Complete machine energy-saving control simulation method and system for hydraulic bulldozer

Abstract

The embodiment of the invention discloses a hydraulic bulldozer complete machine energy-saving control simulation method and system. The method comprises the steps that candidate working condition points are screened according to a system mode, fuel consumption rates are calculated and compared, and the optimal working condition point is determined. And the thrust, the rotating speed and the gears of the bulldozer are adjusted, so that the bulldozer operates at the optimal working condition point. Key parameters are collected in real time, and the actual thrust of the current working condition point is calculated. If the actual thrust is not continuously increased, whether the actual thrust is larger than the thrust of the optimal working condition point or not is checked. If yes, the scraper knife is lifted until the actual thrust is equal to the optimal thrust; if yes, the working condition point with the thrust smaller than the current thrust is screened out from the candidate working condition points, and the fuel consumption rate is recalculated to determine a new optimal working condition point; by means of the method, the overall fuel economy of the hydraulic bulldozer can be optimized, and the problem that the optimal state of the overall efficiency of the bulldozer cannot be achieved by optimizing matching of the engine and the hydraulic torque converter in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic bulldozer control methods, and in particular to a hydraulic bulldozer complete machine energy-saving control simulation method and system. Background Art

[0002] In the design and operation of a hydraulic bulldozer, the performance matching of the engine and torque converter is crucial to the bulldozer's traction and fuel economy. Performance matching is divided into structural matching during the design phase and operating condition matching during the operation phase. Structural matching involves factors such as the effective diameter of the torque converter and the transmission ratio of the drivetrain. These parameters are fixed during design. In actual operation, however, the bulldozer's structural parameters are already determined, so it is necessary to optimize its performance by adjusting operating condition factors, primarily including throttle operation patterns, gear changes, and torque converter lockup control.

[0003] Existing technologies focus on the matching of the engine and torque converter, as well as their overall efficiency—specifically, the relationship between the torque converter's output power and the vehicle's fuel consumption. However, a bulldozer's overall operating efficiency depends not only on the power of the engine and torque converter, but also on power consumption during standby and no-load conditions. Therefore, simply optimizing the matching of the engine and torque converter cannot achieve optimal overall bulldozer efficiency, potentially resulting in power waste and failing to optimize vehicle efficiency.

[0004] Therefore, it is necessary to design a new method to optimize the overall fuel economy of the hydraulic bulldozer to solve the problem that the matching of the optimized engine and the hydraulic torque converter in the existing technology cannot achieve the optimal state of the overall efficiency of the bulldozer. Summary of the Invention

[0005] The purpose of the present invention is to overcome the defects of the prior art and provide a hydraulic bulldozer energy-saving control simulation method and system.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a hydraulic bulldozer whole machine energy-saving control simulation method, comprising:

[0007] According to different system modes, possible operating points are screened out to obtain candidate operating points;

[0008] Determining the optimal operating point by calculating and comparing fuel consumption rates among the candidate operating points;

[0009] Adjusting the thrust, speed and gear of the bulldozer so that the bulldozer operates at the optimal operating point;

[0010] Real-time collection of key parameters of the bulldozer's engine speed, engine torque, and turbine speed;

[0011] Calculate the actual thrust at the current operating point based on the key parameters;

[0012] Determining whether the actual thrust at the current operating point is continuously increasing;

[0013] If the actual thrust at the current operating point no longer increases, determining whether the actual thrust at the current operating point is greater than the thrust at the optimal operating point;

[0014] If the actual thrust at the current operating point is greater than the thrust at the optimal operating point, raise the blade until the actual thrust at the current operating point is equal to the thrust at the optimal operating point;

[0015] If the actual thrust of the current operating point is not greater than the thrust of the optimal operating point, all operating points corresponding to thrusts less than the actual thrust of the current operating point are screened out from the candidate operating points to update the candidate operating points, and the calculation and comparison of fuel consumption rates among the candidate operating points are re-executed to determine the optimal operating point.

[0016] A further technical solution is: if the actual thrust at the current operating point is greater than the thrust at the optimal operating point, the blade is raised until the actual thrust at the current operating point is equal to the thrust at the optimal operating point, further comprising:

[0017] An energy-saving simulation model for a hydraulic bulldozer is established, and the working point of the bulldozer is optimized in real time by dynamically adjusting the engine speed, torque output, and working state of the torque converter.

[0018] A further technical solution is as follows: before screening out possible operating points according to different system modes to obtain candidate operating points, the method further includes:

[0019] Analyze the characteristics and fuel consumption rate of the engine and torque converter, and combine them with the power output of the bulldozer to determine the optimal fuel consumption rate and operating status under different operating conditions.

[0020] A further technical solution is: analyzing the characteristics and fuel consumption rate of the engine and torque converter, and combining the power output of the bulldozer to determine the optimal fuel consumption rate and working state under different working conditions, including:

[0021] Analyze the steady-state and dynamic characteristics of the engine, draw performance curves under different speed and load conditions, and determine the maximum power and torque output under each operating condition;

[0022] Study the relationship between torque and speed of the torque converter and find the optimal operating range under different speed ratios by combining the efficiency curve;

[0023] Convert the fuel consumption rate of the engine and torque converter into consumption per unit turbine shaft and calculate the equivalent fuel consumption rate at different operating points;

[0024] Taking into account the power output of the engine, torque converter and bulldozer, the fuel consumption rate is calculated under different thrust and vehicle speed conditions, and the relationship between the overall fuel consumption rate and operating conditions is established to determine the optimal fuel consumption rate and operating state under different operating conditions.

[0025] A further technical solution is: determining the optimal operating point by calculating and comparing the fuel consumption rate among the candidate operating points, including:

[0026] According to the optimal fuel consumption rates and working states under the different working conditions, the working point with the lowest fuel consumption rate is screened out from the candidate working points to obtain the optimal working point.

[0027] A further technical solution is to establish an energy-saving simulation model for the hydraulic bulldozer and optimize the bulldozer's operating point in real time by dynamically adjusting the engine speed, torque output, and the working state of the torque converter, including:

[0028] An energy-saving simulation model for the entire hydraulic bulldozer is established, and an adjustment plan is determined based on the system mode to dynamically adjust the engine speed, torque output, and working state of the torque converter to optimize the bulldozer's operating point in real time.

