Battery management system for electric new energy loader

Abstract

The present application relates to the energy management technical field of new energy loader, especially to the battery management system of electric new energy loader, the present application constructs the power loss curve through the battery state evaluation module, and according to the power display recovery characteristic screening working condition disturbed steering mechanism;Through fusion analysis module, the sorting of working condition disturbed steering mechanism is carried out according to the directional vector module length of steering characteristic vector in the direction of wind direction disturbance;Through the timely monitoring module, the power monitoring time window of power battery is determined according to the comparison result of the sorting of working condition disturbed steering mechanism and the actual calling sequence of steering mechanism, and whether the range extender is started to supplement the power of power battery is judged according to the power monitoring value obtained in the power monitoring time window through the dynamic energy supplement module. Further, the power monitoring window is dynamically determined according to the working condition of environmental wind direction disturbance, and the matching of the energy supplement opportunity of range extender and actual demand is improved.

Description

Technical Field

[0001] This invention relates to the field of energy management technology for new energy loaders, and more particularly to the battery management system for electric new energy loaders. Background Technology

[0002] Driven by both environmental policies and the intelligent upgrading of equipment, electric new energy loaders have become the core equipment for the green transformation of the construction machinery industry. The accuracy of their battery management system directly determines the equipment's operating efficiency, range, and battery life. In actual operation scenarios, loaders mostly operate in open-pit mines and port areas. During operation, they need to frequently drive the load-bearing arm through the steering mechanism to complete actions such as shoveling, lifting, and rotating. These actions are often accompanied by instantaneous high power output. However, under high current discharge conditions, the power battery will experience a decrease in the accuracy of power monitoring due to the influence of internal resistance characteristics. Existing technology lacks a mechanism to dynamically adjust the monitoring window in combination with operating condition disturbances, resulting in the timing of recharging being too early or too late, which affects both operating efficiency and energy waste.

[0003] For example, Chinese Patent Publication No. CN120645778A discloses an energy management method for a fuel cell loader, comprising: step S10, constructing a cyclic operating condition database; step S20, constructing an original feature matrix X characterizing the cyclic operating conditions of the fuel cell loader; step S30, using a cross-probability algorithm to reduce the dimensionality of the original feature matrix to obtain a dimensionality-reduced operating condition feature matrix; step S40, establishing an operating condition identification model for the fuel cell loader; step S50, establishing a joint network communication prediction model based on the operating condition identification results of the operating condition identification model; step S60, obtaining the future demand power sequence in the predicted time domain when applied online; and step S70, realizing environmental adaptive optimization allocation of the output power of the fuel cell and the power battery.

[0004] The following problems still exist in the existing technology:

[0005] Existing technologies do not consider the differences in battery monitoring accuracy caused by wind disturbances in the working environment of the loader's steering mechanism. Existing technologies cannot dynamically determine the battery monitoring window according to the disturbance of the working conditions, resulting in a mismatch between the timing of the range extender's recharge and the actual demand, which affects the battery management accuracy and operational reliability of electric new energy loaders. Summary of the Invention

[0006] To address this issue, the present invention provides a battery management system for electric new energy loaders, which overcomes the problem that existing technologies cannot dynamically determine the power monitoring window based on the disturbance of working conditions, resulting in a mismatch between the timing of range extender recharging and actual needs, thus affecting the battery management accuracy and operational reliability of electric new energy loaders.

[0007] To achieve the above objectives, the present invention provides a battery management system for an electric new energy loader, comprising:

[0008] The battery status assessment module includes a feature clustering unit and a filtering unit. The feature clustering unit is used to pre-obtain the changes in the power battery charge of each steering mechanism on the loader during steering execution, and to determine the charge recovery characteristics on the charge loss curve constructed based on the changes in charge charge.

[0009] The screening unit is used to screen steering mechanisms whose operating conditions are disturbed based on the analysis results of the power display recovery characteristics.

[0010] The fusion analysis module, which is connected to the battery state assessment module, is used to obtain the steering characterization vector of the steering mechanism under operating conditions disturbance, and to sort the steering mechanisms under operating conditions disturbance according to the magnitude of the component vector of the steering characterization vector in the wind disturbance direction.

