according to the sub-actual power demand in the order of execution of the multiple sub-operation conditions to complete the update of the current power generation demand, wherein the second sum of all the sub-power generation demand is the current power generation demand.

[0013] According to another aspect of the embodiments of this application, a power generation control device for a hybrid loader is also provided, comprising: a first determining unit, configured to perform a determining step, determining a target torque of the engine and a target speed of the generator based on the current power generation demand of the loader, wherein the engine and the generator are both components of the loader, and the current power generation demand is a preset power generation demand before the loader performs its operating condition; and a detecting unit, configured to perform a detecting step, detecting whether the loader is in a cyclic operating condition based on acquired vehicle operating parameters during the process of the engine operating at the target torque and the generator operating at the target speed, and obtaining a detection result. As a result, the vehicle operating parameters are those of the loader during operation, and the cyclic operation condition is a condition in which multiple sub-operation conditions are executed completely once in the order of operation condition execution; the calculation unit is used to perform the calculation step, and when the detection result indicates that the loader is in the cyclic operation condition, calculates the actual power required by the loader to perform the cyclic operation condition; the update unit is used to perform the first update step, and update the current power generation demand based on the actual power demand; the execution unit is used to repeatedly execute the determination step, the detection step, the calculation step and the first update step at least once in sequence until the loader stops running.

[0014] Optionally, the power generation control device of the hybrid loader further includes: a second determining unit, configured to, before determining the target torque of the engine and the target speed of the generator based on the current power generation demand of the loader, set the initial power generation power of the loader according to a preset power requirement, and determine the initial power generation power as the current power generation demand, provided that the start-up time of the loader is not greater than a predetermined time; wherein the preset power requirement is the requirement for the loader's power generation to achieve the lowest fuel cost while satisfying the current power output of the loader; and to determine the current power generation power of the loader as the current power generation demand if the start-up time of the loader is greater than the predetermined time.

[0015] Optionally, the first determining unit includes: a first acquiring module, configured to acquire the fuel economy curve of the engine and the output power curve of the generator, wherein the fuel economy curve is used to record the fuel consumption rate of the engine at different speeds and torques, and the output power curve is used to record the maximum power generation of the generator at different speeds; a first determining module, configured to determine the speed corresponding to the current power generation demand as the target speed based on the output power curve; and a second determining module, configured to determine the torque corresponding to the torque point with the lowest fuel consumption rate in the fuel economy curve as the target torque based on the target speed.

[0016] Optionally, the detection unit includes: a second acquisition module, configured to perform an acquisition step, acquiring the current operating parameters of the loader during the process of controlling the engine to run at the target torque and the generator to run at the target speed; a judgment module, configured to perform a judgment step, judging whether the current operating parameters meet the requirements of the sub-operation condition, and obtaining a judgment result; a first update module, configured to perform a second update step, determining that the sub-operation condition corresponding to the sub-operation condition requirement has been completed when the judgment result indicates that the current operating parameters meet the requirements of the sub-operation condition, and updating the sub-operation condition requirements; and an execution module, configured to sequentially repeat the acquisition step, the judgment step, and the second update step until all the sub-operation conditions have been completed, and then determine that the detection result indicates that the loader is in the cyclic operation condition.

[0017] Optionally, the judgment module includes: a first acquisition submodule, configured to acquire multiple parameter condition relationships of the sub-job condition requirements, wherein each parameter condition relationship records a comparison relationship between the current operating parameter and a corresponding parameter threshold; a first determination submodule, configured to determine that the current operating parameter meets the sub-job condition requirements when the current operating parameter satisfies all of the parameter condition relationships; and a second determination submodule, configured to determine that the current operating parameter does not meet the sub-job condition requirements when the current operating parameter does not satisfy any of the parameter condition relationships.

[0018] Optionally, the first update module includes: a second acquisition submodule, configured to acquire the execution order of the sub-operation conditions in the cyclic operation condition and the sub-operation condition requirements corresponding to each sub-operation condition; a third acquisition submodule, configured to sort the multiple sub-operation condition requirements in ascending order according to the execution order to obtain a sequence identifier for each sub-operation condition requirement; and an update submodule, configured to update the sub-operation condition requirement to the content of the next sub-operation condition requirement according to the sequence identifier.

[0019] Optionally, the updating unit includes: a third acquisition module, configured to acquire the sub-actual power demand of the loader in each sub-operation condition, wherein the first sum of all the sub-actual power demand is the actual power demand; and a second updating module, configured to update the sub-power generation demand according to the sub-actual power demand in the order of execution of the multiple sub-operation conditions, so as to complete the update of the current power generation demand, wherein the second sum of all the sub-power generation demand is the current power generation demand.

[0020] According to another aspect of the embodiments of this application, a power generation control system for a hybrid loader is also provided, wherein the power generation control system for the hybrid loader uses any of the power generation control methods for hybrid loaders described above.

[0021] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein the program executes any of the above-described hybrid loader power generation control methods.

[0022] According to another aspect of the embodiments of this application, a processor is also provided, the processor being used to run a program, wherein the program, when running, executes any of the above-described hybrid loader power generation control methods.

[0023] According to another aspect of the embodiments of this application, a computer program product is also provided, including computer instructions, which, when executed by a processor, perform any of the above-described hybrid loader power generation control methods.