[0029] Its further technical solution is: the adjustment scheme includes an adjustment scheme corresponding to the whole-machine energy-saving mode and an adjustment scheme corresponding to the constant power mode, wherein the whole-machine energy-saving mode does not set the output power range, so that the bulldozer selects the lowest fuel consumption point among all achievable operating points; the constant power mode sets the power range to ensure that the bulldozer maintains the required workload while reducing fuel consumption.

[0030] The present invention also provides a hydraulic bulldozer complete machine energy-saving control simulation system, comprising:

[0031] A candidate operating point determination unit is used to screen possible operating points according to different system modes to obtain candidate operating points;

[0032] an optimal operating point determination unit, configured to determine the optimal operating point by calculating and comparing the fuel consumption rates among the candidate operating points;

[0033] An adjustment unit, used for adjusting the thrust, speed and gear position of the bulldozer so that the bulldozer operates at the optimal operating point;

[0034] The acquisition unit is used to collect key parameters of the bulldozer, such as engine speed, engine torque, and turbine speed, in real time;

[0035] a calculation unit configured to calculate an actual thrust of the current operating point according to the key parameter;

[0036] a first judgment unit configured to judge whether the actual thrust of the current operating point is continuously increasing;

[0037] a second judgment unit configured to, if the actual thrust of the current operating point is not continuously increasing, judge whether the actual thrust of the current operating point is greater than the thrust of the optimal operating point;

[0038] a raising unit configured to, if the actual thrust of the current operating point is greater than the thrust of the optimal operating point, raise the blade until the actual thrust of the current operating point is equal to the thrust of the optimal operating point;

[0039] an updating processing unit configured to, if the actual thrust of the current operating point is not greater than the thrust of the optimal operating point, screen all operating points with thrusts less than the actual thrust of the current operating point from the candidate operating points to update the candidate operating points, and re-perform the calculation and comparison of fuel consumption rates in the candidate operating points to determine the optimal operating point.

[0040] Further technical solutions of the present application are as follows:

[0041] a simulation unit configured to establish an overall energy-saving simulation model of the hydraulic bulldozer, and to optimize the operating point of the bulldozer in real time by dynamically adjusting the engine speed, torque output and working state of the hydraulic torque converter.

[0042] Further technical solutions of the present application are as follows:

[0043] an analysis unit configured to analyze the characteristics of the engine and the hydraulic torque converter and the fuel consumption rate, and to determine the optimal fuel consumption rate and working state under different operating conditions in combination with the power output of the bulldozer.

[0044] The present application has the following beneficial effects compared with the prior art: the present application screens the candidate operating points under different operating conditions first, and determines the optimal operating point according to the fuel consumption rate. Then, the key parameters such as the engine speed and torque of the bulldozer are collected in real time, and the actual thrust of the current operating point is calculated. If the thrust of the current operating point does not reach the thrust of the optimal operating point, the system will adjust the blade or re-screen the candidate operating points to ensure that the bulldozer always operates at the optimal operating point, thereby optimizing the overall fuel economy of the hydraulic bulldozer, and solving the problem of poor matching between the engine and the hydraulic torque converter in the prior art, which leads to suboptimal efficiency.

[0045] The present application will be further described below in combination with the drawings and specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0047] Figure 1 A schematic diagram of an existing power transmission system for a hydraulic bulldozer provided in an embodiment of the present invention;

[0048] Figure 2 A schematic flow chart of a hydraulic bulldozer energy-saving control simulation method according to an embodiment of the present invention;

[0049] Figure 3 A simulation diagram provided for an embodiment of the present invention;

[0050] Figure 4 A schematic diagram of the fuel consumption rate of the whole machine in the energy-saving mode provided by an embodiment of the present invention;

[0051] Figure 5 A schematic diagram of actual thrust in the energy-saving mode of the entire machine provided in an embodiment of the present invention;

[0052] Figure 6 A schematic diagram of parameters at four operating points in the energy-saving mode of the entire machine provided in an embodiment of the present invention;

[0053] Figure 7 A schematic diagram of a bulldozer and an experimental scheme provided in an embodiment of the present invention;

[0054] Figure 8 A schematic diagram of bulldozer test results provided by an embodiment of the present invention;

[0055] Figure 9 A schematic block diagram of a hydraulic bulldozer energy-saving control simulation system provided by an embodiment of the present invention;

[0056] Figure 10 A schematic block diagram of a computer device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0057] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0058] It should be understood that the terms "comprises" and "comprising," when used in this specification and the following claims, indicate the presence of the described features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0059] It should also be understood that the terms used in the specification and the appended claims are intended to describe particular embodiments and do not intend to limit the present application. As used in the specification and the appended claims, the singular forms "a," "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0060] It should further be understood that the term "and / or" used in the specification and the appended claims is intended to refer to any combination of one or more of the associated listed items and all possible combinations thereof.

[0061] Reference is made to Figure 1 and Figure 2 , Figure 1 A schematic diagram of an existing power transmission system of a hydraulic bulldozer is provided for embodiments of the present application. Figure 2 A schematic flow chart of a whole machine energy-saving control simulation method of a hydraulic bulldozer is provided for embodiments of the present application. The whole machine energy-saving control simulation method is mainly to control and simulate the system shown in Figure 1 by dynamically adjusting the engine speed, torque output and the working state of the hydraulic torque converter, real-time optimization of the bulldozer working point, so as to realize the optimization of the whole fuel economy of the bulldozer. First, the possible working points are selected and compared according to the fuel consumption rate to determine the optimal working point. Then, the bulldozer thrust, speed and gear are adjusted to run at the optimal working point. By real-time acquisition and analysis of key parameters such as engine speed and torque, the bulldozer working state is continuously optimized, and when the thrust is no longer increased, the blade height is dynamically adjusted or the candidate working point is updated to ensure that the bulldozer runs at the lowest fuel consumption point. In addition, an energy-saving simulation model is established to realize the best fuel consumption rate of the bulldozer under different working conditions through the cooperation of the hydraulic torque converter and the engine, so as to improve the overall efficiency and solve the problem that the engine and the hydraulic torque converter cannot be matched to achieve the best efficiency in the prior art.

[0062] As Figure 1The system shown in the figure is a hydraulic bulldozer that uses a transmission system that combines a torque converter with a power shifter. This system features load adaptation, easy operation, high operating efficiency, and the ability to shift under load, making it widely used in medium and large bulldozers. A fuel consumption meter is externally mounted on the bulldozer to accurately measure fuel consumption. Compared to fuel consumption data directly extracted from the engine, this external instrument provides more accurate fuel consumption monitoring. Meanwhile, a VBox instrument is used to measure vehicle speed, which is more accurate than calculations of flow parameters within the bulldozer. Through the CAN interface, the Rexroth controller collects parameter signals from the engine, torque converter, fuel consumption meter, and VBox, and wirelessly transmits them to the Dewei data collector for data integration and storage.