[0011] The real-time monitoring module, which is connected to the fusion analysis module, is used to determine the power battery power monitoring time window based on the result of comparing the sorting of the steering mechanism under working condition disturbance with the actual calling order of the steering mechanism. This includes limiting the output power of the power battery to determine the first monitoring time window, or determining the second monitoring time window based on the period of weak manifestation of the power battery under working condition disturbance.

[0012] The dynamic energy replenishment module, which is connected to the real-time monitoring module, is used to determine whether to start the range extender to replenish the power battery based on the acquired power monitoring value within the power monitoring time window.

[0013] Furthermore, the feature clustering unit is used to construct a power loss curve based on power variation, wherein,

[0014] The feature clustering unit is used to obtain the real-time power display value of the power battery during the steering mechanism's steering execution, so as to plot the power loss curve of the real-time power display value with the steering angle.

[0015] Furthermore, the feature clustering unit is used to determine the characteristics of the battery level recovery, wherein,

[0016] The feature clustering unit is used to divide the power loss curve into several sub-curve segments at preset turning angle intervals, select sub-curve segments with positive slopes as power display recovery sub-curve segments, and determine several adjacent power display recovery sub-curve segments as feature curve segments.

[0017] Furthermore, the screening unit is used to screen steering mechanisms whose operating conditions are disturbed, wherein,

[0018] The filtering unit is used to obtain the maximum difference between the real-time power display values ​​of any two points on the characteristic curve segment, and the filtering unit is used to filter steering mechanisms whose maximum difference is greater than a preset difference threshold as steering mechanisms with disturbed operating conditions.

[0019] Furthermore, the fusion analysis module is used to obtain the steering representation vector of the steering mechanism under disturbed operating conditions, wherein,

[0020] The fusion analysis module is used to obtain the starting point and ending point of the running trajectory of the bearing arm controlled by the working condition disturbance steering mechanism during the steering execution process, and to determine the vector from the starting point to the ending point of the running trajectory as the steering characterization vector.

[0021] Furthermore, the fusion analysis module is used to sort the steering mechanisms whose operating conditions are disturbed, wherein,

[0022] The fusion analysis module is used to obtain the magnitude of the component vector of the steering characterization vector in the direction of wind disturbance, and sorts the steering mechanisms under disturbance in the working condition in descending order of the magnitude of the component vector.

[0023] Furthermore, the real-time monitoring module is used to compare the sorting of the steering mechanisms affected by operational disturbances with the actual calling order of the steering mechanisms to determine the type of operational disturbance to the power battery.

[0024] If the order of the steering mechanism under the disturbance condition is consistent with the actual calling order of the steering mechanism, the timely monitoring module determines the disturbance condition category of the power battery as the first disturbance condition category.

[0025] If the order of the steering mechanism under the disturbance condition is inconsistent with the actual calling order of the steering mechanism, the timely monitoring module determines the disturbance condition category of the power battery as the second disturbance condition category.

[0026] The actual calling order of the steering mechanism is determined according to the steering execution timing of the steering mechanism.

[0027] Furthermore, the real-time monitoring module is used to determine the time window for monitoring the power battery's charge level, wherein,

[0028] If the operating condition disturbance category of the power battery is the first operating condition disturbance category, the real-time monitoring module limits the output power of the power battery to determine the first monitoring time window.

[0029] If the operating condition disturbance category of the power battery is the second operating condition disturbance category, the real-time monitoring module determines the second monitoring time window based on the period when the operating condition disturbance of the power battery is weak and obvious.

[0030] Furthermore, the real-time monitoring module is used to determine a first monitoring time window, or, to determine a second monitoring time window, wherein,

[0031] The first monitoring time window is a preset duration period during which the output power of the power battery is limited; the second monitoring time window is a preset duration period during which the operating condition is weakly dominant.

[0032] The period of weakly manifested disturbance under operating conditions is the period after the steering execution process of the steering mechanism under disturbance ends.

[0033] Furthermore, the dynamic energy replenishment module is used to determine whether to activate the range extender to replenish the power battery, wherein,

[0034] The dynamic power replenishment module is used to compare the power monitoring value obtained within the power monitoring time window with the preset power threshold value;

[0035] If the power monitoring value is less than or equal to the power threshold, the dynamic energy replenishment module determines to start the range extender to replenish the power battery.