[0024] In this embodiment, the determination step involves determining the target torque of the engine and the target speed of the generator based on the current power generation demand of the loader, wherein both the engine and the generator are components of the loader, and the current power generation demand is the preset power generation demand before the loader performs its operating condition; the detection step involves detecting whether the loader is in a cyclic operating condition based on the acquired vehicle operating parameters while the engine is running at the target torque and the generator is running at the target speed, and obtaining the detection result, wherein the vehicle operating parameters are those of the loader during operation, and the cyclic operating condition is a condition in which multiple sub-operating conditions are executed completely once in the order of operation; the calculation step involves calculating the actual power demand of the loader performing the cyclic operating condition if the detection result indicates that the loader is in a cyclic operating condition; the first update step involves updating the current power generation demand based on the actual power demand; the determination step, the detection step, the calculation step, and the first update step are repeated at least once in sequence until the loader stops operating. The above technical solutions achieve the goal of adjusting the loader's power generation in real time by monitoring its cyclical operating conditions and collecting the actual power demand of the loader during operation. This allows for targeted adjustments to the power generation after each loader cycle, based on the actual power demand, thereby maximizing the battery's charging and discharging performance to closely match actual requirements. This reduces battery charging and discharging losses, improves fuel economy and overall efficiency, and extends battery life. Furthermore, it solves the problem that common control strategies for loaders in related technologies often fail to consider the actual power demand during loader operation, resulting in high-power charging and discharging of the battery, impacting battery life and leading to lower overall efficiency. Attached Figure Description

[0025] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0026] Figure 1 This is a hardware structure block diagram of a mobile terminal for a power generation control method of a hybrid loader according to an embodiment of this application.

[0027] Figure 2 This is a flowchart of a power generation control method for a hybrid loader according to an embodiment of this application;

[0028] Figure 3 This is a schematic diagram of the power system of a range-extended hybrid loader according to an embodiment of this application;

[0029] Figure 4 This is a flowchart of an optional hybrid power loader power generation control method according to an embodiment of this application;

[0030] Figure 5 This is a flowchart of another optional hybrid loader power generation control method according to an embodiment of this application;

[0031] Figure 6 This is a schematic diagram of a V-shaped work cycle according to an embodiment of this application;

[0032] Figure 7 This is a flowchart illustrating the identification of cyclical work conditions according to an embodiment of this application;

[0033] Figure 8 This is a schematic diagram of the V-shaped work cycle parameters according to an embodiment of this application;

[0034] Figure 9 This is a schematic diagram of a power generation control device for a hybrid loader according to an embodiment of this application.

[0035] The above figures include the following reference numerals:

[0036] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device. Detailed Implementation

[0037] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0038] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0039] As described in the background section, common control strategies for loaders in related technologies do not consider the actual power demand during loader operation, often resulting in high-power charging and discharging of the battery, affecting battery life and leading to low overall efficiency. To address these shortcomings, embodiments of this application provide a power generation control method and apparatus for a hybrid loader, as well as a computer program product.

[0040] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0041] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a power generation control method of a hybrid loader according to an embodiment of this application. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0042] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the power generation control method of the hybrid loader in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0043] According to an embodiment of this application, a method embodiment of a power generation control method for a hybrid loader is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0044] Figure 2 This is a flowchart of a power generation control method for a hybrid loader according to an embodiment of this application, such as... Figure 2 As shown, the method includes the following steps:

[0045] Step S202, Determine the target torque of the engine and the target speed of the generator based on the current power generation demand of the loader. Here, the engine and the generator are both components of the loader, and the current power generation demand is the preset power generation demand before the loader performs its operating conditions.

[0046] Optionally, the aforementioned loader can be a range-extended hybrid loader.

[0047] In this embodiment, the target torque of the engine and the target speed of the generator can be determined based on the current power generation demand of the loader, so that the loader can start operating at the required power generation capacity.

[0048] The power generation control method for a hybrid loader provided in the above embodiments of this application can be applied to a range-extended hybrid loader power system. The following is a detailed explanation... Figure 3 The embodiments described above in this application will be explained in detail. Figure 3 This is a schematic diagram of the power system of a range-extended hybrid loader according to an embodiment of this application; as shown Figure 3 As shown, the range-extended hybrid loader's power system includes: an Electronic Control Unit (ECU), a generator, a Motor Control Unit (MCU), a Power Distribution Unit (PDU), a power battery, a drive motor, a hydraulic motor, a gearbox, a hydraulic pump, and a Vehicle Control Unit (VCU). It can determine the target torque of the engine and the target speed of the generator based on the loader's current power generation requirements, allowing the engine and generator to operate at their respective torques and speeds, thus enabling the loader to start operating at the required power generation capacity.

[0049] According to the above embodiments of this application, before determining the target torque of the engine and the target speed of the generator based on the current power generation demand of the loader, the power generation control method of the hybrid loader further includes: when the start-up time of the loader is not greater than a predetermined time, setting the initial power generation power of the loader according to a preset power demand, and determining the initial power generation power as the current power generation demand, wherein the preset power demand is the requirement of the loader's power generation power to minimize fuel costs while meeting the current power output of the loader; when the start-up time of the loader is greater than the predetermined time, determining the current power generation power of the loader as the current power generation demand.

