An electric drive winch energy recovery control method, system, device and medium

Abstract

The application discloses an electric drive winch energy recovery control method, system, device and medium, and belongs to the technical field of battery management control. The electric drive winch energy recovery control method comprises the following steps: determining the maximum pulse recharge power and the current state of charge of a power battery at a current time; if a winch lowering instruction is received, controlling the winch motor to lower at a speed corresponding to the winch lowering instruction; detecting the current gravitational potential energy feedback power generated by the winch motor during the lowering process, calculating the average value of the current gravitational potential energy feedback power in a preset period to obtain an average feedback power; determining a recharge strategy according to the maximum pulse recharge power, the current state of charge and the average feedback power, and adjusting the recharge power of the target device to the power battery according to the recharge strategy. The application can improve the safety of the power battery recharge process of the range-extended electric engineering machinery.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of battery management control, in particular to an electric drive winch energy recovery control method, system, device and medium. BACKGROUND

[0002] With the wide application of range-extended electric engineering machinery, it usually carries a winch motor to realize the lifting and lowering function of heavy objects. In the process of lowering heavy objects by the winch motor, the gravitational potential energy of the heavy objects can be converted into electric energy and fed back to the power battery for charging. However, due to the large difference in the weight of the heavy objects lowered under different working conditions, the feedback power fluctuates significantly. At the same time, as a chemical energy device, the allowable charging power of the power battery changes greatly with the change of temperature and state of charge. If the feedback energy generated by the winch motor is directly used for power battery charging, it may cause the battery to overload or even be damaged, affecting its service life and safety.

[0003] Therefore, how to improve the safety of the power battery charging process of the range-extended electric engineering machinery is a technical problem that needs to be solved by those skilled in the art at present. SUMMARY

[0004] The purpose of the present application is to provide an electric drive winch energy recovery control method, system, device and medium, which can improve the safety of the power battery charging process of the range-extended electric engineering machinery.

[0005] To solve the above technical problems, the present application provides an electric drive winch energy recovery control method applied to a control device of a range-extended electric engineering machinery, the range-extended electric engineering machinery further comprising a winch motor, a range extender, a charging device and a power battery, the electric drive winch energy recovery control method comprising:

[0006] determining the maximum pulse charging power and the current state of charge of the power battery at the current time;

[0007] if the winch lowering instruction is received, controlling the winch motor to lower according to the speed corresponding to the winch lowering instruction;

[0008] detecting the current gravitational potential energy feedback power generated by the winch motor in the lowering process, and calculating the average value of the current gravitational potential energy feedback power in a preset period to obtain an average feedback power;

[0009] determining a charging strategy according to the maximum pulse charging power, the current state of charge and the average feedback power, and adjusting the charging power of the power battery by the target device according to the charging strategy; wherein the target device comprises any one or a combination of any number of the winch motor, the range extender and the charging device.

[0010] Optionally, the determination of the recharging strategy according to the maximum pulse recharging power, the current state of charge and the average feedback power comprises:

[0011] If the current state of charge does not meet the range extender starting condition, it is determined whether the sum of the average feedback power and the current charging recharging power of the charging device is less than or equal to a first threshold value; wherein the first threshold value is positively correlated with the maximum pulse recharging power;

[0012] If yes, a first recharging strategy is generated;

[0013] Correspondingly, if the recharging strategy is the first recharging strategy, the recharging power of the target device to the power battery is adjusted according to the recharging strategy, comprising:

[0014] The range extender is turned off;

[0015] The winding motor is controlled to recharge the power battery with the current gravitational potential energy feedback power;

[0016] The charging device is controlled to recharge the power battery with the current charging recharging power.

[0017] Optionally, the determination of the recharging strategy according to the maximum pulse recharging power, the current state of charge and the average feedback power comprises:

[0018] If the current state of charge does not meet the range extender starting condition, it is determined whether the sum of the average feedback power and the current charging recharging power of the charging device is greater than a first threshold value and less than or equal to a second threshold value; wherein the first threshold value and the second threshold value are positively correlated with the maximum pulse recharging power, and the first threshold value is less than the second threshold value;

[0019] If yes, a second recharging strategy is generated;

[0020] Correspondingly, if the recharging strategy is the second recharging strategy, the recharging power of the target device to the power battery is adjusted according to the recharging strategy, comprising:

[0021] The range extender is turned off;

[0022] The winding motor is controlled to recharge the power battery with the current gravitational potential energy feedback power;

[0023] The charging device is controlled to recharge the power battery with the current charging recharging power, and the current charging recharging power of the charging device is reduced until a first stop condition is met; wherein the first stop condition is that the current charging recharging power of the charging device is equal to 0, and / or the sum of the average feedback power and the current charging recharging power of the charging device is less than or equal to the first threshold value.

[0024] If the current charging and recharging power of the charging device is equal to 0, it is determined whether the average feedback power is greater than the first threshold value;

[0025] If yes, the current gravitational potential energy feedback power generated by the hoist motor is consumed by the energy consumption device, so that the hoist motor recharges the power battery with the remaining feedback power; wherein the remaining feedback power is equal to the current gravitational potential energy feedback power minus the power consumed by the energy consumption device, and the remaining feedback power is less than or equal to the first threshold value.

[0026] Optionally, reducing the current charging and recharging power of the charging device comprises:

[0027] linearly reducing the current recharging power of the charging device at a first preset rate; wherein the first preset rate is positively correlated with a first difference value, and the first difference value is the difference between the reference power and the first threshold value, and the reference power is the sum of the average feedback power and the current charging and recharging power of the charging device;

[0028] Correspondingly, consuming the current gravitational potential energy feedback power generated by the hoist motor by the energy consumption device comprises:

[0029] starting the energy consumption device and linearly increasing the consumption amount of the energy consumption device to the current gravitational potential energy feedback power generated by the hoist motor at a second preset rate, so that the remaining feedback power is less than or equal to the first threshold value; wherein the second preset rate is positively correlated with a second difference value, and the second difference value is the difference between the average feedback power and the first threshold value.

[0030] Optionally, determining the recharging strategy according to the maximum pulse recharging power, the current state of charge and the average feedback power comprises:

[0031] If the current state of charge meets the range extender starting condition, it is determined whether the sum of the average feedback power, the current charging and recharging power of the charging device and the current range extender recharging power is less than or equal to the first threshold value; wherein the first threshold value is positively correlated with the maximum pulse recharging power;

[0032] If yes, a third recharging strategy is generated;

[0033] Correspondingly, if the recharging strategy is the third recharging strategy, adjusting the recharging power of the power battery by the target device according to the recharging strategy comprises:

[0034] controlling the hoist motor to recharge the power battery with the current gravitational potential energy feedback power;

[0035] controlling the charging device to charge the power battery at a current charging recharge power;

[0036] controlling the range extender to charge the power battery at a current range extender recharge power.