[0036] Compared with existing technologies, the advantages of this invention are as follows: This invention constructs a power loss curve based on the power battery charge changes of each steering mechanism on the loader during steering execution using a battery status assessment module, and filters the steering mechanisms affected by operational disturbances based on the power recovery characteristics displayed. A fusion analysis module sorts the affected steering mechanisms according to the magnitude of the component vectors of the steering representation vector in the direction of wind disturbance. A real-time monitoring module determines the power battery charge monitoring time window by comparing the sorted order of the affected steering mechanisms with the actual calling order of the steering mechanisms. A dynamic energy replenishment module determines whether to activate the range extender to replenish the power battery based on the power monitoring values ​​obtained within the power monitoring time window. Therefore, this invention achieves dynamic determination of the power monitoring window based on environmental wind disturbances, improves the matching of the range extender's energy replenishment timing with actual needs, and enhances the battery management accuracy and operational reliability of electric new energy loaders.

[0037] Furthermore, loaders often operate in open areas such as open mines and ports. During operation, they frequently drive the boom through the steering mechanism to perform actions such as shoveling, lifting, and turning. Under high-current discharge conditions, the battery's terminal voltage drops due to its internal resistance characteristics, resulting in a lower displayed battery level. When the high-power output ends, the discharge current decreases, the internal resistance voltage drop decreases, and the terminal voltage rebounds, causing the displayed battery level to jump. This rebound severely interferes with the accurate estimation of the battery's state of charge. This voltage fluctuation is directly reflected in the rising change of the displayed battery level, corresponding to a sub-curve segment with a positive slope in the curve. By identifying such sub-curve segments and integrating them into a characteristic curve segment, the concentrated range of the battery level rebound can be accurately captured. This reflects the magnitude of the power output fluctuation caused by wind disturbance in the steering mechanism. The more significant the rebound characteristic, the stronger the interference of wind disturbance on the steering execution power, and the higher the degree of impact on battery level monitoring.

[0038] Furthermore, this invention quantifies the steering behavior of the steering mechanism under disturbance conditions by accurately capturing the motion trajectory characteristics of the load-bearing arm. First, it precisely acquires two key spatial coordinates: the starting point of the load-bearing arm's trajectory when the steering action begins, and the ending point of the trajectory reached by the load-bearing arm when the steering action is completed. The coordinate difference between these two points constitutes a steering representation vector pointing from the starting point to the ending point. The direction of this vector directly corresponds to the steering direction of the load-bearing arm, and the magnitude of the vector corresponds to the displacement amplitude of the steering action. In the operating scenario of electric new energy loaders, the steering direction and amplitude of the steering mechanism are closely related to the interaction with wind disturbances. By analyzing the steering behavior and wind direction, the degree to which steering actions in different directions are affected by wind can be quantified.

[0039] Furthermore, when the power battery is in the first disturbance category, it means that the disturbance intensity of the steering mechanism increases with the operating time, and the inaccuracy of the power monitoring will continue to accumulate. At this time, the real-time monitoring module determines the first monitoring time window by limiting the output power of the power battery. Power limitation can reduce the fluctuation of the battery's internal resistance voltage drop caused by high current discharge and reduce the sudden rise and fall of the terminal voltage caused by drastic power changes, so that the power data in the monitoring window is closer to the true value and avoids the continuous accumulation of disturbances from further amplifying the monitoring error. When the power battery is in the second disturbance category, the strongly disturbed steering mechanism and the weakly disturbed actions occur alternately, and the inaccuracy of power monitoring shows a fluctuating state. At this time, the second monitoring time window can be determined according to the period of weak manifestation of the disturbance of the power battery's operating condition. The period of weak manifestation of the disturbance is the period when the steering mechanism is less affected by wind and the power output is stable. During this period, the battery discharge current is stable, the internal resistance voltage drop changes little, the terminal voltage fluctuation is weak, and the power display value can better reflect the actual remaining power. Thus, the power monitoring window is dynamically determined according to the operating condition of environmental wind disturbance. Attached Figure Description

[0040] Figure 1 This is a block diagram of the battery management system of an electric new energy loader according to an embodiment of the present invention;

[0041] Figure 2 This is a schematic diagram illustrating how the feature clustering unit determines the feature curve segment in the power loss curve according to an embodiment of the present invention;

[0042] Figure 3 This is a schematic diagram illustrating how the fusion analysis module determines the steering representation vector in an embodiment of the present invention.