[0063] The core of this embodiment lies in improving the hydraulic bulldozer's powertrain control strategy. During operation, the engine drive system primarily provides the majority of its power to the propulsion system, consisting of the torque converter, transmission, and wheels. A smaller portion of power is provided to the blade, brake system, and hydraulic auxiliary systems such as the air conditioner. This embodiment utilizes an improved control strategy to adjust the bulldozer's operating state in real time, using parameters such as load, speed, and gear position as variables to identify the optimal operating point. This optimizes fuel consumption and improves the bulldozer's overall fuel economy.

[0064] Figure 2 FIG. 1 is a flow chart of a hydraulic bulldozer energy-saving control simulation method provided by an embodiment of the present invention. Figure 2 As shown, the method includes the following steps S110 to S190.

[0065] S110. Screen possible operating points according to different system modes to obtain candidate operating points.

[0066] In this embodiment, candidate operating points refer to all possible operating points that the bulldozer can achieve under different operating parameters, such as load, rotational speed, vehicle speed, and gear position. Each operating point represents the bulldozer's operating state under specific conditions. At this stage, the system analyzes the possible operating parameters and generates a set of candidate points.

[0067] Specifically, based on the system mode (e.g., energy-saving mode or constant power mode), all possible operating states, i.e., candidate operating points, are first screened. The bulldozer's operating state may vary under different modes, so the selection of candidate operating points depends on the selected system mode.

[0068] In the whole machine energy-saving mode, there is no fixed limit on the output power range of the bulldozer. The system will select all possible operating points and find the point with the lowest fuel consumption rate as the optimal point.

[0069] In constant power mode, the output power of the bulldozer needs to be maintained within a certain range. Therefore, in all candidate operating points, it may be required to strike a balance between workload and fuel consumption rate.

[0070] Before this step, also include:

[0071] Analyze the characteristics and fuel consumption rate of the engine and torque converter, and combine them with the power output of the bulldozer to determine the optimal fuel consumption rate and operating status under different operating conditions.

[0072] In one embodiment, the above steps may include the following steps:

[0073] Analyze the steady-state and dynamic characteristics of the engine, draw performance curves under different speed and load conditions, and determine the maximum power and torque output under each working condition.

[0074] In this embodiment, the engine's performance characteristics under different operating conditions must first be analyzed. Specifically, the engine's performance may differ under steady-state (stable operating conditions) and dynamic conditions (load and speed variations). Through experiments or data simulations, power and torque curves are plotted for the engine at different speeds and loads. This process helps determine the maximum power and torque output that the engine can provide at various operating points, providing a basis for subsequent optimization of fuel consumption.

[0075] Steady-state characteristics: In a stable state, the engine's output power and torque under certain load and speed conditions.

[0076] Dynamic characteristics: How the engine responds when the load changes, and whether the output power and torque can meet the load requirements.

[0077] Performance curve: The relationship between power and torque under different speed and load conditions.

[0078] The relationship between torque and speed of the torque converter is studied, and the optimal working range under different speed ratios is found by combining the efficiency curve.

[0079] In this embodiment, the torque converter is a crucial component of a hydraulic bulldozer, transmitting torque and regulating speed through fluid power. To optimize the bulldozer's fuel consumption, it's necessary to study the relationship between the torque and speed of the torque converter and combine it with its efficiency curve. By studying the torque converter's performance at different speed ratios, it's possible to identify its optimal operating range, thereby maximizing efficiency and minimizing fuel consumption under various bulldozer operating conditions.

[0080] Characteristics of the torque converter: There is an optimal matching range between the torque and speed of the torque converter. Within this range, the bulldozer has the highest fuel efficiency.

[0081] Efficiency curve: efficiency performance of the torque converter at different speed ratios.

[0082] The fuel consumption rate of the engine and torque converter is converted into consumption per unit turbine shaft, and the equivalent fuel consumption rate at different operating points is calculated.

[0083] In this embodiment, based on the performance analysis of the engine and torque converter, the next step is to convert their fuel consumption rates per turbine shaft. This allows for comparison of fuel consumption at different operating points (i.e., different speeds, loads, power outputs, etc.). This calculation yields the equivalent fuel consumption rates for different operating conditions, helping to determine which operating conditions achieve the lowest fuel consumption.

[0084] Fuel consumption rate: fuel consumption of the engine and torque converter under different operating conditions.

[0085] Unit turbine shaft consumption: In order to make different working conditions comparable, it is converted into unit turbine shaft consumption, so as to analyze the equivalent fuel consumption under different working conditions.

[0086] Taking into account the power output of the engine, torque converter and bulldozer, the fuel consumption rate is calculated under different thrust and vehicle speed conditions, and the relationship between the overall fuel consumption rate and operating conditions is established to determine the optimal fuel consumption rate and operating state under different operating conditions.

[0087] In this embodiment, this step involves a comprehensive analysis of the previously obtained power output and fuel consumption data for the engine, torque converter, and bulldozer. Taking into account various operating conditions, such as thrust and speed, a mathematical model is established that correlates the overall fuel consumption rate with the operating conditions. This model then derives the optimal fuel consumption rate and operating state under various conditions. By calculating this data, the optimal operating state of the bulldozer under various operating conditions can be accurately determined, thereby minimizing overall fuel consumption.

[0088] Power Output: A comprehensive consideration of the bulldozer's overall power output, including the output of the engine and torque converter.

[0089] Working state: Adjust the working state of the bulldozer according to different load, speed, vehicle speed and other conditions, and select the working point with the lowest fuel consumption.

[0090] Mathematical model: Establish a relationship model between the fuel consumption rate and working status of the bulldozer under various working conditions to provide real-time optimization control.

[0091] Through these four sub-steps, this step aims to optimize the bulldozer's fuel economy. First, engine and torque converter performance are analyzed and fuel consumption is calculated. Then, a comprehensive fuel consumption optimization model is developed, incorporating factors such as the bulldozer's thrust and speed. Finally, the optimal operating point is selected to ensure efficient and energy-saving operation of the bulldozer under various loads and operating conditions. This optimization strategy not only improves fuel efficiency but also enhances the bulldozer's stability and reliability under different operating conditions.