[0050] The following is combined with Figure 4 and Figure 5 The embodiments described above in this application will be explained in detail. Figure 4 This is a flowchart of an optional hybrid power loader power generation control method according to an embodiment of this application. Figure 5 This is a flowchart of another optional hybrid loader power generation control method according to an embodiment of this application.

[0051] Specifically, such as Figure 4 and Figure 5As shown, the current power generation demand of the loader can be determined based on its startup and operation duration. When the loader is first started, the initial power generation of the range-extended hybrid loader can be set according to the principle of satisfying power requirements and optimizing economy. This initial power generation is determined based on the loader's working requirements and the goal of optimizing energy efficiency, and is used as the loader's current power generation demand. After the loader has been running for a period of time and completed one cycle of operation, the previously set current power generation demand can be adjusted and updated based on the actual power of the loader's operation, thereby obtaining the loader's current power generation demand again. This cycle continues until the loader stops running.

[0052] According to the above embodiments of this application, in step S202, determining the target torque of the engine and the target speed of the generator based on the current power generation demand of the loader includes: acquiring the fuel economy curve of the engine and the output power curve of the generator, wherein the fuel economy curve is used to record the fuel consumption rate of the engine at different speeds and torques, and the output power curve is used to record the maximum power generation of the generator at different speeds; determining the speed corresponding to the current power generation demand as the target speed based on the output power curve; and determining the torque corresponding to the torque point with the lowest fuel consumption rate in the fuel economy curve as the target torque based on the target speed.

[0053] In this embodiment, a constant temperature and fixed-point control strategy can be used to set the initial power generation of the loader. That is, the target torque of the engine and the target speed of the generator can be determined based on the fuel economy curve of the engine and the output power curve of the range extender (i.e., the generator), and the engine and generator can be controlled to operate according to the target torque and target speed.

[0054] Specifically, constant-temperature fixed-point control strategy is a control strategy that fixes the engine's operating state at a few predetermined high-efficiency points to ensure that the engine operates under the most economical conditions. The engine's fuel economy curve describes how its fuel efficiency changes under different torque and speed, while the range extender (generator)'s output power curve reflects the electrical power that the generator can output at a specific engine speed and torque. When determining the target torque of the engine and the target speed of the generator based on the loader's current power generation demand, the engine's fuel economy curve and the range extender (generator)'s output power curve can be referenced to calculate the most economical combination of engine torque and generator speed that can produce this power generation. In other words, the set of torque and speed values ​​that can meet the power generation requirements while maximizing engine efficiency under the engine and generator's operating conditions is found and used as the target torque and target speed.

[0055] Step S204, detection step: During the process of the engine running at the target torque and the generator running at the target speed, the loader is detected as being in a cyclic operation condition based on the obtained vehicle operating parameters, and the detection result is obtained. The vehicle operating parameters are those of the loader during operation, and the cyclic operation condition is a condition in which multiple sub-operation conditions are executed completely once in the order of operation.

[0056] like Figure 4 and Figure 5 As shown, during the process of the engine running at the target torque and the generator running at the target speed, the overall vehicle operating parameters of the loader can be monitored in real time, so as to determine whether the loader is in a cyclic operation condition based on the obtained overall vehicle operating parameters.

[0057] According to the above embodiments of this application, in step S204, during the process of the engine running at the target torque and the generator running at the target speed, the loader is determined to be in a cyclic operation condition based on the acquired vehicle operating parameters, and a detection result is obtained. This includes: an acquisition step, in which the current operating parameters of the loader are acquired during the process of controlling the engine to run at the target torque and the generator to run at the target speed; a judgment step, in which the current operating parameters are determined to meet the requirements of the sub-operation condition, and a judgment result is obtained; a second update step, in which, if the judgment result indicates that the current operating parameters meet the requirements of the sub-operation condition, the sub-operation condition corresponding to the sub-operation condition requirement is determined to be completed, and the sub-operation condition requirement is updated; the acquisition step, the judgment step, and the second update step are repeated sequentially until all sub-operation conditions are completed, and the detection result is determined to be that the loader is in a cyclic operation condition.

[0058] Optionally, the above-mentioned vehicle operating parameters may include, but are not limited to: gearbox gear, drive motor speed, and hydraulic motor power.

[0059] In this embodiment, it can be determined whether the current working condition of the loader meets the requirements of each sub-working condition in sequence based on the real-time monitored vehicle operating parameters. After all sub-working conditions are executed in sequence once, it can be considered that one cycle has been completed, that is, the loader is currently in a cyclic working condition.

[0060] It should be noted that the loader's overall operating parameters are monitored and acquired in real time during this process. The specific values ​​of the overall operating parameters used to judge each sub-operating condition may be different. The overall operating parameters at the same point in time are not used to judge whether the requirements of each sub-operating condition are met. This is a dynamic process.

[0061] The following is combined with Figure 6 and Figure 7 The embodiments described above in this application will be explained in detail. Figure 6 This is a schematic diagram of a V-shaped work cycle according to an embodiment of this application. Figure 7 This is a flowchart for identifying cyclical operation conditions according to an embodiment of this application.