[0043] Figure 4 The following is a flowchart illustrating the logic of the real-time monitoring module in this embodiment of the invention for determining the power battery charge monitoring time window.

[0044] In the figure, 1-Steering mechanism under disturbed working conditions, 2-Bearing arm, 3-Start point of running trajectory, 4-End point of running trajectory, 5-Steering representation vector. Detailed Implementation

[0045] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0046] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0047] It should be noted that in the description of this invention, the terms "upper," "lower," "inner," "outer," etc., which indicate the direction or positional relationship, are based on the direction or positional relationship shown in the drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0048] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0049] Please see Figure 1 The diagram shown is a block diagram of the battery management system of an electric new energy loader according to an embodiment of the present invention. The battery management system of the electric new energy loader of the present invention includes:

[0050] The battery status assessment module includes a feature clustering unit and a filtering unit. The feature clustering unit is used to pre-obtain the changes in the power battery charge of each steering mechanism on the loader during steering execution, and to determine the charge recovery characteristics on the charge loss curve constructed based on the changes in charge charge.

[0051] The screening unit is used to screen steering mechanisms whose operating conditions are disturbed based on the analysis results of the power display recovery characteristics.

[0052] The steering mechanism of the loader in this invention is determined according to different types of loaders. For example, it includes steering mechanisms such as boom lifting steering and bucket tilting steering, which are well known to those skilled in the art and will not be described in detail here.

[0053] In this invention, the power battery charge can be obtained through the BMS sensor of the power battery, and the steering angle can be collected through the angle sensor in the steering mechanism of the loader. This is existing technology and will not be described in detail here.

[0054] The fusion analysis module, which is connected to the battery state assessment module, is used to obtain the steering characterization vector of the steering mechanism under operating conditions disturbance, and to sort the steering mechanisms under operating conditions disturbance according to the magnitude of the component vector of the steering characterization vector in the wind disturbance direction.

[0055] In this invention, the loader obtains the ambient wind direction in real time during the operation of the loader by wirelessly connecting to a wind speed sensor.

[0056] The real-time monitoring module, which is connected to the fusion analysis module, is used to determine the power battery power monitoring time window based on the result of comparing the sorting of the steering mechanism under working condition disturbance with the actual calling order of the steering mechanism. This includes limiting the output power of the power battery to determine the first monitoring time window, or determining the second monitoring time window based on the period of weak manifestation of the power battery under working condition disturbance.

[0057] The dynamic energy replenishment module, which is connected to the real-time monitoring module, is used to determine whether to start the range extender to replenish the power battery based on the acquired power monitoring value within the power monitoring time window.

[0058] This invention does not limit the range extender. It uses the range extender and range extender technology to generate electricity, which is then stored in a power battery. The electrical energy in the power battery is used to drive the loader to travel and operate. This is prior art and will not be described in detail here.

[0059] Specifically, the present invention does not limit the specific structure of each functional module. The module itself or its units can be constructed using logic components. The logic components can be field-programmable logic components, microprocessors, processors used in computers, etc., which will not be elaborated here.

[0060] Specifically, the feature clustering unit is used to construct a power loss curve based on power variation, wherein,

[0061] The feature clustering unit is used to obtain the real-time power display value of the power battery during the steering mechanism's steering execution, so as to plot the power loss curve of the real-time power display value with the steering angle.

[0062] In practice, the real-time power display value is collected once for every 1° rotation of the steering mechanism.