[0092] S120: Determine the optimal operating point by calculating and comparing fuel consumption rates among the candidate operating points.

[0093] In this embodiment, the optimal operating point refers to the operating point with the lowest fuel consumption rate among the candidate operating points.

[0094] According to the optimal fuel consumption rates and working states under the different working conditions, the working point with the lowest fuel consumption rate is screened out from the candidate working points to obtain the optimal working point.

[0095] After candidate operating points are generated, the system calculates the fuel consumption rate for each candidate point. Fuel consumption rate calculations are typically based on multiple factors, including engine speed, load, bulldozer speed, and torque converter efficiency. The closer the bulldozer's operating state is to its optimal operating range, the lower its fuel consumption rate generally is.

[0096] By calculating and comparing the fuel consumption rates of candidate operating points, the system selects the operating point with the lowest fuel consumption rate as the optimal operating point. This optimal operating point is the operating state that can achieve the lowest fuel consumption under the current operating conditions of the bulldozer.

[0097] The optimal operating point is selected based on minimizing fuel consumption under different operating conditions. This means that the bulldozer must not only meet its load requirements but also achieve optimal energy efficiency. Different operating conditions, including bulldozer speed, vehicle speed, and gear position, are determined through real-time calculations based on their impact on fuel consumption.

[0098] Specific implementation steps:

[0099] Based on the set load conditions and the bulldozer system mode, the system selects candidate operating points that meet the conditions. For example, in the whole machine energy saving mode, the system may traverse all possible operating points, while in the constant power mode, the system will limit the selection range based on the bulldozer's power requirements.

[0100] For each candidate operating point, the system calculates the corresponding fuel consumption rate, which may require considering various factors such as engine operating characteristics, torque converter efficiency, bulldozer load, and vehicle speed.

[0101] After calculating the fuel consumption rates for all candidate operating points, the system selects the operating point with the lowest fuel consumption rate as the optimal operating point. This typically refers to the operating state where the bulldozer can complete the task with the lowest fuel consumption under a given load and other operating conditions.

[0102] Once the optimal operating point is determined, the system will automatically adjust the bulldozer's working conditions (such as thrust, speed, gear, etc.) to ensure that the bulldozer operates at this optimal operating point, thereby minimizing fuel consumption.

[0103] Steps S110 and S120 embody a control strategy that optimizes fuel efficiency through meticulous calculation and adjustment of operating conditions. First, the system screens all possible operating points, then calculates and compares their fuel consumption rates, ultimately selecting the one with the lowest fuel consumption as the optimal operating point. This strategy not only optimizes the bulldozer's fuel consumption but also improves its overall operating efficiency.

[0104] S130: Adjust the thrust, speed, and gear of the bulldozer so that the bulldozer operates at the optimal operating point.

[0105] In this embodiment, the goal of this step is to ensure that the bulldozer operates at the most energy-efficient operating point. This is achieved by adjusting the bulldozer's thrust, speed, and gear position to achieve optimal operation. This means that the bulldozer will select the operating state with the lowest fuel consumption within the performance parameters of the engine, torque converter, and the bulldozer itself, thereby achieving energy savings. Adjusting thrust, speed, and gear position primarily considers the following factors:

[0106] Thrust: The actual thrust of the bulldozer should match the thrust at the optimal operating point;

[0107] Speed: The speed of the engine and torque converter should be kept in a range that can achieve the lowest fuel consumption rate;

[0108] Gear: The choice of gear directly affects the load and efficiency of the engine. The gear that best suits the current load should be selected.

[0109] S140: collecting key parameters of the bulldozer's engine speed, engine torque, and turbine speed in real time.

[0110] In this embodiment, at this stage, the control system needs to monitor and collect key parameters of the bulldozer in real time, including:

[0111] Engine speed: reflects the operating status of the engine and is closely related to fuel consumption and power output;

[0112] Engine torque: determines the thrust the bulldozer can exert;

[0113] Turbine speed: directly related to the efficiency of the torque converter and affects the working efficiency of the bulldozer.

[0114] These key parameters provide real-time data on the bulldozer's current operating status, providing a basis for subsequent decision-making and adjustments.

[0115] S150: Calculate the actual thrust at the current operating point based on the key parameters.

[0116] In this embodiment, after collecting real-time data, the control system uses these parameters to calculate the actual thrust of the bulldozer at the current operating point. This thrust calculation not only takes into account the engine output but also the efficiency of the torque converter to ensure that the actual thrust of the bulldozer matches the predetermined optimal thrust.

[0117] S160: Determine whether the actual thrust at the current operating point is continuously increasing.

[0118] In this embodiment, the purpose of this determination is to monitor the bulldozer's operating status and ensure that the bulldozer's thrust does not become unstable due to excessive load. If the thrust continues to increase, the system should adjust the operating parameters to avoid frequent switching of operating points and ensure stable operation of the bulldozer.

[0119] S170: If the actual thrust at the current operating point no longer increases, determine whether the actual thrust at the current operating point is greater than the thrust at the optimal operating point.

[0120] In this embodiment, once the bulldozer's thrust ceases to increase, the system determines whether the actual thrust at the current operating point has exceeded the thrust at the optimal operating point. If so, the system adjusts the blade position or other parameters to reduce the load until the actual thrust equals the thrust at the optimal operating point, executing step S130.

[0121] S180: If the actual thrust at the current operating point is greater than the thrust at the optimal operating point, raise the blade until the actual thrust at the current operating point is equal to the thrust at the optimal operating point.

[0122] In this embodiment, if at a certain moment the bulldozer's thrust exceeds the optimal operating point, the control system will instruct the operator to gradually raise the blade height and reduce the load on the blade until the current thrust matches the optimal operating point. This adjustment prevents bulldozer overload and minimizes fuel consumption.

[0123] In addition, after this step, also include:

[0124] An energy-saving simulation model for a hydraulic bulldozer is established, and the working point of the bulldozer is optimized in real time by dynamically adjusting the engine speed, torque output, and working state of the torque converter.

[0125] Specifically, an energy-saving simulation model of a hydraulic bulldozer is established, and an adjustment plan is determined based on the system mode to dynamically adjust the engine speed, torque output and working state of the torque converter to optimize the bulldozer's working point in real time.