[0062] like Figure 6 As shown, taking the V-shaped work cycle as an example, the angle between the material being shoveled and the loading position is 50°-60°. This V-shaped work cycle includes the following 5 sub-work cycles: ① Unloaded forward: The loader accelerates in forward gear from the work origin to the material pile, with the bucket maintaining a transport state; ② Shoveling material: The loader lowers the bucket and inserts it into the material at a certain speed. As the resistance increases, the loader speed decreases, using a shoveling method of inserting material while simultaneously raising the bucket, until the bucket is fully loaded; ③ Loaded reverse: The loader moves away from the material pile in reverse gear and approaches the work site in a straight line. ④ Forward lifting + unloading: The loader moves forward and turns from the work origin to the transport vehicle. During the approach, the boom is raised. When the loader approaches the unloading position, the driver applies the brakes. The bucket is at the unloading height. The driver operates the bucket cylinder to unload the material. ⑤ Unloaded reverse: The loader reverses and turns, moving away from the transport vehicle and approaching the work origin. During the approach, the boom is lowered. When the loader approaches the work origin, the driver applies the brakes until it returns to the work origin.

[0063] like Figure 7 As shown, the loader's current operating conditions can be determined based on the real-time monitored vehicle operating parameters. If the sequence is unloaded forward, digging material, loaded backward, forward lifting + unloading, and unloaded backward, the loader is considered to be in a cyclical operating condition. If not, the loader should be re-evaluated based on the real-time monitored vehicle operating parameters, starting from the first sub-operating condition. If the sequence is unloaded forward, digging material, loaded backward, forward lifting + unloading, and unloaded backward, the loader should be re-evaluated until the sequence is met. If the sequence is not met, the loader can continue to operate at the previously required power generation capacity.

[0064] In a V-shaped cyclic operation, the changes in drive motor speed and hydraulic motor power are as follows: Figure 8 As shown.

[0065] In one specific embodiment of this application, determining whether the current operating parameters meet the requirements of the sub-job condition and obtaining the determination result includes: obtaining multiple parameter condition relationships of the sub-job condition requirements, wherein each parameter condition relationship records a comparison relationship between the current operating parameter and the corresponding parameter threshold; if the current operating parameters meet all parameter condition relationships, determining the determination result is that the current operating parameters meet the requirements of the sub-job condition; if the current operating parameters do not meet any parameter condition relationship, determining the determination result is that the current operating parameters do not meet the requirements of the sub-job condition.

[0066] In this embodiment, each sub-operation condition has corresponding operating condition requirements (i.e., sub-operation condition requirements). Only when the loader's overall vehicle operating parameters meet the corresponding operating condition requirements can the loader be confirmed to execute the sub-operation condition.

[0067] The following is combined with Figure 8 The embodiments described above in this application will be explained in detail. Figure 8 This is a schematic diagram of the V-shaped work cycle parameters according to an embodiment of this application; as shown Figure 8 As shown, the changes in drive motor speed and hydraulic motor power during V-shaped cyclic operation can be understood. In determining the specific cyclic operation condition, it can be confirmed whether the loader is in a cyclic operation condition by checking whether parameters such as gearbox gear, drive motor speed, and hydraulic motor power meet the corresponding parameter condition relationships. For example, in the unloaded forward sub-operation condition, the vehicle is in forward gear, the drive motor speed increases from 0 to a stable speed, and the hydraulic motor power is relatively low. In the material shoveling sub-operation condition, the vehicle is in forward gear, the drive motor speed decreases from a relatively high stable speed to a certain speed range and fluctuates within that range, eventually dropping to 0, and the hydraulic motor power is relatively high and fluctuates significantly. In the loaded reverse sub-operation condition, the vehicle is in reverse gear, and the drive motor speed... When the absolute value is less than 0, it gradually increases from 0 to a stable speed, and the hydraulic motor power is almost 0. In the sub-operation condition of forward lifting + unloading, the vehicle is in forward gear, the drive motor speed increases from 0 to a stable speed, and the hydraulic motor power is relatively large and fluctuates significantly. In the sub-operation condition of unloaded reversing, the vehicle is in reverse gear, the drive motor speed is less than 0, the absolute value gradually increases from 0 to a stable speed, and the hydraulic motor power is almost 0. Specific judgments can be made using speed thresholds n1, n2, n3, n4, n5, power thresholds P1, P2, and duration thresholds t1, t2, where n2 > n3 > n1 > 0, n5 < n4 < 0, t1 > t2, and P1 > P2. Table 1 below shows the parameter condition relationships required for each sub-operation condition.

[0068] Table 1

[0069]

[0070] In another specific embodiment of this application, updating the sub-job condition requirements includes: obtaining the execution order of the sub-job conditions in the cyclic job condition and the sub-job condition requirements corresponding to each sub-job condition; sorting the multiple sub-job condition requirements in ascending order according to the execution order to obtain the sequence identifier of each sub-job condition requirement; and updating the sub-job condition requirements to the content of the next sub-job condition requirement according to the sequence identifier.

[0071] Specifically, when updating the requirements for sub-operation conditions, the requirements for the previous sub-operation condition should be updated sequentially according to the execution order of each sub-operation condition to avoid detection errors. For example, in the V-shaped operation cycle, the execution order of the five sub-operation conditions is as follows: unloaded forward, shoveling material, loaded backward, forward lifting + unloading, and unloaded backward. Assuming that the shoveling material sub-operation condition has been completed, the requirements for the shoveling material sub-operation condition should be updated according to the requirements for the loaded backward sub-operation condition before proceeding to the subsequent steps.