[0037] Optionally, determining a recharge strategy according to the maximum pulse recharge power, the current state of charge and the average feedback power comprises:

[0038] if the current state of charge meets a range extender starting condition, judging whether the sum of the average feedback power, the current charging recharge power of the charging device and the current range extender recharge power of the range extender is greater than a first critical value and less than or equal to a second critical value; wherein the first critical value and the second critical value are positively correlated with the maximum pulse recharge power, and the first critical value is less than the second critical value;

[0039] if yes, generating a fourth recharge strategy;

[0040] Correspondingly, if the recharge strategy is the fourth recharge strategy, adjusting the recharge power of the target device to the power battery according to the recharge strategy comprises:

[0041] controlling the hoist motor to charge the power battery at a current gravity potential feedback power, and controlling the range extender to charge the power battery at a current range extender recharge power;

[0042] controlling the charging device to charge the power battery at a current charging recharge power, and reducing the current charging recharge power of the charging device until a second stopping condition is met; wherein the second stopping condition is that the current charging recharge power of the charging device is equal to 0, and / or the sum of the average feedback power, the current charging recharge power of the charging device and the current range extender recharge power of the range extender is less than or equal to the first critical value;

[0043] if the current charging recharge power of the charging device is equal to 0, judging whether the sum of the average feedback power and the current range extender recharge power of the range extender is greater than the first critical value; if yes, reducing the current range extender recharge power of the range extender until a third stopping condition is met; wherein the third stopping condition is that the current range extender recharge power of the range extender is equal to 0, and / or the sum of the average feedback power and the current range extender recharge power of the range extender is less than or equal to the first critical value;

[0044] If the current range extender recharging power of the range extender is equal to 0, it is determined whether the average feedback power is greater than the first threshold value; if yes, the current gravitational potential energy feedback power generated by the hoist motor is consumed by using an energy consumption device, so that the hoist motor recharges the power battery with the remaining feedback power; wherein the remaining feedback power is equal to the current gravitational potential energy feedback power minus the power consumed by the energy consumption device, and the remaining feedback power is less than or equal to the first threshold value.

[0045] Optionally, further comprising:

[0046] determining the maximum continuous recharging power of the power battery;

[0047] If the hoist lowering instruction is not received, it is determined whether the current state of charge meets the range extender starting condition;

[0048] If no, the charging device is controlled to recharge the power battery under a first constraint condition; wherein the first constraint condition is that the current charging recharging power of the charging device is less than or equal to the maximum continuous recharging power;

[0049] If yes, the charging device and the range extender are controlled to recharge the power battery under a second constraint condition; the second constraint condition is that the sum of the current charging recharging power of the charging device and the current range extender recharging power of the range extender is less than or equal to the maximum continuous recharging power.

[0050] The application also provides an electric drive hoist energy recovery control system applied to a control device of a range-extended electric engineering machinery, the range-extended electric engineering machinery further comprising a hoist motor, a range extender, a charging device and a power battery, and the electric drive hoist energy recovery control system comprising:

[0051] a battery state determination module for determining the maximum pulse recharging power and the current state of charge of the power battery at the current time;

[0052] a hoist control module for controlling the hoist motor to lower at a speed corresponding to the hoist lowering instruction if the hoist lowering instruction is received;

[0053] a feedback power detection module for detecting the current gravitational potential energy feedback power generated by the hoist motor during lowering, and calculating the average value of the current gravitational potential energy feedback power in a preset period to obtain the average feedback power;

[0054] The back-charge power control module is configured to determine a back-charge strategy according to the maximum pulse back-charge power, the current state of charge and the average feedback power, and adjust the back-charge power of the power battery by the target device according to the back-charge strategy. The target device includes any one or a combination of the hoist motor, the range extender and the charging device.

[0055] The application further provides a storage medium having a computer program stored thereon, the computer program being configured to implement the steps of the electric drive hoist energy recovery control method.

[0056] The application further provides an electronic device including a memory and a processor, the memory having a computer program stored therein, and the processor being configured to implement the steps of the electric drive hoist energy recovery control method when the computer program in the memory is invoked.

[0057] The application provides an electric drive hoist energy recovery control method. After receiving a hoist lowering instruction, the hoist motor is controlled to lower at a speed corresponding to the hoist lowering instruction, so that the hoist motor generates a gravity potential energy feedback power that can be fed back to the power battery during the load lowering process. The application calculates an average value of the current gravity potential energy feedback power in a preset period to obtain an average feedback power, and determines a back-charge strategy according to the maximum pulse back-charge power, the current state of charge and the average feedback power, so as to back-charge the battery by using any one or a combination of the hoist motor, the range extender and the charging device according to the back-charge strategy. The application controls the hoist motor, the range extender and the charging device in a coordinated manner, thereby avoiding safety hazards caused by overload, overcharge or transient impact, and significantly improving the safety of the hoist motor during the back-charge process of the power battery. The application can improve the safety of the power battery during the back-charge process of the range-extender electric engineering machinery. The application further provides an electric drive hoist energy recovery control system, a storage medium and an electronic device, which have the above-mentioned beneficial effects, and will not be described here. BRIEF DESCRIPTION OF DRAWINGS

[0058] In order to more clearly illustrate the embodiments of the application, the drawings required in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0059] Figure 1 A flowchart of an electric drive hoist energy recovery control method provided by an embodiment of the application;

[0060] Figure 2 A block diagram of an electric drive hoist energy recovery control system provided by an embodiment of the application;

[0061] Figure 3 A structural schematic diagram of an electric drive winch energy recovery control system provided by an embodiment of the present application. DETAILED DESCRIPTION

[0062] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings for the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0063] The following will be described with reference to Figure 1 , Figure 1 A flowchart of an electric drive winch energy recovery control method provided by an embodiment of the present application.

[0064] The specific steps can include:

[0065] S101: Determine the maximum pulse recharge power and the current state of charge of the power battery at the current moment.

[0066] The embodiment can be applied to a control device of a range-extended electric engineering machinery, and the range-extended electric engineering machinery can be a rotary drilling rig, an excavator, a crane, or the like. In addition to the control device, the range-extended electric engineering machinery further includes a winch motor, a range extender, a charging device, and a power battery. The winch motor is a motor of an electric drive winch, and the electric drive winch is a winch device driven by electric energy. The electric drive winch energy recovery control method is a control method based on energy recovery of the electric drive winch.