[0126] The adjustment scheme includes an adjustment scheme corresponding to the whole-machine energy-saving mode and an adjustment scheme corresponding to the constant power mode. The whole-machine energy-saving mode does not set an output power range, so that the bulldozer selects the lowest fuel consumption point among all achievable operating points; the constant power mode sets a power range to ensure that the bulldozer maintains the required workload while reducing fuel consumption.

[0127] In this embodiment, the simulation model aims to achieve energy conservation during the operation of a hydraulic bulldozer by simulating and dynamically adjusting its various operating states. By analyzing the bulldozer's performance under different operating conditions, the model can help the bulldozer select the most energy-efficient operating state in real time.

[0128] Key elements include:

[0129] Engine speed and torque: A bulldozer's engine speed and torque are key factors affecting its fuel consumption. In the simulation model, engine speed and torque are dynamically adjusted based on real-time load conditions, ensuring optimal fuel economy under varying operating conditions.

[0130] Torque converter operating status: The torque converter plays a vital role in the bulldozer's power transmission, and its operating efficiency directly impacts the bulldozer's fuel consumption. The simulation model adjusts the torque converter's operating status in real time to ensure it operates within its optimal efficiency range.

[0131] By simulating and adjusting these factors, the simulation model can effectively optimize the overall energy efficiency of the bulldozer and avoid fuel waste caused by changes in speed and load.

[0132] The simulation model of the hydraulic bulldozer is dynamically adjusted according to two main working modes: whole machine energy saving mode and constant power mode.

[0133] In the whole machine energy saving mode, there is no fixed output power range. The goal of this mode is to make the bulldozer choose the operating point with the lowest fuel consumption rate among all possible operating points. Specifically:

[0134] Working point selection: This mode evaluates all possible working points and selects the working point with the lowest fuel consumption as the current working point.

[0135] Dynamic adjustment: Once the working point is selected, the engine speed, torque output of the torque converter and the working state of the bulldozer will be continuously and dynamically adjusted to maintain the lowest fuel consumption of the bulldozer at that working point.

[0136] The advantage of the whole-machine energy-saving mode is that it can minimize fuel consumption according to the real-time working conditions. However, in this mode, there is no clear limit on the bulldozer's power output, which may cause the bulldozer to have insufficient power output under certain working conditions, thereby affecting work efficiency.

[0137] In constant power mode, the system sets a fixed power output range to ensure the bulldozer can complete the required workload. In this mode, the bulldozer's output power will not fall below the minimum required power value while optimizing fuel consumption. Specifically:

[0138] Power range setting: The bulldozer's output power fluctuates within a set range to ensure that it can meet working conditions while avoiding excessive fuel consumption.

[0139] Fuel consumption optimization: While maintaining power output, the system will minimize fuel consumption by adjusting engine speed, torque output and the working state of the torque converter.

[0140] The advantage of constant power mode is that it ensures that the bulldozer can still complete the scheduled workload under higher load conditions, while optimizing fuel economy while maintaining power demand.

[0141] Regardless of whether the whole machine energy-saving mode or constant power mode is selected, the core goal of the simulation model is always to optimize the bulldozer's operating point in real time to ensure that the bulldozer always operates in the most energy-efficient state. Specific optimization strategies include:

[0142] Dynamically adjust the operating point: Based on real-time feedback of load, speed, torque and other data, the simulation model will continuously calculate the bulldozer's current fuel consumption rate and adjust the bulldozer's operating status based on this data.

[0143] Avoid frequent switching: When the bulldozer load continues to change, in order to avoid frequent switching, the system will choose to operate at a stable operating point until the load change reaches a balanced state, ensuring that the bulldozer maintains maximum efficiency in a stable state.

[0144] By simulating this energy-saving control strategy, the bulldozer can continuously monitor and adjust its operating state during actual operation. For example, in a simulated test scenario, by selecting the optimal operating point based on gradually increasing load, the hydraulic bulldozer was able to continuously reduce fuel consumption. When the load is high, the bulldozer dynamically adjusts the blade height to reduce the load and achieve optimal operating conditions.

[0145] The main purpose of establishing the simulation model of the whole machine energy-saving of the hydraulic bulldozer is to maximize the reduction of fuel consumption by dynamically adjusting the engine, hydraulic torque converter and bulldozer working state, and optimizing the working point in real time. Whether through the whole machine energy-saving mode or the constant power mode, the simulation model can adjust the working condition point according to the real-time working condition of the bulldozer to achieve the balance between energy saving and working efficiency, and ensure that the hydraulic bulldozer can achieve the optimal fuel economy under different working conditions.

[0146] In the present embodiment, the simulation of the simulation model is as shown in Figure 3 The actual application of the simulation model includes the simulation of the whole machine energy-saving mode. According to the setting of the load thrust, the optimal working condition points are selected, and as the load thrust gradually increases, four optimal working condition points are found, which are H, I, J and K points, as shown in Figure 4 , wherein the K point is the same as the D point, representing the lowest point of the whole machine fuel consumption rate.

[0147] In the simulation process, the load thrust and the actual thrust are set as shown in Figure 5 . First, the process of gradually increasing the load of the blade (0-1.0 minutes) is set, and the load is gradually increased until it is stable; at 2.0, 3.0 and 4.0 minutes, the load changes suddenly. When the blade is at the lowest position, the optimal working point is found when the load is small, such as the H point; and when the load is large, the blade position is adjusted to reduce the load to the optimal point, such as the I, J and K points. Specifically, at 0-1.0 min, the load of the blade gradually increases, and according to the whole machine energy-saving control, the working point of the bulldozer is still set at the value at 0 min, i.e. the K point. During this period, the load gradually increases, and the whole machine fuel consumption rate gradually decreases. Further, when the load is stable at 1 min, according to the whole machine energy-saving control, the bulldozer finds the optimal working point under this working condition, i.e. the H point. Further, the load and the whole machine fuel consumption rate gradually tend to be stable during this period, and the fuel consumption rate is the minimum value under this load. At 2.0, 3.0 and 4.0 min, the load changes suddenly, and the bulldozer adjusts the engine speed and the height of the blade, so as to work at the lowest point of the whole machine fuel consumption rate achieved by the bulldozer.

[0148] Further, the transition process and the stable state of the four working condition points are shown in Figure 6 . Under the condition of constant engine speed, the whole machine fuel consumption rates under different thrusts are shown in Table 1. The fuel consumption rate fluctuates with the change of the working point, but the optimal working condition point can effectively reduce the fuel consumption.