[0072] Step S206, Calculation step: If the detection result indicates that the loader is in a cyclic operation condition, calculate the actual power required for the loader to perform the cyclic operation condition.

[0073] In this embodiment, such as Figure 4 and Figure 5 As shown, after the loader completes one cycle of operation, the actual power demand of the loader can be determined based on the actual torque of the engine and the actual speed of the generator during actual operation. Specifically, this can be done using the following formula: To perform the calculations.

[0074] It should be noted that since the actual power demand of the loader may be different or even significantly different under each sub-operational condition, in order to reduce battery charging and discharging losses, the actual power demand of the loader under each sub-operational condition can be calculated separately.

[0075] Step S208, the first update step, updates the current power generation demand based on the actual power demand.

[0076] In this embodiment, such as Figure 4 and Figure 5As shown, after the loader completes each cycle of operation, the power generation demand for the next cycle can be adjusted and updated based on the actual power demand during that process. This makes the preset power generation demand more realistic, with the aim of ensuring that the range extender meets the vehicle's power requirements, the engine operates in the fuel economy range, reduces battery charging and discharging, minimizes battery charging and discharging losses, thereby improving fuel economy and extending battery life.

[0077] According to the above embodiments of this application, in step S208, updating the current power generation demand based on the actual power demand includes: obtaining the sub-actual power demand of the loader in each sub-operation condition, wherein the first sum of all sub-actual power demand is the actual power demand; updating the sub-power generation demand based on the sub-actual power demand in the order of execution of multiple sub-operation conditions to complete the update of the current power generation demand, wherein the second sum of all sub-power generation demand is the current power generation demand.

[0078] Specifically, the update here is also a dynamic update process. After the loader enters the next cycle of operation, it first updates the corresponding sub-power generation demand based on the actual power demand of the first sub-operation. After the completion of this sub-operation, it updates the corresponding sub-power generation demand based on the actual power demand of the next sub-operation. This dynamic update completes the update of the current power generation demand, so that the power generation demand set for each sub-operation is more in line with the actual demand, thereby reducing battery charging and discharging losses, improving fuel economy, and extending battery life.

[0079] Step S210: Repeat the determination step, detection step, calculation step and first update step at least once in sequence until the loader stops running.

[0080] like Figure 5 As shown, the power generation control method provided in the above embodiments of this application is actually a dynamic cyclic process. This power generation control method can be used to control the loader to operate on the basis of meeting power requirements and optimizing economy, thereby reducing battery charging and discharging, reducing battery charging and discharging losses, improving fuel economy, and extending battery life.

[0081] As can be seen from the above, the technical solution provided by the above embodiments of this application can determine the target torque of the engine and the target speed of the generator based on the current power generation demand of the loader by executing the determination step. Here, both the engine and the generator are components of the loader, and the current power generation demand is the preset power generation demand before the loader executes the operating condition. The detection step involves detecting whether the loader is in a cyclic operating condition based on the acquired vehicle operating parameters while the engine is running at the target torque and the generator is running at the target speed. The detection result is obtained, where the vehicle operating parameters are those of the loader during operation, and the cyclic operating condition is a condition in which multiple sub-operating conditions are executed completely once according to the operating condition execution sequence. The calculation step is performed when the detection result indicates that the loader is in a cyclic operating condition. In this scenario, the actual power demand of the loader during cyclic operation is calculated. The first update step updates the current power generation demand based on the actual power demand. This process is repeated at least once, following the determination step, detection step, calculation step, and the first update step, until the loader stops operating. This achieves the goal of adjusting the loader's power generation in real time by monitoring its cyclic operation and collecting the actual power demand during operation. This allows for targeted adjustments to the power generation after each cyclic operation, ensuring the battery charging and discharging is as close as possible to actual demand. This reduces battery charging and discharging losses, improves fuel economy and overall efficiency, and extends battery life.

[0082] Therefore, the technical solution provided by the above embodiments of this application solves the technical problem that the common control strategies for loaders in the related art do not take into account the actual power demand during the operation of the loader, which usually causes the battery to charge and discharge at high power, affecting the battery life and resulting in low overall efficiency.

[0083] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0084] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0085] According to an embodiment of this application, a power generation control device for a hybrid loader, used for implementing the power generation control method of the above-described hybrid loader, is also provided. Figure 9 This is a schematic diagram of the power generation control device of a hybrid loader according to an embodiment of this application, as shown below. Figure 9 As shown, the device includes: a first determining unit 91, a detecting unit 93, a calculating unit 95, an updating unit 97, and an executing unit 99. The power generation control device for this hybrid loader will now be described in detail.

[0086] The first determining unit 91 is used to perform the determining step, which determines the target torque of the engine and the target speed of the generator based on the current power generation demand of the loader. The engine and the generator are both components of the loader, and the current power generation demand is the preset power generation demand before the loader performs its operating conditions.

[0087] The detection unit 93 is used to perform detection steps. During the process of the engine running at the target torque and the generator running at the target speed, it detects whether the loader is in a cyclic operation condition based on the acquired vehicle operating parameters and obtains the detection results. The vehicle operating parameters are those of the loader during operation, and the cyclic operation condition is a condition in which multiple sub-operation conditions are executed completely once in the order of operation.