[0063] It is understandable that by using the steering angle during steering as the horizontal axis and simultaneously collecting the real-time battery power display value at the corresponding moment as the vertical axis, the data points corresponding to the real-time battery power display value at the steering angle are sequentially connected in a rectangular coordinate system, and smoothed to construct a power loss curve. The core logic is that when loading the same type of goods, the steering action of the steering mechanism has similar load characteristics and energy consumption patterns. By associating the battery power display value with the steering angle, the battery power change pattern of the steering mechanism under different steering amplitudes can be intuitively reflected.

[0064] Specifically, the feature clustering unit is used to determine the characteristics of the battery level recovery, wherein,

[0065] The feature clustering unit is used to divide the power loss curve into several sub-curve segments at preset turning angle intervals, select sub-curve segments with positive slopes as power display recovery sub-curve segments, and determine several adjacent power display recovery sub-curve segments as feature curve segments.

[0066] For example, please see Figure 2 As shown, this is a schematic diagram of how the feature clustering unit of this invention determines the feature curve segment in the power loss curve. The power loss curve is divided into 12 sub-curve segments. The slope of each sub-curve segment is determined based on the coordinates of its start and end points. Finally, the sub-curve segment with a positive slope is identified as sub-curve segment a. 10 -a 11 and sub-curve segment a 11 -a 12 And sub-curve segment a 10 -a 11 With sub-curve segment a 11 -a 12 Adjacent positions, sub-curve segment a 11 -a12 With sub-curve segment a 10 -a 11 The curve segment a 10 -a 12 It is identified as a characteristic curve segment.

[0067] In the implementation of this invention, the preset steering angle interval can be set by those skilled in the art. If the steering angle interval setting value is too large, it will cause too many changes in the curve shape within a single power display recovery sub-curve segment. If the steering angle interval setting value is too small, it will cause insufficient data representation of the power display recovery sub-curve segment. Preferably, the steering angle interval is set to 3°.

[0068] Those skilled in the art will understand that loaders often operate in open areas such as open mines and ports. During operation, they frequently drive the boom through the steering mechanism to perform actions such as shoveling, lifting, and turning. Under high-current discharge conditions, the battery's terminal voltage drops due to its internal resistance characteristics, resulting in a lower displayed battery level. When the high-power output ends, the discharge current decreases, the internal resistance voltage drop decreases, and the terminal voltage rebounds, causing the displayed battery level to jump. This rebound severely interferes with the accurate estimation of the battery's state of charge. This voltage fluctuation is directly reflected in the rising change of the displayed battery level, corresponding to a sub-curve segment with a positive slope in the curve. By identifying such sub-curve segments and integrating them into a characteristic curve segment, the concentrated range of the battery level rebound can be accurately captured, thereby reflecting the magnitude of the power output fluctuation caused by wind disturbance in the steering mechanism. The more significant the rebound characteristic, the stronger the wind disturbance to the steering power, and the higher the degree of impact on battery level monitoring.

[0069] Specifically, the screening unit is used to screen steering mechanisms whose operating conditions are disturbed, wherein,

[0070] The filtering unit is used to obtain the maximum difference between the real-time power display values ​​of any two points on the characteristic curve segment, and the filtering unit is used to filter steering mechanisms whose maximum difference is greater than a preset difference threshold as steering mechanisms with disturbed operating conditions.

[0071] In implementation, the preset difference threshold is determined based on test calculations. The amount of power loss corresponding to each 3° steering angle during the steering process of each steering mechanism for the current power battery is obtained in advance. The average value of the power loss obtained several times is determined as the difference threshold. Preferably, the difference threshold can be 1% of the rated total power battery capacity.

[0072] Understandably, this invention quantifies the significance of battery recovery by calculating the maximum difference between the real-time battery display values ​​at any two points on the characteristic curve segment. The larger the maximum difference, the stronger the power output fluctuation of the steering mechanism due to wind disturbance during the corresponding steering process, which in turn causes more severe fluctuations in the battery terminal voltage, and the greater the impact on the accuracy of battery monitoring.

[0073] Specifically, the fusion analysis module is used to obtain the steering representation vector of the steering mechanism under disturbed operating conditions, wherein,

[0074] The fusion analysis module is used to obtain the starting point and ending point of the running trajectory of the bearing arm controlled by the working condition disturbance steering mechanism during the steering execution process, and to determine the vector from the starting point to the ending point of the running trajectory as the steering characterization vector.