[0149] Table 1. Whole machine fuel consumption rate when the engine speed is constant

[0150] Thrust 4.0T 6.49T 11.52T 17.7T Gear Third gear Second gear First gear First gear 1500 rpm 377.95 316.42 277.83 302.31 1700 rpm 350.95 300.93 270.81 260.71 2000 rpm 368.24 324.47 299.79 274.65 Optimization strategy 350.69 300.93 270.81 255.03

[0151] Furthermore, once the blade load stabilizes, the bulldozer continuously optimizes its operating point during load changes based on its energy-saving control strategy, ultimately achieving the lowest overall fuel consumption. Compared to the traditional constant engine speed operating mode, this energy-saving strategy significantly reduces fuel consumption, achieving a 12.5% ​​energy saving.

[0152] Finally, if Figure 7 As shown, the bulldozer measurement and control system architecture of this embodiment is demonstrated.

[0153] In actual application, the bulldozer test system of this embodiment still uses the whole machine energy saving mode for testing. Figure 8 As shown. During the test, the working point set at the initial moment (0) is the lowest point D of the whole machine fuel consumption rate. From 0 to 20 seconds, the bulldozer lowers the blade to start bulldozing, and the thrust gradually increases, so the initially set working point D remains unchanged. After 20 seconds, the thrust of the bulldozer tends to stabilize at about 7.5 tons, and the whole machine fuel consumption rate stabilizes at 320g / kWh. At this time, the bulldozer continues to run for 2.5 seconds, and then according to Figure 2 The energy-saving control strategy in the 1000-kW-hr engine was switched to the optimal operating point. Ultimately, the fuel consumption of the entire engine was reduced from 320g / kWh to 280g / kWh, a reduction of 12.5%, demonstrating that this method is significantly energy-efficient.

[0154] The measurement and control system collects real-time data on the bulldozer's operating status and automatically adjusts operating conditions based on the analysis results. The system controls thrust, speed, and gear position to ensure the bulldozer operates at its optimal operating point.

[0155] The measurement and control system, consisting of a fuel consumption meter, Vbox, and controller, collects parameter signals from the engine, torque converter, fuel consumption meter, speedometer, and other equipment via the CAN port and wirelessly transmits them to a data acquisition instrument for integration. The data acquisition instrument, connected to a host computer, monitors the bulldozer's operating status in real time and analyzes and stores test data.

[0156] In summary, the method of this embodiment conducts a detailed analysis of the engine's steady-state and dynamic characteristics, plotting engine performance curves under different speed and load conditions. This method then determines the engine's maximum power and torque output under various operating conditions. The torque-speed relationship of the torque converter is analyzed, and combined with its efficiency curve, the optimal operating range of the torque converter at different speed ratios is determined, thereby optimizing the bulldozer's operating efficiency. The fuel consumption rates of the engine and torque converter are converted to per-turbine shaft consumption, further deriving the equivalent fuel consumption rates under different operating conditions. Furthermore, the overall power output of the engine, torque converter, and bulldozer is comprehensively considered to calculate the fuel consumption rates of the entire machine at various thrust and speeds, and the relationship between the fuel consumption rate and operating conditions is analyzed. Based on the actual load and operating conditions of the bulldozer, all possible operating points are screened, and the optimal operating point with the lowest fuel consumption rate is selected. By adjusting the bulldozer's thrust, speed, and gear position, the bulldozer operates at the optimal operating point to achieve minimum fuel consumption. During bulldozer operation, the system calculates parameters such as thrust, speed, and gear position in real time, adjusting the bulldozer's operating state based on factors such as engine speed, torque, and turbine speed. When the load changes, the system maintains a stable operating point and avoids frequent switching to improve the bulldozer's stability. The optimal operating point is selected based on the load on the bulldozer blade to ensure the lowest blade load. The operating point is dynamically adjusted based on varying load conditions to ensure optimal fuel economy under all operating conditions.

[0157] By establishing input and output models for the engine, torque converter, and vehicle, a performance indicator based on the overall fuel consumption rate was proposed. This optimized overall fuel consumption rate characteristics under different loads, speeds, and gears were then optimized. Simulation and experimental verification demonstrated that this control strategy can significantly improve the fuel economy of bulldozers.

[0158] S190. If the actual thrust of the current operating point is not greater than the thrust of the optimal operating point, all operating points corresponding to thrusts less than the actual thrust of the current operating point are screened out from the candidate operating points to update the candidate operating points, and step S120 is re-executed.

[0159] If the thrust at the current operating point still does not meet the requirements of the optimal operating point, that is, the thrust is less than the thrust at the optimal operating point, the system will re-screen all candidate operating points and select a suitable operating point based on the thrust. Then, the initial operating point optimization process (S130) will be re-executed based on the newly selected operating point to ensure that the bulldozer operates at the operating point with the lowest fuel consumption.

[0160] In summary, the control strategy described above consistently optimizes the bulldozer's operating conditions by collecting and analyzing its operating parameters in real time and adjusting its thrust, speed, and gear position. This ensures stable and efficient operation while also maximizing fuel efficiency and reducing fuel consumption.

[0161] The above-mentioned hydraulic bulldozer energy-saving control simulation method first screens candidate operating points under different operating conditions and determines the optimal operating point based on fuel consumption. It then collects key bulldozer parameters such as engine speed and torque in real time to calculate the actual thrust at the current operating point. If the thrust at the current operating point does not reach the optimal thrust point, the system adjusts the blade or reselects candidate operating points to ensure that the bulldozer always operates at the optimal operating point, thereby optimizing the overall fuel economy of the hydraulic bulldozer and resolving the existing problem of poor matching between the engine and the torque converter, which results in suboptimal efficiency.

[0162] Figure 9 FIG. 3 is a schematic block diagram of a hydraulic bulldozer energy-saving control simulation system 300 provided by an embodiment of the present invention. Figure 9 As shown, corresponding to the above hydraulic bulldozer whole machine energy-saving control simulation method, the present invention also provides a hydraulic bulldozer whole machine energy-saving control simulation system 300. The hydraulic bulldozer whole machine energy-saving control simulation system 300 includes a unit for executing the above hydraulic bulldozer whole machine energy-saving control simulation method, and the system can be configured in a server. Specifically, please refer to Figure 9 The hydraulic bulldozer energy-saving control simulation system 300 includes a candidate operating point determination unit 301, an optimal operating point determination unit 302, an adjustment unit 303, a collection unit 304, a calculation unit 305, a first judgment unit 306, a second judgment unit 307, an improvement unit 308 and an update processing unit 309.