[0088] The calculation unit 95 is used to perform calculation steps, and when the detection result indicates that the loader is in a cyclic operation condition, it calculates the actual power required for the loader to perform the cyclic operation condition.

[0089] The update unit 97 is used to perform the first update step, updating the current power generation demand based on the actual power demand.

[0090] Execution unit 99 is used to repeatedly execute the determination step, detection step, calculation step and first update step at least once in sequence until the loader stops running.

[0091] It should be noted that the first determining unit 91, the detection unit 93, the calculation unit 95, the update unit 97 and the execution unit 99 mentioned above correspond to steps S202 to S210 in the above embodiments. The five units and the corresponding steps implement the same instances and application scenarios, but are not limited to the content disclosed in the above embodiments.

[0092] As can be seen from the above, in the scheme described in the above embodiments of this application, the first determining unit can be used to perform the determining step, which determines the target torque of the engine and the target speed of the generator based on the current power generation demand of the loader. Both the engine and the generator are components of the loader, and the current power generation demand is the preset power generation demand before the loader performs its operating condition. Then, the detection unit performs the detection step, which detects whether the loader is in a cyclic operating condition based on the acquired vehicle operating parameters while the engine is running at the target torque and the generator is running at the target speed. The detection result is obtained, where the vehicle operating parameters are those of the loader during operation, and the cyclic operating condition is a condition in which multiple sub-operating conditions are executed completely once in the order of operation. Next, the calculation unit performs the calculation step, which determines the loader's operating condition based on the detection result indicating that the loader is in a cyclic operating condition. Under certain operating conditions, the actual power demand of the loader during cyclic operation is calculated. Then, the update unit performs the first update step, updating the current power generation demand based on the actual power demand. Finally, the execution unit repeats the determination step, detection step, calculation step, and the first update step at least once until the loader stops operating. This achieves the goal of monitoring the loader's cyclic operation and collecting the actual power demand during operation to adjust the loader's power generation in real time. This allows for targeted adjustments to the power generation after each cyclic operation, ensuring the battery charging and discharging is as close as possible to actual demand. This reduces battery charging and discharging losses, improves fuel economy and overall efficiency, and extends battery life.

[0093] Therefore, the technical solution provided by the above embodiments of this application solves the technical problem that the common control strategies for loaders in the related art do not take into account the actual power demand during the operation of the loader, which usually causes the battery to charge and discharge at high power, affecting the battery life and resulting in low overall efficiency.

[0094] In an optional embodiment of this application, the power generation control device of the hybrid loader further includes: a second determining unit, configured to, before determining the target torque of the engine and the target speed of the generator based on the current power generation demand of the loader, set the initial power generation power of the loader according to a preset power requirement, and determine the initial power generation power as the current power generation demand, wherein the preset power requirement is the requirement for the loader's power generation to minimize fuel costs while meeting the current power output of the loader; and to determine the current power generation power of the loader as the current power generation demand if the start-up time of the loader is longer than the preset time.

[0095] In one optional embodiment of this application, the first determining unit includes: a first acquiring module, configured to acquire the fuel economy curve of the engine and the output power curve of the generator, wherein the fuel economy curve is used to record the fuel consumption rate of the engine at different speeds and torques, and the output power curve is used to record the maximum power generation of the generator at different speeds; the first determining module is configured to determine the speed corresponding to the current power generation demand as the target speed based on the output power curve; and the second determining module is configured to determine the torque corresponding to the torque point with the lowest fuel consumption rate in the fuel economy curve as the target torque based on the target speed.

[0096] In an optional embodiment of this application, the detection unit includes: a second acquisition module, used to perform an acquisition step, acquiring the current operating parameters of the loader while controlling the engine to run at a target torque and the generator to run at a target speed; a judgment module, used to perform a judgment step, judging whether the current operating parameters meet the requirements of the sub-operation condition, and obtaining a judgment result; a first update module, used to perform a second update step, determining that the sub-operation condition corresponding to the sub-operation condition requirement has been completed when the judgment result indicates that the current operating parameters meet the requirements of the sub-operation condition, and updating the sub-operation condition requirements; and an execution module, used to sequentially repeat the acquisition step, the judgment step, and the second update step until all sub-operation conditions have been completed, and then determining that the detection result is that the loader is in a cyclic operation condition.

[0097] In an optional embodiment of this application, the judgment module includes: a first acquisition submodule, configured to acquire multiple parameter condition relationships for the sub-job working condition requirements, wherein each parameter condition relationship records a comparison relationship between a current operating parameter and a corresponding parameter threshold; a first determination submodule, configured to determine that the current operating parameter meets the sub-job working condition requirements if the current operating parameter meets all parameter condition relationships; and a second determination submodule, configured to determine that the current operating parameter does not meet the sub-job working condition requirements if the current operating parameter does not meet any parameter condition relationship.

[0098] In one optional embodiment of this application, the first update module includes: a second acquisition submodule, used to acquire the execution order of the sub-operation conditions in the cyclic operation condition and the sub-operation condition requirements corresponding to each sub-operation condition; a third acquisition submodule, used to sort the multiple sub-operation condition requirements in ascending order according to the execution order to obtain the sequence identifier of each sub-operation condition requirement; and an update submodule, used to update the sub-operation condition requirements to the content of the next sub-operation condition requirement according to the sequence identifier.