[0067] The embodiment can determine the maximum pulse recharge power and the current state of charge SOC of the power battery at the current moment through a battery management system BMS (Battery Management System). The maximum pulse recharge power refers to the maximum charging power that the power battery can accept in a short time. The state of charge represents the proportion of the current storage capacity of the battery to its rated capacity, and is usually expressed in percentage.

[0068] As a feasible implementation manner, the embodiment can obtain the cell temperature and the cell capacity of the power battery, and then generate the maximum pulse recharge power and the current state of charge by using a performance data model in the BMS.

[0069] S102: If a winch lowering instruction is received, control the winch motor to lower at a speed corresponding to the winch lowering instruction.

[0070] If the hoist lowering instruction is received, the hoist lowering instruction is parsed to obtain the lowering speed, so that the hoist motor lowers the load at the speed corresponding to the hoist lowering instruction.

[0071] The load drives the hoist motor to rotate, and at this time the hoist motor operates as a generator to convert mechanical energy into electrical energy; at this time, the current generated after rectification and adjustment can be used as a gravity potential energy feedback power to feedback to the battery for charging. The gravity potential energy feedback power is a regenerative braking feedback power or a feedback electrical energy.

[0072] S103: detecting the current gravity potential energy feedback power generated by the hoist motor during the lowering process, and calculating the average value of the current gravity potential energy feedback power in a preset period to obtain an average feedback power;

[0073] In this embodiment, the output electrical parameters of the motor can be monitored in real time by using sensors (such as current sensors and voltage sensors) installed on the hoist motor, and the instantaneous feedback power, i.e. the current gravity potential energy feedback power, can be calculated according to the output electrical parameters. In order to obtain a more stable feedback power value, the current gravity potential energy feedback power can be sampled in a preset period, and the average value thereof, i.e. the average feedback power, can be calculated.

[0074] S104: determining a charging strategy according to the maximum pulse charging power, the current state of charge and the average feedback power, and adjusting the charging power of the target device to the power battery according to the charging strategy;

[0075] In this step, the charging strategy can be determined according to the currently determined maximum pulse charging power, the current state of charge and the average feedback power, so as to ensure the safety of the battery and maximize the energy recovery efficiency. The recovery strategy is used to describe the target device that can charge the power battery and the charging power of the device. The above-mentioned target device includes any one or a combination of the hoist motor, the range extender and the charging device. The above-mentioned process can enable the power battery to recover the gravity potential energy feedback power, i.e. to realize the energy recovery of the electric drive hoist; the above-mentioned process can also enable the power battery to receive the output energy of the range extender and the charging device.

[0076] The present embodiment controls the winding motor to lower according to the speed corresponding to the winding lowering instruction after receiving the winding lowering instruction, so that the winding motor generates gravity potential feedback power during the load lowering process, which can be fed back to the power battery. The present embodiment calculates the average of the current gravity potential feedback power in the preset period to obtain the average feedback power, and determines the recharging strategy according to the maximum pulse recharging power, the current state of charge and the average feedback power, so as to recharge the battery according to the recharging strategy using any one or a combination of the winding motor, the range extender and the charging device. The present embodiment avoids safety hazards caused by overload, overcharge or transient impact through the cooperative control of the winding motor, the range extender and the charging device, thereby significantly improving the safety of the winding motor during the power battery recharging process. The present embodiment can improve the safety of the power battery recharging process of the range-extended electric engineering machinery.

[0077] As for Figure 1 Further to the corresponding embodiment, after obtaining the current state of charge, it can be determined whether the current state of charge is greater than the state of charge set value for starting the range extender. If yes, it is determined that the current state of charge does not meet the range extender starting condition, and if not, it is determined that the current state of charge meets the range extender starting condition.

[0078] If the current state of charge does not meet the range extender starting condition, the range extender does not need to be started. At this time, the process of determining the recharging strategy according to the maximum pulse recharging power, the current state of charge and the average feedback power includes the following steps:

[0079] It is determined whether the sum of the average feedback power and the current charging recharging power of the charging device is less than or equal to a first threshold value; wherein the first threshold value is positively correlated with the maximum pulse recharging power. If the sum of the average feedback power and the current charging recharging power of the charging device is less than or equal to the first threshold value, a first recharging strategy is generated.

[0080] It is determined whether the sum of the average feedback power and the current charging recharging power of the charging device is greater than the first threshold value and less than or equal to a second threshold value; wherein the first threshold value and the second threshold value are positively correlated with the maximum pulse recharging power, and the first threshold value is less than the second threshold value; if the sum of the average feedback power and the current charging recharging power of the charging device is greater than the first threshold value and less than or equal to the second threshold value, a second recharging strategy is generated.

[0081] In addition, if the sum of the average feedback power and the current charging recharging power of the charging device is greater than the second threshold value, it means that the power is too large, the recharging operation is stopped, and an alarm information is generated.

[0082] If the first recharging strategy is the recharging strategy, the process of adjusting the recharging power of the power battery by the target device according to the recharging strategy comprises: turning off the range extender; controlling the hoist motor to recharge the power battery with the current gravitational potential energy feedback power; and controlling the charging device to recharge the power battery with the current charging recharging power.

[0083] If the second recharging strategy is the recharging strategy, the process of adjusting the recharging power of the power battery by the target device according to the recharging strategy comprises: turning off the range extender; controlling the hoist motor to recharge the power battery with the current gravitational potential energy feedback power; controlling the charging device to recharge the power battery with the current charging recharging power, and reducing the current charging recharging power of the charging device until the first stop condition is met; wherein the first stop condition is that the current charging recharging power of the charging device is equal to 0, and / or the sum of the average feedback power and the current charging recharging power of the charging device is less than or equal to the first threshold value; if the current charging recharging power of the charging device is equal to 0, it is determined whether the average feedback power is greater than the first threshold value; if yes, the energy consumption device is used to consume the current gravitational potential energy feedback power generated by the hoist motor, so that the hoist motor recharges the power battery with the remaining feedback power; wherein the remaining feedback power is equal to the current gravitational potential energy feedback power minus the power consumed by the energy consumption device, and the remaining feedback power is less than or equal to the first threshold value.

[0084] In the second recharging strategy, the charging device first recharges the power battery with the current charging recharging power, and gradually reduces the current charging recharging power of the charging device to avoid overcharging of the power battery. After the current charging recharging power is reduced to 0, if the average feedback power is still greater than the first threshold value, the energy consumption device is used to consume part of the current gravitational potential energy feedback power generated by the hoist motor, so as to reduce the power of the hoist motor charging the power battery. The energy consumption device is directly connected with the hoist motor and is directly powered by the hoist motor. The energy consumption device can be a heating resistor, a hydraulic oil pump overflow device, a hydraulic circuit overflow device, an electronic fan, etc.