[0075] Please see Figure 3 As shown, it is a schematic diagram of the fusion analysis module determining the steering representation vector in an embodiment of the present invention. During the steering execution process, the working condition disturbed steering mechanism 1 controls the operation of the bearing arm 2. The bearing arm has a starting point 3 and a ending point 4 on its running trajectory. The steering representation vector 5 is determined by taking the starting point 3 as the vector starting point and the ending point 4 as the vector ending point.

[0076] In this invention, a laser positioning sensor can be used to obtain the coordinates of the starting point and ending point of the trajectory.

[0077] Understandably, this invention quantifies the steering behavior of a disturbed steering mechanism by accurately capturing the motion trajectory characteristics of the load-bearing arm. First, it precisely acquires two key spatial coordinates: the starting point of the load-bearing arm's trajectory when the steering action begins, and the ending point of the trajectory reached by the load-bearing arm when the steering action is completed. The coordinate difference between these two points constitutes a steering representation vector pointing from the starting point to the ending point. The direction of this vector directly corresponds to the steering direction of the load-bearing arm, and the magnitude of the vector corresponds to the displacement amplitude of the steering action. In the operating scenario of electric new energy loaders, the steering direction and amplitude of the steering mechanism are closely related to the interaction with wind disturbances. By analyzing the steering behavior and wind direction, the degree to which steering actions in different directions are affected by wind can be quantified.

[0078] Specifically, the fusion analysis module is used to sort the steering mechanisms whose operating conditions are disturbed, wherein,

[0079] The fusion analysis module is used to obtain the magnitude of the component vector of the steering characterization vector in the direction of wind disturbance, and sorts the steering mechanisms under disturbance in the working condition in descending order of the magnitude of the component vector.

[0080] This invention does not limit the method of calculating the vector magnitude. The calculation of the magnitude of the vector fractions is done using existing mathematical calculation methods, which will not be elaborated here.

[0081] Understandably, this invention establishes a coupling relationship between steering action and wind disturbance. The magnitude of the component vector of the steering characterization vector in the direction of wind disturbance directly reflects the degree of overlap between the steering direction of the bearing arm and the wind direction. The larger the magnitude, the greater the displacement component of the steering action along the direction of wind disturbance, the stronger the disturbance of wind force on the power output of the steering mechanism, and the higher the risk of inaccurate power monitoring. Therefore, sorting by component vector magnitude from largest to smallest is essentially sorting by the strength of the influence of wind disturbance on the steering mechanism.

[0082] Specifically, please refer to Figure 4 The diagram shown is a logical flowchart illustrating how the real-time monitoring module of this invention determines the monitoring time window for the power battery's charge level. The real-time monitoring module compares the order of the steering mechanisms affected by operational disturbances with the actual calling order of the steering mechanisms to determine the type of operational disturbance affecting the power battery.

[0083] If the order of the steering mechanism under the disturbance condition is consistent with the actual calling order of the steering mechanism, the timely monitoring module determines the disturbance condition category of the power battery as the first disturbance condition category.

[0084] If the order of the steering mechanism under the disturbance condition is inconsistent with the actual calling order of the steering mechanism, the timely monitoring module determines the disturbance condition category of the power battery as the second disturbance condition category.

[0085] The actual calling order of the steering mechanism is determined according to the steering execution timing of the steering mechanism.

[0086] In this invention, the control signals of the steering mechanism can be identified and the trigger timestamps of the control signals can be recorded. A signal acquisition module is connected to the electronic control system of the loader to capture the trigger start time of each control gear in real time, and the actual calling order of the steering mechanism can be determined by sorting the timestamps.

[0087] Understandably, this invention establishes a correlation between disturbance intensity and operational timing. The actual call sequence of the steering mechanism is determined by the steering execution timing during the operation, reflecting the sequence of each steering action during the actual operation of the loader. When the order of the steering mechanism under the disturbance condition is consistent with the actual call sequence, it means that the disturbance intensity of the steering action during the operation increases over time, and the degree of inaccuracy in the power battery power monitoring will continue to accumulate as the operation progresses, which is the first type of disturbance under the operational condition. When the two are inconsistent, it indicates that there is no increasing correlation between the disturbance intensity and the operational timing. The steering mechanism with stronger disturbance may be interspersed among the weaker disturbance actions. At this time, the inaccuracy in the power battery power monitoring will show a fluctuating state, which is the second type of disturbance under the operational condition.