[0163] The candidate operating point determination unit 301 is used to screen possible operating points according to different system modes to obtain candidate operating points; the optimal operating point determination unit 302 is used to determine the optimal operating point by calculating and comparing the fuel consumption rate among the candidate operating points; the adjustment unit 303 is used to adjust the thrust, speed and gear of the bulldozer so that the bulldozer operates at the optimal operating point; the collection unit 304 is used to collect key parameters of the bulldozer's engine speed, engine torque, and turbine speed in real time; the calculation unit 305 is used to calculate the actual thrust of the current operating point based on the key parameters; the first judgment unit 306 is used to judge whether the actual thrust of the current operating point is continuously increasing; the second judgment unit 307 is used to judge whether the actual thrust of the current operating point is continuously increasing. If the actual thrust of the current operating point no longer increases, it is determined whether the actual thrust of the current operating point is greater than the thrust of the optimal operating point; the improving unit 308 is used to improve the shovel until the actual thrust of the current operating point is equal to the thrust of the optimal operating point if the actual thrust of the current operating point is greater than the thrust of the optimal operating point; the updating processing unit 309 is used to screen out all operating points corresponding to thrusts less than the actual thrust of the current operating point from the candidate operating points if the actual thrust of the current operating point is not greater than the thrust of the optimal operating point, so as to update the candidate operating points, and re-execute the calculation and comparison of fuel consumption rates in the candidate operating points to determine the optimal operating point.

[0164] In one embodiment, the above system further includes:

[0165] The simulation unit is used to establish an energy-saving simulation model for the entire hydraulic bulldozer and optimize the bulldozer's operating point in real time by dynamically adjusting the engine speed, torque output, and the working state of the torque converter.

[0166] In one embodiment, the above system further includes:

[0167] The analysis unit is used to analyze the characteristics and fuel consumption rate of the engine and torque converter, and determine the optimal fuel consumption rate and working state under different working conditions in combination with the power output of the bulldozer.

[0168] In one embodiment, the analysis unit comprises:

[0169] The characteristic analysis subunit is used to analyze the steady-state and dynamic characteristics of the engine, draw performance curves under different speed and load conditions, and determine the maximum power and torque output under various working conditions; the research subunit is used to study the relationship between the torque and speed of the torque converter, and combine the efficiency curve to find the optimal operating range under different speed ratios; the conversion subunit is used to convert the fuel consumption rate of the engine and torque converter into the consumption per unit turbine shaft, and calculate the equivalent fuel consumption rate at different working points; the calculation subunit is used to comprehensively consider the power output of the engine, torque converter and bulldozer, calculate the fuel consumption rate under different thrust and vehicle speed conditions, and establish the relationship between the fuel consumption rate of the whole machine and the working conditions to determine the optimal fuel consumption rate and working state under different working conditions.

[0170] In one embodiment, the optimal operating point determining unit 302 is configured to filter out the operating point with the lowest fuel consumption rate from the candidate operating points according to the optimal fuel consumption rate and the working state under the different operating conditions, so as to obtain the optimal operating point.

[0171] In one embodiment, the simulation unit is used to establish an energy-saving simulation model of the entire hydraulic bulldozer, and determine an adjustment plan based on the system mode to dynamically adjust the engine speed, torque output and working state of the torque converter to optimize the working point of the bulldozer in real time.

[0172] It should be noted that technical personnel in the relevant field can clearly understand that the specific implementation process of the above-mentioned hydraulic bulldozer energy-saving control simulation system 300 and each unit can refer to the corresponding description in the aforementioned method embodiment. For the convenience and brevity of description, it will not be repeated here.

[0173] The hydraulic bulldozer energy-saving control simulation system 300 can be implemented as a computer program. Figure 10 Runs on the computer device shown.

[0174] See also Figure 10 , Figure 10 1 is a schematic block diagram of a computer device provided in an embodiment of the present application. The computer device 500 may be a server, wherein the server may be an independent server or a server cluster composed of multiple servers.

[0175] See Figure 10 The computer device 500 includes a processor 502 , a memory, and a network interface 505 connected via a system bus 501 , wherein the memory may include a non-volatile storage medium 503 and an internal memory 504 .

[0176] The non-volatile storage medium 503 can store an operating system 5031 and a computer program 5032. The computer program 5032 includes program instructions which, when executed, can cause the processor 502 to perform a simulation method for energy saving control of a hydraulic bulldozer.

[0177] The processor 502 is configured to provide computing and control capabilities to support the operation of the entire computer device 500.

[0178] The non-volatile storage medium 503 provides an environment for the computer program 5032 stored therein to be executed by the processor 502, and the computer program 5032, when executed by the processor 502, can cause the processor 502 to perform a simulation method for energy saving control of a hydraulic bulldozer.

[0179] The network interface 505 is configured to perform network communication with other devices. Those skilled in the art can understand that the network interface 505 can be configured to perform wired or wireless communication with the other devices. Figure 10 The structure shown in FIG. 5 is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device 500 to which the scheme of the present application is applied. Specifically, the computer device 500 can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0180] The processor 502 is configured to run the computer program 5032 stored in the memory to implement all steps of the simulation method for energy saving control of a hydraulic bulldozer.

[0181] It should be understood that, in the embodiments of the present application, the processor 502 can be a central processing unit (CPU), and the processor 502 can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0182] Those skilled in the art will appreciate that all or part of the steps in the method of the above-described embodiment can be implemented by instructing the relevant hardware through a computer program. The computer program includes program instructions, which can be stored in a storage medium that is computer-readable. The program instructions are executed by at least one processor in the computer system to implement the steps in the method of the above-described embodiment.

[0183] Therefore, the present invention further provides a storage medium. The storage medium may be a computer-readable storage medium. The storage medium stores a computer program, wherein when the computer program is executed by a processor, the processor executes all steps of the hydraulic bulldozer energy-saving control simulation method.

[0184] The storage medium may be any computer-readable storage medium that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk, or an optical disk.

[0185] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the composition and steps of each example according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0186] In the several embodiments provided herein, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative. For example, the division of the various units is merely a logical functional division, and actual implementations may employ other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be omitted or not implemented.

[0187] The steps in the method of the embodiment of the present invention may be adjusted in order, combined, or deleted as needed. The units in the system of the embodiment of the present invention may be combined, divided, or deleted as needed. In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0188] If this integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the existing technology, 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 a number of instructions for causing a computer device (which can be a personal computer, terminal, or network device, etc.) to execute all or part of the steps of the method described in various embodiments of the present invention.