[0085] Further, the current charging recharging power of the charging device can be reduced in the following manner: linearly reducing the current recharging power of the charging device at a first preset rate; wherein the first preset rate is positively correlated with a first difference value, and the first difference value is the difference between the reference power and the first threshold value, and the reference power is the sum of the average feedback power and the current charging recharging power of the charging device;

[0086] Correspondingly, the process of consuming the current gravity potential energy feedback power generated by the hoisting motor by the energy consumption device in the above scheme comprises: starting the energy consumption device, and linearly increasing the consumption amount of the current gravity potential energy feedback power generated by the hoisting motor by the energy consumption device at a second preset rate, so that the remaining feedback power is less than or equal to the first critical value; wherein the second preset rate is positively correlated with a second difference value, and the second difference value is the difference between the average feedback power and the first critical value.

[0087] As for Figure 1 For further introduction of the corresponding embodiment, if the current state of charge meets the range extender starting condition, the range extender needs to be started, and at this time, the process of determining the charging strategy according to the maximum pulse charging power, the current state of charge and the average feedback power comprises:

[0088] determining whether the sum of the average feedback power, the current charging power of the charging device and the current range extension charging power of the range extender is less than or equal to a first critical value; wherein the first critical value is positively correlated with the maximum pulse charging power; if the sum of the average feedback power, the current charging power of the charging device and the current range extension charging power of the range extender is less than or equal to the first critical value, a third charging strategy is generated. The current charging power of the charging device is the charging power of the charging device currently charging the power battery, and the current range extension charging power of the range extender is the charging power of the range extender currently charging the power battery.

[0089] determining whether the sum of the average feedback power, the current charging power of the charging device and the current range extension charging power of the range extender is greater than the first critical value and less than or equal to a second critical value; wherein the first critical value and the second critical value are positively correlated with the maximum pulse charging power, and the first critical value is less than the second critical value; if the sum of the average feedback power, the current charging power of the charging device and the current range extension charging power of the range extender is greater than the first critical value and less than or equal to the second critical value, a fourth charging strategy is generated.

[0090] In addition, if the sum of the average feedback power and the current charging power of the charging device is greater than the second critical value, it means that the power is too large, the charging operation is stopped, and an alarm information is generated.

[0091] If the charging strategy is the third charging strategy, the process of adjusting the charging power of the power battery by the target device according to the charging strategy comprises: controlling the hoisting motor to charge the power battery with the current gravity potential energy feedback power; controlling the charging device to charge the power battery with the current charging power; and controlling the range extender to charge the power battery with the current range extension charging power.

[0092] If the charging strategy is the fourth charging strategy, the process of adjusting the power of the target device to the power battery according to the charging strategy includes: controlling the winding motor to charge the power battery with the current gravity potential feedback power, and controlling the range extender to charge the power battery with the current range charging power; controlling the charging device to charge the power battery with the current charging power, and reducing the current charging power of the charging device until the second stop condition is met; wherein the second stop condition is that the current charging power of the charging device is equal to 0, and / or the sum of the average feedback power, the current charging power of the charging device and the current range charging power of the range extender is less than or equal to the first threshold value; if the current charging power of the charging device is equal to 0, it is judged whether the sum of the average feedback power and the current range charging power of the range extender is greater than the first threshold value; if yes, the current range charging power of the range extender is reduced until the third stop condition is met; wherein the third stop condition is that the current range charging power of the range extender is equal to 0, and / or the sum of the average feedback power and the current range charging power of the range extender is less than or equal to the first threshold value; if the current range charging power of the range extender is equal to 0, it is judged whether the average feedback power is greater than the first threshold value; if yes, the current gravity potential feedback power generated by the winding motor is consumed by the energy consumption device, so that the winding motor charges the power battery with the remaining feedback power; wherein the remaining feedback power is equal to the current gravity potential feedback power minus the power consumed by the energy consumption device, and the remaining feedback power is less than or equal to the first threshold value.

[0093] In the fourth charging strategy, the charging device first charges the power battery with the current charging power, and gradually reduces the current charging power of the charging device to avoid overcharging the power battery. After the current charging power is reduced to 0, if the sum of the average feedback power and the current range charging power of the range extender is still greater than the first threshold value, the current range charging power of the range extender is gradually reduced (before this, the current range charging power can not change) to avoid overcharging the power battery. After the current charging power and the current range charging power are both reduced to 0, if the average feedback power is still greater than the first threshold value, part of the current gravity potential feedback power generated by the winding motor is consumed by the energy consumption device to reduce the power of the winding motor to the power battery.

[0094] As for Figure 1Further to the corresponding embodiments, the maximum sustained recharge power of the power battery can also be determined; the cell temperature and the cell capacity of the power battery can be obtained, and then the maximum sustained recharge power can be generated by using the performance data model in the BMS.

[0095] If the winch lowering instruction is not received, it can be determined whether the current state of charge meets the range extender starting condition; if not, the charging device is controlled to recharge the power battery under the first constraint condition; wherein the first constraint condition is that the current charging recharge power of the charging device is less than or equal to the maximum sustained recharge power; if yes, the charging device and the range extender are controlled to recharge the power battery under the second constraint condition; the second constraint condition is that the sum of the current charging recharge power of the charging device and the current range extension recharge power of the range extender is less than or equal to the maximum sustained recharge power.

[0096] The above-described processes of the embodiments are illustrated below through examples in actual applications.

[0097] In the process of lowering the weight on the steel wire rope driven by the traditional hydraulic motor, energy needs to be consumed to achieve controllable lowering speed of the weight, and the more the weight, the more energy the hydraulic motor needs to consume; when the motor directly drives the winch roller system of the new energy pure electric or range-extended electric engineering machinery product, no energy needs to be consumed in the process of lowering the weight on the steel wire rope driven by the winch roller, and at the same time, the gravitational potential energy of the lowered weight can be converted into electric energy to feed back to the high-voltage bus system, and the greater the gravitational potential energy, the greater the feedback energy. The motor directly driving the winch roller system realizes energy regeneration.

[0098] The power battery in the new energy electric system belongs to chemical energy, and the allowable sustained or pulse recharge power of the cell is quite different under different temperature and capacity states. When the weight of the object lowered on the steel wire rope driven by the motor directly drives the winch roller is different, the gravitational potential energy converted into feedback electric energy is quite different. In the electric or range-extended electric system, the sources of electric energy include range extension power generation, power battery, power grid plug-in, and gravitational potential energy feedback. In the case of multiple electric energy simultaneously supplementing the power battery under the conditions of lowering different weights by the winch and different temperature and capacity states of the power battery, in order to meet the normal control of the winch lowering speed and the maximum feedback of the gravitational potential energy, dynamic adjustment needs to be made according to the allowable recharge power of the power battery. The traditional control method does not linearly associate the energy feedback power, the power grid plug-in power, and the range extension power generation power with the change of the allowable recharge power of the power battery, and a fixed power consumption braking consumption mode is often used, which causes excessive consumption or insufficient consumption, easy over-recharge power limit, inconsistent control winch lowering speed and instruction speed, even stalling phenomenon, damage to the power battery due to overcharging, slow response to control instruction speed affecting construction efficiency, and great safety hazards of stalling phenomenon.