[0088] Specifically, the real-time monitoring module is used to determine the time window for monitoring the power battery's charge level, wherein,

[0089] If the operating condition disturbance category of the power battery is the first operating condition disturbance category, the real-time monitoring module limits the output power of the power battery to determine the first monitoring time window.

[0090] If the operating condition disturbance category of the power battery is the second operating condition disturbance category, the real-time monitoring module determines the second monitoring time window based on the period when the operating condition disturbance of the power battery is weak and obvious.

[0091] Understandably, when the power battery is in the first disturbance category, it means that the disturbance intensity of the steering mechanism increases with the operating time, and the inaccuracy of the power battery monitoring will continue to accumulate. At this time, the real-time monitoring module determines the first monitoring time window by limiting the output power of the power battery. Power limiting can reduce the fluctuation of the battery's internal resistance voltage drop caused by high current discharge and reduce the sudden rise and fall of the terminal voltage caused by drastic power changes. This makes the power battery data within the monitoring window closer to the true value and avoids the continuous accumulation of disturbances from further amplifying the monitoring error.

[0092] Understandably, when the power battery is in the second disturbance category, the steering mechanism, which is strongly disturbed, and the weakly disturbed actions occur intermittently, resulting in inaccurate power monitoring and fluctuations. At this time, the second monitoring time window can be determined based on the period when the power battery is weakly disturbed. The period when the disturbance is weakly disturbed is the period when the steering mechanism is less affected by wind and the power output is stable. During this period, the battery discharge current is stable, the internal resistance voltage drop changes little, the terminal voltage fluctuates slightly, and the power display value can better reflect the actual remaining power.

[0093] Specifically, the timely monitoring module is used to determine a first monitoring time window, or, to determine a second monitoring time window, wherein,

[0094] The first monitoring time window is a preset duration period during which the output power of the power battery is limited; the second monitoring time window is a preset duration period during which the operating condition is weakly dominant.

[0095] The period of weakly manifested disturbance under operating conditions is the period after the steering execution process of the steering mechanism under disturbance ends.

[0096] In this invention, the start time of the period of weakly manifested disturbance of the working condition is the time when the steering execution process of the steering mechanism under the disturbance of the working condition ends.

[0097] In this invention, the first monitoring time window and the second monitoring time window have the same duration, and their preset duration can be set to 3 seconds. Those skilled in the art can also set the duration of the first monitoring time window and the second monitoring time window according to the monitoring accuracy requirements.

[0098] In this invention, the method by which the real-time monitoring module limits the output power of the power battery can be set by those skilled in the art. Here, a method for limiting the output power of the power battery is provided, in which the output power of the power battery can be limited to the product of the rated output power of the power battery and the power limiting factor, wherein the power limiting factor is 0.8.

[0099] Understandably, this invention limits the output power of the power battery to reduce the drastic fluctuations in battery terminal voltage caused by high-current discharge. Then, within the duration of the power limitation, a preset duration is selected as the first monitoring time window. This is because the battery discharge current is more stable under power limitation, the terminal voltage fluctuation amplitude is compressed, and the displayed power level more accurately reflects the actual remaining power. This invention addresses the fluctuating disturbance characteristics of the second operating condition's disturbance category. When the high-power output state terminates, the battery discharge current decreases significantly, the internal resistance voltage drop decreases accordingly, and the terminal voltage recovers to a relatively stable state. Furthermore, at this time, the impact of wind disturbance on power output is weakened, and the displayed power level is closer to the true level, thus accurately capturing the actual power battery state.

[0100] Specifically, the dynamic energy replenishment module is used to determine whether to activate the range extender to replenish the power battery, wherein...

[0101] The dynamic power replenishment module is used to compare the power monitoring value obtained within the power monitoring time window with the preset power threshold value;

[0102] If the power monitoring value is greater than the power threshold, the dynamic power replenishment module determines that the range extender will not be started.