[0099] In an optional embodiment of this application, the updating unit includes: a third acquisition module, configured to acquire the sub-actual demand power of the loader in each sub-operation condition, wherein the first sum of all sub-actual demand powers is the actual demand power; and a second updating module, configured to update the sub-power generation demand power sequentially according to the sub-actual demand power in the order of execution of the multiple sub-operation conditions, so as to complete the update of the current power generation demand power, wherein the second sum of all sub-power generation demand powers is the current power generation demand power.

[0100] According to another aspect of the embodiments of this application, a power generation control system for a hybrid loader is also provided, which uses any of the power generation control methods for hybrid loaders described above.

[0101] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein the program executes the power generation control method of any of the above-described hybrid loader.

[0102] Optionally, in this embodiment, the computer-readable storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any communication device in a group of communication devices.

[0103] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: a determination step, determining the target torque of the engine and the target speed of the generator based on the current power generation demand of the loader, wherein the engine and generator are both components of the loader, and the current power generation demand is the preset power generation demand before the loader performs the working condition; a detection step, detecting whether the loader is in a cyclic working condition based on the acquired vehicle operating parameters during the process of the engine running at the target torque and the generator running at the target speed, and obtaining a detection result, wherein the vehicle operating parameters are those of the loader during operation, and the cyclic working condition is a working condition in which multiple sub-working conditions are executed completely once in the order of working condition execution; a calculation step, calculating the actual power demand of the loader performing the cyclic working condition if the detection result indicates that the loader is in a cyclic working condition; a first update step, updating the current power generation demand based on the actual power demand; and repeating the determination step, detection step, calculation step, and first update step at least once in sequence until the loader stops running.

[0104] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: when the startup time of the loader is not greater than a predetermined time, setting the initial power generation power of the loader according to a preset power requirement, and determining the initial power generation power as the current power generation requirement, wherein the preset power requirement is the requirement for the loader's power generation power to minimize fuel costs while satisfying the loader's current power output; when the startup time of the loader is greater than the predetermined time, determining the loader's current power generation power as the current power generation requirement.

[0105] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: obtaining the fuel economy curve of the engine and the output power curve of the generator, wherein the fuel economy curve is used to record the fuel consumption rate of the engine at different speeds and torques, and the output power curve is used to record the maximum power generation of the generator at different speeds; determining the speed corresponding to the current power generation demand as the target speed based on the output power curve; and determining the torque corresponding to the torque point with the lowest fuel consumption rate in the fuel economy curve as the target torque based on the target speed.

[0106] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: an acquisition step, in which the current operating parameters of the loader are acquired during the process of controlling the engine to run at the target torque and the generator to run at the target speed; a judgment step, in which the current operating parameters are judged to determine whether they meet the requirements of the sub-operation condition and a judgment result is obtained; a second update step, in which, if the judgment result indicates that the current operating parameters meet the requirements of the sub-operation condition, the sub-operation condition corresponding to the sub-operation condition requirement is determined to be completed and the sub-operation condition requirement is updated; the acquisition step, the judgment step and the second update step are executed in sequence until all sub-operation conditions are completed, and the detection result is determined to be that the loader is in a cyclic operation condition.

[0107] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: obtaining multiple parameter condition relationships for the sub-job working condition requirements, wherein each parameter condition relationship records a comparison relationship between a current operating parameter and a corresponding parameter threshold; if the current operating parameter satisfies all parameter condition relationships, determining that the current operating parameter satisfies the sub-job working condition requirements; if the current operating parameter does not satisfy any parameter condition relationship, determining that the current operating parameter does not satisfy the sub-job working condition requirements.

[0108] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: obtaining the execution order of sub-operation conditions in a cyclic operation condition and the sub-operation condition requirements corresponding to each sub-operation condition; sorting the multiple sub-operation condition requirements in ascending order according to the execution order to obtain a sequence identifier for each sub-operation condition requirement; and updating the sub-operation condition requirements to the content of the next sub-operation condition requirement according to the sequence identifier.

[0109] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: obtaining the sub-actual demand power of the loader in each sub-operation condition, wherein the first sum of all sub-actual demand powers is the actual demand power; updating the sub-power generation demand power according to the sub-actual demand power in the order of execution of the multiple sub-operation conditions to complete the update of the current power generation demand power, wherein the second sum of all sub-power generation demand powers is the current power generation demand power.

[0110] According to another aspect of the embodiments of this application, a processor is also provided, which is used to run a program, wherein the program executes the power generation control method of any of the above-described hybrid loader methods when it runs.

[0111] According to another aspect of the embodiments of this application, a computer program product is also provided, including computer instructions, which, when executed by a processor, perform any of the above-described hybrid loader power generation control methods.

[0112] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0113] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0114] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0115] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0116] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0117] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0118] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A power generation control method for a hybrid loader, characterized in that, include: The steps are as follows: determine the target torque of the engine and the target speed of the generator based on the current power generation demand of the loader, wherein the engine and the generator are both components of the loader, and the current power generation demand is the preset power generation demand before the loader performs its operating conditions; The detection step involves detecting whether the loader is in a cyclic operation condition based on the acquired vehicle operating parameters during the process of the engine running at the target torque and the generator running at the target speed. The detection result is obtained, wherein the vehicle operating parameters are those of the loader during operation, and the cyclic operation condition is a condition in which multiple sub-operation conditions are executed completely once in the order of operation. The calculation step involves calculating the actual power required for the loader to perform the cyclic operation when the detection result indicates that the loader is in the cyclic operation condition. The first update step is to update the current power generation demand based on the actual power demand. The determination step, the detection step, the calculation step, and the first update step are repeated at least once in sequence until the loader stops running.