[0099] The conventional control method does not linearly correlate the energy feedback power, the grid plug-in power and the extended range power generation power with the allowable recharging power of the power battery, and the recharging power is easy to exceed the limit value, the energy feedback is not effectively utilized, the hoist lowering speed does not correspond to the instruction speed, and even the phenomenon of stall occurs. The embodiment provides a hoist energy recovery control method, which monitors and judges the correlation change between the feedback power, the grid plug-in power and the extended range power generation power and the allowable recharging power of the power battery in real time, automatically adjusts the extended range power generation and the grid plug-in electric energy under the premise of maximizing the gravity potential energy of the hoist lowering heavy objects, and realizes the hoist control speed instruction within the power battery continuous and pulse recharging power limit value.

[0100] The embodiment provides a hoist energy recovery control method, and the extended range electric engineering machinery comprises a hoist system, a power battery system, an energy consumption circuit, an extender, a charging device, a signal instruction and a control device.

[0101] The hoist system comprises a hoist motor and a motor controller, and the motor controller receives a host controller VCU instruction to realize the motor driving the steel wire rope winding on the drum and the heavy object.

[0102] The power battery system comprises a power battery and a battery management system BMS.

[0103] The energy consumption circuit comprises an energy consumption device and a control module, the control module receives a VCU instruction to realize the linear consumption of electric energy on the energy consumption device.

[0104] The extender receives the VCU instruction to realize the extended range power generation power output.

[0105] The charging device is connected to an external power supply and outputs the charging power according to the VCU instruction.

[0106] The signal instruction and the control device comprise an operating handle and a host controller VCU, the controller receives the operating handle control instruction, collects the charging power of the extender and the charging device and the BMS operation and instruction data, and calculates and sends the corresponding control instruction according to the control logic requirement.

[0107] Please refer to Figure 2 , Figure 2 The embodiment provided by the application provides a hoist energy recovery control system block diagram, which shows a host controller (i.e. a control device), an energy consumption device, an operating handle, a control module, a power distribution unit, a motor controller, a hoist motor, an extender, a charging device, an external power supply, a BMS, a power battery and a display. The dashed line represents a CAN (Controller Area Network) bus, and the solid line represents an electric energy connection.

[0108] The embodiment proposes a winch energy recovery control method, taking the allowed recharging power of the power battery as the control target. The parameters in the embodiment are described as follows.

[0109] P1 represents the continuous recharging power value (i.e. the maximum continuous recharging power), P2 represents the pulse recharging power value (i.e. the maximum pulse recharging power), SOC represents the current state of charge, SOC1 represents the state of charge set value for starting the range extender, P3 represents the current charging recharging power, P4 represents the current range extension recharging power, P5 represents the current gravity potential feedback power, P6 represents the average feedback power, represents the first critical value, represents the second critical value, represents the first preset rate, represents the second preset rate, and L1 and L2 represent safety factors.

[0110] The winch energy recovery control method includes the following processes.

[0111] The BMS collects the temperature and capacity of each cell of the power battery in real time, obtains the allowed continuous recharging power value P1, the pulse recharging power value P2 and the power battery capacity SOC value of the power battery system through the performance data model in the BMS, and sends them to the host controller VCU through the CAN bus.

[0112] After the system is running, if there is no abnormal alarm, it is determined whether there is a lowering instruction for the operating handle.

[0113] If the SOC value is less than the first critical value P1, the VCU sends the grid charging instruction to the host controller VCU through the CAN bus, so that the grid plug-in power P3 is used as the main power supply. If the SOC value is less than the first critical value P1, the VCU sends the grid charging instruction to the host controller VCU through the CAN bus, so that the grid plug-in power P3 is used as the main power supply. If the SOC value is less than the first critical value P1, the VCU sends the grid charging instruction to the host controller VCU through the CAN bus, so that the grid plug-in power P3 is used as the main power supply. If the SOC value is less than the first critical value P1, the VCU sends the grid charging instruction to the host controller VCU through the CAN bus, so that the grid plug-in power P3 is used as the main power supply. If the SOC value is less than the first critical value P1, the VCU sends the grid charging instruction to the host controller VCU through the CAN bus, so that the grid plug-in power P3 is used as the main power supply.

[0114] When the operating handle has a lowering instruction, the VCU receives the operating handle instruction, determines the preset winch motor lowering target speed according to the opening degree of the operating handle, and drives the winch motor to lower at the target speed after the motor controller receives the motor speed instruction sent by the VCU.

[0115] If the SOC value is less than the first critical value P1, the VCU sends the grid charging instruction to the host controller VCU through the CAN bus, so that the grid plug-in power P3 is used as the main power supply. When the range extender's capacity setpoint SOC1 is activated, the VCU monitors the change in gravitational potential energy feedback power P5 during the winch's descent in real time. The VCU calculates the average power value P6 of the most recent fixed-cycle P5 change in real time. At that time, the power battery is replenished with energy using the P3+P5 recharge power; when ,and VCU with The charging power of P3 is reduced linearly by multiples of x1 to x2, while the charging power of P3+P6 exceeds... The more [amount of charge], the lower the charging power of P3; after P3 drops to zero power output, and meets [certain conditions]... At that time, the power consumed by the control module ED receiving the CAN transmission from the VCU The x1~x2 value energy consumption data command controls the energy consumption device to consume electrical energy at the commanded power, thereby maintaining a constant power level. The control objective is that x1 is less than x2; for example, x1 can be 1.2 and x2 can be 3.