[0189] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A hydraulic bulldozer energy-saving control simulation method, characterized in that: include: According to different system modes, possible operating points are screened out to obtain candidate operating points; Determining the optimal operating point by calculating and comparing fuel consumption rates among the candidate operating points; Adjusting the thrust, speed and gear of the bulldozer so that the bulldozer operates at the optimal operating point; Real-time collection of key parameters of the bulldozer's engine speed, engine torque, and turbine speed; Calculate the actual thrust at the current operating point based on the key parameters; Determining whether the actual thrust at the current operating point is continuously increasing; If the actual thrust at the current operating point no longer increases, determining whether the actual thrust at the current operating point is greater than the thrust at the optimal operating point; If the actual thrust at the current operating point is greater than the thrust at the optimal operating point, raise the blade until the actual thrust at the current operating point is equal to the thrust at the optimal operating point; If the actual thrust of the current operating point is not greater than the thrust of the optimal operating point, all operating points corresponding to thrusts less than the actual thrust of the current operating point are screened out from the candidate operating points to update the candidate operating points, and the calculation and comparison of fuel consumption rates among the candidate operating points are re-executed to determine the optimal operating point.

2. The hydraulic bulldozer energy-saving control simulation method according to claim 1 is characterized in that: If the actual thrust at the current operating point is greater than the thrust at the optimal operating point, the blade is raised until the actual thrust at the current operating point is equal to the thrust at the optimal operating point, further comprising: An energy-saving simulation model for a hydraulic bulldozer is established, and the working point of the bulldozer is optimized in real time by dynamically adjusting the engine speed, torque output, and working state of the torque converter.

3. The hydraulic bulldozer energy-saving control simulation method according to claim 1 is characterized in that: Before screening out possible operating points according to different system modes to obtain candidate operating points, the following steps may also be included: Analyze the characteristics and fuel consumption rate of the engine and torque converter, and combine them with the power output of the bulldozer to determine the optimal fuel consumption rate and operating status under different operating conditions.

4. The hydraulic bulldozer energy-saving control simulation method according to claim 3 is characterized in that: The analysis of the characteristics and fuel consumption rate of the engine and torque converter, combined with the power output of the bulldozer, determines the optimal fuel consumption rate and working state under different working conditions, including: Analyze the steady-state and dynamic characteristics of the engine, draw performance curves under different speed and load conditions, and determine the maximum power and torque output under each operating condition; Study the relationship between torque and speed of the torque converter and find the optimal operating range under different speed ratios by combining the efficiency curve; Convert the fuel consumption rate of the engine and torque converter into consumption per unit turbine shaft and calculate the equivalent fuel consumption rate at different operating points; Taking into account the power output of the engine, torque converter and bulldozer, the fuel consumption rate is calculated under different thrust and vehicle speed conditions, and the relationship between the overall fuel consumption rate and operating conditions is established to determine the optimal fuel consumption rate and operating state under different operating conditions.

5. The hydraulic bulldozer energy-saving control simulation method according to claim 1 is characterized in that: The step of calculating and comparing the fuel consumption rates among the candidate operating points to determine the optimal operating point includes: According to the optimal fuel consumption rates and working states under the different working conditions, the working point with the lowest fuel consumption rate is screened out from the candidate working points to obtain the optimal working point.

6. The hydraulic bulldozer energy-saving control simulation method according to claim 2, characterized in that: The energy-saving simulation model of the hydraulic bulldozer is established, and the working point of the bulldozer is optimized in real time by dynamically adjusting the engine speed, torque output and working state of the hydraulic torque converter, including: An energy-saving simulation model for the entire hydraulic bulldozer is established, and an adjustment plan is determined based on the system mode to dynamically adjust the engine speed, torque output, and working state of the torque converter to optimize the bulldozer's operating point in real time.

7. The hydraulic bulldozer energy-saving control simulation method according to claim 6, characterized in that: The adjustment scheme includes an adjustment scheme corresponding to the whole-machine energy-saving mode and an adjustment scheme corresponding to the constant power mode. The whole-machine energy-saving mode does not set an output power range, so that the bulldozer selects the lowest fuel consumption point among all achievable operating points; the constant power mode sets a power range to ensure that the bulldozer maintains the required workload while reducing fuel consumption.

8. The hydraulic bulldozer complete machine energy-saving control simulation system is characterized by: include: A candidate operating point determination unit is used to screen possible operating points according to different system modes to obtain candidate operating points; an optimal operating point determination unit, configured to determine the optimal operating point by calculating and comparing the fuel consumption rates among the candidate operating points; An adjustment unit, used for adjusting the thrust, speed and gear position of the bulldozer so that the bulldozer operates at the optimal operating point; The acquisition unit is used to collect key parameters of the bulldozer, such as engine speed, engine torque, and turbine speed, in real time; A calculation unit, configured to calculate the actual thrust at the current operating point based on the key parameters; A first judging unit is configured to judge whether the actual thrust at the current operating point is continuously increasing; a second judging unit, configured to judge whether the actual thrust at the current operating point is greater than the thrust at the optimal operating point if the actual thrust at the current operating point no longer increases; an increasing unit, configured to increase the blade if the actual thrust at the current operating point is greater than the thrust at the optimal operating point, until the actual thrust at the current operating point is equal to the thrust at the optimal operating point; an updating processing unit, configured to, if the actual thrust of the current operating point is not greater than the thrust of the optimal operating point, filter out from the candidate operating points all operating points corresponding to thrusts less than the actual thrust of the current operating point, so as to update the candidate operating points, and re-execute the step of calculating and comparing fuel consumption rates among the candidate operating points to determine the optimal operating point.

9. The hydraulic bulldozer complete machine energy-saving control simulation method according to claim 8, characterized in that: Also includes: The simulation unit is used to establish an energy-saving simulation model for the entire hydraulic bulldozer and optimize the bulldozer's operating point in real time by dynamically adjusting the engine speed, torque output, and the working state of the torque converter.

10. The hydraulic bulldozer complete machine energy-saving control simulation method according to claim 8, characterized in that: Also includes: The analysis unit is used to analyze the characteristics and fuel consumption rate of the engine and torque converter, and determine the optimal fuel consumption rate and working state under different working conditions in combination with the power output of the bulldozer.

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