2. The power generation control method for a hybrid loader according to claim 1, characterized in that, Before determining the target torque of the engine and the target speed of the generator based on the current power generation demand of the loader, the method further includes: If the start-up time of the loader is not greater than the predetermined time, the initial power generation power of the loader is set according to the preset power requirement, and the initial power generation power is determined as the current power generation requirement power. The preset power requirement is the requirement of the loader's power generation power to meet the minimum fuel cost under the premise of satisfying the current power output of the loader. If the startup duration of the loader is longer than the predetermined duration, the current power generation of the loader is determined to be the current power generation demand.

3. The power generation control method for a hybrid loader according to claim 1, characterized in that, The target torque of the engine and the target speed of the generator are determined based on the current power generation demand of the loader, including: The fuel economy curve of the engine and the output power curve of the generator are obtained, wherein the fuel economy curve is used to record the fuel consumption rate of the engine at different speeds and torques, and the output power curve is used to record the maximum power generation of the generator at different speeds. Based on the output power curve, the rotational speed corresponding to the current power generation demand is determined as the target rotational speed; The torque corresponding to the point with the lowest fuel consumption rate in the fuel economy curve, determined based on the target rotational speed, is the target torque.

4. The power generation control method for a hybrid loader according to claim 1, characterized in that, During the process of the engine operating at the target torque and the generator operating at the target speed, the loader is judged to be in a cyclic operation condition based on the acquired vehicle operating parameters, and the detection results are obtained, including: The acquisition step involves acquiring the current operating parameters of the loader while controlling the engine to operate at the target torque and the generator to operate at the target speed. The judgment step involves determining whether the current operating parameters meet the requirements of the sub-job condition and obtaining the judgment result. The second update step is to determine that the sub-job condition corresponding to the sub-job condition requirement has been completed when the judgment result indicates that the current operating parameters meet the requirements of the sub-job condition, and to update the requirements of the sub-job condition. The acquisition step, the judgment step, and the second update step are executed in sequence until all the sub-operation conditions are completed, and then the detection result is determined to be that the loader is in the cyclic operation condition.

5. The power generation control method for a hybrid loader according to claim 4, characterized in that, Determine whether the current operating parameters meet the requirements of the sub-job condition, and obtain the determination result, including: Obtain multiple parameter condition relationships required by the sub-job working condition, wherein each parameter condition relationship records a comparison relationship between the current operating parameter and the corresponding parameter threshold; If the current operating parameters satisfy all the parameter condition relationships, the judgment result is determined to be that the current operating parameters meet the requirements of the sub-job condition; If the current operating parameters do not satisfy any of the parameter condition relationships, the judgment result is determined to be that the current operating parameters do not meet the requirements of the sub-job condition.

6. The power generation control method for a hybrid loader according to claim 4, characterized in that, The requirements for the sub-job conditions are updated, including: Obtain the execution order of the sub-operation conditions in the cyclic operation condition and the requirements of each sub-operation condition; The requirements of the multiple sub-operation conditions are sorted in ascending order according to the execution order of the described conditions to obtain the sequence identifier of each sub-operation condition requirement; The sub-job condition requirement is updated to the content of the next sub-job condition requirement according to the sequence identifier.

7. The power generation control method for a hybrid loader according to claim 1, characterized in that, Updating the current power generation demand based on the actual power demand includes: Obtain the sub-actual power demand of the loader in each sub-operating condition, wherein the first sum of all the sub-actual power demand is the actual power demand; The sub-power generation demand is updated sequentially according to the actual sub-power demand in the execution order of the multiple sub-operation conditions to complete the update of the current power generation demand, wherein the second sum of all the sub-power generation demand is the current power generation demand.

8. A power generation control device for a hybrid loader, characterized in that, include: The first determining unit is used to perform the determining step, which determines the target torque of the engine and the target speed of the generator based on the current power generation demand of the loader, wherein the engine and the generator are both components of the loader, and the current power generation demand is the power generation demand preset before the loader performs the working condition. The detection unit is used to perform detection steps. During the process of the engine running at the target torque and the generator running at the target speed, it detects whether the loader is in a cyclic operation condition based on the acquired vehicle operating parameters and obtains the detection result. The vehicle operating parameters are those of the loader during operation, and the cyclic operation condition is a condition in which multiple sub-operation conditions are executed completely once in the order of operation. A calculation unit is used to perform calculation steps, and when the detection result indicates that the loader is in the cyclic operation condition, calculates the actual power required by the loader to perform the cyclic operation condition; An update unit is used to perform a first update step, updating the current power generation demand based on the actual power demand. An execution unit is configured to sequentially and repeatedly execute the determining step, the detecting step, the calculating step, and the first updating step at least once, until the loader stops running.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program executes the power generation control method for a hybrid loader according to any one of claims 1 to 7.

10. A computer program product comprising computer instructions, characterized in that, When the computer instructions are executed by the processor, the power generation control method of the hybrid loader as described in any one of claims 1 to 7 is performed.

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