[0116] SOC value When the range extender's capacity setting value SOC1 is activated, the main controller VCU sends a range extender start command and a grid charging command, setting the available power of P3 as the main factor, with P4+P3 as the secondary factor. P1 provides recharge and load power, i.e., the range extender generator power and grid-connected power supply are used to recharge the power battery and supply power to the load according to the control requirements and power when the operating handle does not issue a winch lowering command. The VCU detects the change in gravitational potential energy feedback power P5 during the winch lowering process, and the VCU calculates the average power value P6 of the most recent fixed-cycle P5 change in real time. At that time, the power battery is replenished with energy using the P3+P4+P5 recharge power; when ,and The VCU is in the range of The charging power of P3 is reduced linearly by a factor of x1 to x2, while the charging power of P3+P4+P6 exceeds that of P3+P4+P6. The more [amount of charge], the lower the charging power of P3; P3 drops to zero power output, and meets [certain conditions]. At that time, the range extender receives a power reduction data command sent by the VCU, and the extended range generating power is adjusted accordingly. The charging power of P4 is linearly reduced by a factor of x1 to x2; the power output of P3+P4 is reduced to zero, and the following conditions are met. At that time, the control module ED receives the CAN power consumption data command sent by the VCU and controls the energy consumption device to... Consumes power at a value 1 to 2 times higher to maintain constant power consumption. The control objective is to reduce P4 first, and then reduce P3 after P4 equals 0.

[0117] In order to avoid damage to the power battery when the actual pulse recharge power exceeds the maximum pulse recharge power, a P2 safety factor L1 and a warning factor L2 are set, and L1 is greater than L2. The power consumption device can consume power according to the maximum power of 1.2 times the hoist gravitational potential energy.

[0118] The embodiment can realize the state of responding to the hoist control speed instruction on demand within the continuous and pulse recharge power limit of the power battery, and avoid the occurrence of safety hazards such as stall. The embodiment can maximize the feedback and regeneration of the gravitational potential energy of the heavy object lowered by the electric hoist, and reduce energy waste. The embodiment can realize linear recharge within the continuous and pulse recharge power limit of the power battery, avoid instantaneous overheating caused by overcharging or large fluctuation of recharge power of the power battery, and damage the power battery and shorten the service life.

[0119] Please refer to Figure 3 , Figure 3 A structural schematic diagram of an electric drive hoist energy recovery control system provided by the embodiment of the application, which can be applied to a control device of a range-extended electric engineering machinery, the range-extended electric engineering machinery further comprising a hoist motor, a range extender, a charging device and a power battery, the electric drive hoist energy recovery control system comprising:

[0120] A battery state determination module 301 for determining the maximum pulse recharge power and the current state of charge of the power battery at the current time;

[0121] A hoist control module 302 for controlling the hoist motor to lower according to the speed corresponding to the hoist lowering instruction if the hoist lowering instruction is received;

[0122] A feedback power detection module 303 for detecting the current gravitational potential energy feedback power generated by the hoist motor during lowering, and calculating the average value of the current gravitational potential energy feedback power in a preset period to obtain an average feedback power;

[0123] A recharge power control module 304 for determining a recharge strategy according to the maximum pulse recharge power, the current state of charge and the average feedback power, and adjusting the recharge power of the power battery by the target device according to the recharge strategy; wherein the target device comprises any one or a combination of any number of the hoist motor, the range extender and the charging device.

[0124] The present embodiment controls the winding motor to lower according to the speed corresponding to the winding lowering instruction after receiving the winding lowering instruction, so that the winding motor generates gravity potential feedback power during the load lowering process, which can be fed back to the power battery. The present embodiment calculates the average value of the current gravity potential feedback power in the preset period to obtain the average feedback power, and determines the recharging strategy according to the maximum pulse recharging power, the current state of charge and the average feedback power, so as to recharge the battery according to the recharging strategy using any one or a combination of the winding motor, the range extender and the charging device. The present embodiment avoids safety hazards caused by overload, overcharge or transient impact through the cooperative control of the winding motor, the range extender and the charging device, thereby significantly improving the safety of the winding motor during the power battery recharging process. The present embodiment can improve the safety of the power battery recharging process of the range-extended electric engineering machinery.

[0125] Further, the process of determining the recharging strategy by the recharging power control module 304 according to the maximum pulse recharging power, the current state of charge and the average feedback power includes: if the current state of charge does not meet the range extender starting condition, determining whether the sum of the average feedback power and the current charging recharging power of the charging device is less than or equal to a first threshold value; wherein the first threshold value is positively correlated with the maximum pulse recharging power; if yes, generating a first recharging strategy;

[0126] Correspondingly, if the recharging strategy is the first recharging strategy, the process of adjusting the recharging power of the target device to the power battery according to the recharging strategy by the recharging power control module 304 includes: turning off the range extender; controlling the winding motor to recharge the power battery with the current gravity potential feedback power; controlling the charging device to recharge the power battery with the current charging recharging power.

[0127] Further, the process of determining the recharging strategy by the recharging power control module 304 according to the maximum pulse recharging power, the current state of charge and the average feedback power includes: if the current state of charge does not meet the range extender starting condition, determining whether the sum of the average feedback power and the current charging recharging power of the charging device is greater than a first threshold value and less than or equal to a second threshold value; wherein the first threshold value and the second threshold value are positively correlated with the maximum pulse recharging power, and the first threshold value is less than the second threshold value; if yes, generating a second recharging strategy;

[0128] Correspondingly, if the power charging strategy is the second power charging strategy, the process of adjusting the power charging strategy by the power charging control module 304 includes: turning off the range extender; controlling the hoist motor to charge the power battery with the current gravity potential feedback power; controlling the charging device to charge the power battery with the current charging power, and reducing the current charging power of the charging device until the first stop condition is met; wherein the first stop condition is that the current charging power of the charging device is equal to 0, and / or the sum of the average feedback power and the current charging power of the charging device is less than or equal to the first threshold value; if the current charging power of the charging device is equal to 0, it is determined whether the average feedback power is greater than the first threshold value; if yes, the energy consumption device is used to consume the current gravity potential feedback power generated by the hoist motor, so that the hoist motor charges the power battery with the remaining feedback power; wherein the remaining feedback power is equal to the current gravity potential feedback power minus the power consumed by the energy consumption device, and the remaining feedback power is less than or equal to the first threshold value.

[0129] Further, the process of reducing the current charging power of the charging device by the power charging control module 304 includes: linearly reducing the current charging power of the charging device at a first preset rate; wherein the first preset rate is positively correlated with a first difference value, and the first difference value is the difference between the reference power and the first threshold value, and the reference power is the sum of the average feedback power and the current charging power of the charging device;

[0130] Correspondingly, the process of consuming the current gravity potential feedback power generated by the hoist motor by the power charging control module 304 includes: starting the energy consumption device, and linearly increasing the consumption amount of the current gravity potential feedback power generated by the hoist motor by the energy consumption device at a second preset rate, so that the remaining feedback power is less than or equal to the first threshold value; wherein the second preset rate is positively correlated with a second difference value, and the second difference value is the difference between the average feedback power and the first threshold value.

[0131] Further, the process of determining the power charging strategy by the power charging control module 304 according to the maximum pulse power, the current state of charge and the average feedback power includes: if the current state of charge meets the range extender start condition, it is determined whether the sum of the average feedback power, the current charging power of the charging device and the current range charging power of the range extender is less than or equal to the first threshold value; wherein the first threshold value is positively correlated with the maximum pulse power; if yes, a third power charging strategy is generated;

[0132] Correspondingly, if the regenerative power control module 304 determines that the regenerative power control strategy is the third regenerative power control strategy, the process of adjusting the regenerative power of the power battery by the target device according to the regenerative power control strategy includes: controlling the hoist motor to regeneratively charge the power battery with the current gravity potential energy feedback power; controlling the charging device to regeneratively charge the power battery with the current charging regenerative power; and controlling the range extender to regeneratively charge the power battery with the current range extension regenerative power.

[0133] Further, the process of determining the regenerative power control strategy by the regenerative power control module 304 according to the maximum pulse regenerative power, the current state of charge and the average feedback power includes: if the current state of charge meets the range extender starting condition, determining whether the sum of the average feedback power, the current charging regenerative power of the charging device and the current range extension regenerative power of the range extender is greater than a first threshold value and less than or equal to a second threshold value; wherein the first threshold value and the second threshold value are positively correlated with the maximum pulse regenerative power, and the first threshold value is less than the second threshold value; if yes, generating a fourth regenerative power control strategy.

[0134] Correspondingly, if the charging strategy is the fourth charging strategy, the process of adjusting the regenerative power of the target device to the power battery according to the charging strategy by the regenerative power control module 304 includes: controlling the winding motor to charge the power battery with the current gravity potential feedback power, and controlling the range extender to charge the power battery with the current range extension regenerative power; controlling the charging device to charge the power battery with the current charging regenerative power, and reducing the current charging regenerative power of the charging device until the second stop condition is met; wherein the second stop condition is that the current charging regenerative power of the charging device is equal to 0, and / or the sum of the average feedback power, the current charging regenerative power of the charging device and the current range extension regenerative power of the range extender is less than or equal to the first threshold value; if the current charging regenerative power of the charging device is equal to 0, it is judged whether the sum of the average feedback power and the current range extension regenerative power of the range extender is greater than the first threshold value; if yes, the current range extension regenerative power of the range extender is reduced until the third stop condition is met; wherein the third stop condition is that the current range extension regenerative power of the range extender is equal to 0, and / or the sum of the average feedback power and the current range extension regenerative power of the range extender is less than or equal to the first threshold value; if the current range extension regenerative power of the range extender is equal to 0, it is judged whether the average feedback power is greater than the first threshold value; if yes, the current gravity potential feedback power generated by the winding motor is consumed by the energy consumption device, so that the winding motor charges the power battery with the residual feedback power; wherein the residual feedback power is equal to the current gravity potential feedback power minus the power consumed by the energy consumption device, and the residual feedback power is less than or equal to the first threshold value.

[0135] Further, the battery state determination module 301 is further configured to determine the maximum sustained regenerative power of the power battery.

[0136] The operation performed by the regenerative power control module 304 further includes: if the winding lowering instruction is not received, it is judged whether the current state of charge meets the range extender starting condition; if not, the charging device is controlled to charge the power battery under the first constraint condition; wherein the first constraint condition is that the current charging regenerative power of the charging device is less than or equal to the maximum sustained regenerative power; if yes, the charging device and the range extender are controlled to charge the power battery under the second constraint condition; the second constraint condition is that the sum of the current charging regenerative power of the charging device and the current range extension regenerative power of the range extender is less than or equal to the maximum sustained regenerative power.

[0137] Since the embodiments of the system part correspond to the embodiments of the method part, the embodiments of the system part are described in the description of the embodiments of the method part, which will not be described here.

[0138] The application further provides a storage medium, which has a computer program stored thereon, and the computer program can implement the steps provided by the above-mentioned embodiments when being executed. The storage medium can include a U disk, a mobile hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0139] The application further provides an electronic device, which can include a memory and a processor, the memory has a computer program stored therein, and the processor can implement the steps provided by the above-mentioned embodiments when calling the computer program in the memory. Of course, the electronic device can further include various network interfaces, power supplies and other components.

[0140] The embodiments in the description are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts of each embodiment can be referred to each other. For the system disclosed by the embodiments, since it corresponds to the method disclosed by the embodiments, the description is relatively simple, and the related parts can be referred to the method part. It should be pointed out that, for those skilled in the art, without departing from the principles of the application, some improvements and modifications can be made to the application, and these improvements and modifications also fall within the protection scope of the application.

[0141] It should be further noted that, in the specification, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or device including the element.

Claims

1. An electric drive hoist energy recovery control method, characterized by, The application relates to a control device applied to a range-extended electric engineering machine, wherein the range-extended electric engineering machine further comprises a winch motor, a range extender, a charging device and a power battery, and the electric drive winch energy recovery control method comprises the following steps: determining the maximum pulse recharge power and the current state of charge of the power battery at the current moment; if a winch lowering instruction is received, controlling the winch motor to lower according to the speed corresponding to the winch lowering instruction; detecting the current gravity potential energy feedback power generated by the winch motor during the lowering process, and calculating the average value of the current gravity potential energy feedback power in a preset period to obtain an average feedback power; determining a recharge strategy according to the maximum pulse recharge power, the current state of charge and the average feedback power, and adjusting the recharge power of the power battery of a target device according to the recharge strategy; wherein the target device comprises any one or a combination of the winch motor, the range extender and the charging device; wherein the determination of the recharge strategy according to the maximum pulse recharge power, the current state of charge and the average feedback power comprises: if the current state of charge does not meet the range extender starting condition, judging whether the sum of the average feedback power and the current charging recharge power of the charging device is less than or equal to a first critical value; if yes, a first recharge strategy is generated; wherein the first critical value is positively correlated with the maximum pulse recharge power; if the current state of charge does not meet the range extender starting condition, judging whether the sum of the average feedback power and the current charging recharge power of the charging device is greater than the first critical value and less than or equal to a second critical value; if yes, a second recharge strategy is generated; wherein the first critical value and the second critical value are positively correlated with the maximum pulse recharge power, and the first critical value is less than the second critical value; correspondingly, if the recharge strategy is the first recharge strategy, adjusting the recharge power of the power battery of the target device according to the recharge strategy comprises: closing the range extender; controlling the winch motor to recharge the power battery with the current gravity potential energy feedback power; and controlling the charging device to recharge the power battery with the current charging recharge power. Correspondingly, if the regenerative charging strategy is the second regenerative charging strategy, adjusting the regenerative charging power of the power battery by the target device according to the regenerative charging strategy comprises: turning off the range extender; controlling the hoist motor to regeneratively charge the power battery with the current gravitational potential energy feedback power; controlling the charging device to regeneratively charge the power battery with the current charging regenerative charging power, and reducing the current charging regenerative charging power of the charging device until the first stop condition is met; wherein the first stop condition is that the current charging regenerative charging power of the charging device is equal to 0, and / or the sum of the average feedback power and the current charging regenerative charging power of the charging device is less than or equal to the first threshold value; if the current charging regenerative charging power of the charging device is equal to 0, determining whether the average feedback power is greater than the first threshold value; if yes, consuming the current gravitational potential energy feedback power generated by the hoist motor by using the energy consumption device, so that the hoist motor regeneratively charges the power battery with the remaining feedback power; wherein the remaining feedback power is equal to the current gravitational potential energy feedback power minus the power consumed by the energy consumption device, and the remaining feedback power is less than or equal to the first threshold value.

2. The electric drive winch energy recovery control method of claim 1, wherein, Reducing the current charging regenerative charging power of the charging device comprises: linearly reducing the current charging regenerative charging power of the charging device at a first preset rate; wherein the first preset rate is positively correlated with a first difference value, and the first difference value is the difference between a reference power and the first threshold value, and the reference power is the sum of the average feedback power and the current charging regenerative charging power of the charging device; Correspondingly, consuming the current gravitational potential energy feedback power generated by the hoist motor by using the energy consumption device comprises: starting the energy consumption device and linearly increasing the consumption amount of the current gravitational potential energy feedback power generated by the hoist motor by the energy consumption device at a second preset rate, so that the remaining feedback power is less than or equal to the first threshold value; wherein the second preset rate is positively correlated with a second difference value, and the second difference value is the difference between the average feedback power and the first threshold value.

3. The electric drive winch energy recovery control method of claim 1, wherein, Determining the regenerative charging strategy according to the maximum pulse regenerative charging power, the current state of charge and the average feedback power comprises: if the current state of charge meets the range extender start condition, determining whether the sum of the average feedback power, the current charging regenerative charging power of the charging device and the current range extension regenerative charging power of the range extender is less than or equal to a first threshold value; wherein the first threshold value is positively correlated with the maximum pulse regenerative charging power; if yes, generating a third regenerative charging strategy; Correspondingly, if the regenerative charging strategy is the third regenerative charging strategy, adjusting the regenerative charging power of the power battery by the target device according to the regenerative charging strategy comprises: controlling the hoist motor to regeneratively charge the power battery with the current gravitational potential energy feedback power; controlling the charging device to regeneratively charge the power battery with the current charging regenerative charging power; controlling the range extender to regeneratively charge the power battery with the current range extension regenerative charging power.

4. The electric drive winch energy recovery control method of claim 1, wherein, determining a recharging strategy according to the maximum pulse recharging power, the current state of charge and the average feedback power, including: if the current state of charge meets the range extender starting condition, determining whether the sum of the average feedback power, the current charging recharging power of the charging device and the current range extender recharging power is greater than a first threshold value and less than or equal to a second threshold value; wherein the first threshold value and the second threshold value are positively correlated with the maximum pulse recharging power, and the first threshold value is less than the second threshold value; if yes, generating a fourth recharging strategy; correspondingly, if the recharging strategy is the fourth recharging strategy, adjusting the recharging power of the target device to the power battery according to the recharging strategy, including: controlling the hoist motor to recharge the power battery with the current gravitational potential energy feedback power, and controlling the range extender to recharge the power battery with the current range extender recharging power; controlling the charging device to recharge the power battery with the current charging recharging power, and reducing the current charging recharging power of the charging device until the second stop condition is met; wherein the second stop condition is that the current charging recharging power of the charging device is equal to 0, and / or the sum of the average feedback power, the current charging recharging power of the charging device and the current range extender recharging power is less than or equal to the first threshold value; if the current charging recharging power of the charging device is equal to 0, determining whether the sum of the average feedback power and the current range extender recharging power is greater than the first threshold value; if yes, reducing the current range extender recharging power until the third stop condition is met; wherein the third stop condition is that the current range extender recharging power is equal to 0, and / or the sum of the average feedback power and the current range extender recharging power is less than or equal to the first threshold value; if the current range extender recharging power is equal to 0, determining whether the average feedback power is greater than the first threshold value; if yes, using an energy consumption device to consume the current gravitational potential energy feedback power generated by the hoist motor, so that the hoist motor recharges the power battery with the remaining feedback power; wherein the remaining feedback power is equal to the current gravitational potential energy feedback power minus the power consumed by the energy consumption device, and the remaining feedback power is less than or equal to the first threshold value.

5. The electric drive winch energy recovery control method of claim 1, wherein, further including: determining the maximum continuous recharging power of the power battery; if the hoist lowering instruction is not received, determining whether the current state of charge meets the range extender starting condition; if no, controlling the charging device to recharge the power battery under the first constraint condition; wherein the first constraint condition is that the current charging recharging power of the charging device is less than or equal to the maximum continuous recharging power; If yes, the charging device and the range extender are controlled to charge the power battery under a second constraint condition; the second constraint condition is that a sum of a current charging charge power of the charging device and a current range-extending charge power of the range extender is less than or equal to the maximum continuous charge power.

6. An electric drive hoist energy recovery control system characterized by, The application is applied to a control device of a range-extended electric engineering machinery, and the electric drive winch energy recovery control system is used to realize the steps of the electric drive winch energy recovery control method according to any one of claims 1 to 5, and the range-extended electric engineering machinery further comprises a winch motor, a range extender, a charging device and a power battery, and the electric drive winch energy recovery control system comprises: A battery state determination module is configured to determine a maximum pulse charge power and a current state of charge of the power battery at a current time; A winch control module is configured to control the winch motor to lower at a speed corresponding to a winch lowering instruction if the winch lowering instruction is received; A feedback power detection module is configured to detect a current gravity potential energy feedback power generated by the winch motor during lowering, and calculate an average value of the current gravity potential energy feedback power in a preset period to obtain an average feedback power; A charge power control module is configured to determine a charge strategy according to the maximum pulse charge power, the current state of charge and the average feedback power, and adjust a charge power of the power battery by a target device according to the charge strategy; wherein the target device comprises any one or a combination of the winch motor, the range extender and the charging device.

7. An electronic device, comprising: A memory and a processor are included, the memory stores a computer program, and the processor calls the computer program in the memory to realize the steps of the electric drive winch energy recovery control method according to any one of claims 1 to 5.

8. A storage medium, characterized by The storage medium stores computer executable instructions, and the computer executable instructions are loaded and executed by the processor to realize the steps of the electric drive winch energy recovery control method according to any one of claims 1 to 5.

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