[0103] If the power monitoring value is less than or equal to the power threshold, the dynamic energy replenishment module determines to start the range extender to replenish the power battery.

[0104] In this invention, the preset power threshold is the power value required for the range extender to start supplying power in order to ensure the output effect of the power battery and protect the power battery from over-discharge. It is generally set according to the rated power of the power battery. For example, the power threshold can be set to 15% of the rated power of the power battery.

[0105] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

[0106] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A battery management system for an electric new energy loader, characterized in that, include: The battery status assessment module includes a feature clustering unit and a filtering unit. The feature clustering unit is used to pre-obtain the changes in the power battery charge of each steering mechanism on the loader during steering execution, and to determine the charge recovery characteristics on the charge loss curve constructed based on the changes in charge charge. The screening unit is used to screen steering mechanisms whose operating conditions are disturbed based on the analysis results of the power display recovery characteristics. The fusion analysis module, which is connected to the battery state assessment module, is used to obtain the steering characterization vector of the steering mechanism under operating conditions disturbance, and to sort the steering mechanisms under operating conditions disturbance according to the magnitude of the component vector of the steering characterization vector in the wind disturbance direction. The fusion analysis module is used to obtain the magnitude of the component vector of the steering characterization vector in the direction of wind disturbance, and sort the steering mechanisms under the disturbance of the working condition in descending order of the magnitude of the component vector. The real-time monitoring module, which is connected to the fusion analysis module, is used to determine the power battery power monitoring time window based on the result of comparing the sorting of the steering mechanism under working condition disturbance with the actual calling order of the steering mechanism. This includes limiting the output power of the power battery to determine the first monitoring time window, or determining the second monitoring time window based on the period of weak manifestation of the power battery under working condition disturbance. If the order of the steering mechanism under the disturbance condition is consistent with the actual calling order of the steering mechanism, the timely monitoring module determines the disturbance condition category of the power battery as the first disturbance condition category, and limits the output power of the power battery to determine the first monitoring time window. If the order of the steering mechanism under the disturbance condition is inconsistent with the actual calling order of the steering mechanism, the timely monitoring module determines the disturbance category of the power battery as the second disturbance category and determines the second monitoring time window based on the weak manifestation period of the disturbance condition of the power battery. The actual invocation order of the steering mechanism is determined according to the steering execution timing of the steering mechanism; The first monitoring time window is a preset duration period during which the output power of the power battery is limited; the second monitoring time window is a preset duration period during which the operating condition is weakly dominant. The period of weakly manifested disturbance of the working condition is the period after the steering execution process of the steering mechanism under the disturbance of the working condition ends; The dynamic energy replenishment module, which is connected to the real-time monitoring module, is used to determine whether to start the range extender to replenish the power battery based on the acquired power monitoring value within the power monitoring time window.

2. The battery management system for the electric new energy loader according to claim 1, characterized in that, The feature clustering unit is used to construct a power loss curve based on power change, wherein... The feature clustering unit is used to obtain the real-time power display value of the power battery during the steering mechanism's steering execution, so as to plot the power loss curve of the real-time power display value with the steering angle.

3. The battery management system for the electric new energy loader according to claim 2, characterized in that, The feature clustering unit is used to determine the characteristics of the battery level recovery, wherein... The feature clustering unit is used to divide the power loss curve into several sub-curve segments at preset turning angle intervals, select sub-curve segments with positive slopes as power display recovery sub-curve segments, and determine several adjacent power display recovery sub-curve segments as feature curve segments.

4. The battery management system for the electric new energy loader according to claim 3, characterized in that, The screening unit is used to screen steering mechanisms whose operating conditions are disturbed, wherein... The filtering unit is used to obtain the maximum difference between the real-time power display values ​​of any two points on the characteristic curve segment, and the filtering unit is used to filter steering mechanisms whose maximum difference is greater than a preset difference threshold as steering mechanisms with disturbed operating conditions.

5. The battery management system for the electric new energy loader according to claim 4, characterized in that, The fusion analysis module is used to obtain the steering characterization vector of the steering mechanism under disturbed operating conditions, wherein, The fusion analysis module is used to obtain the starting point and ending point of the running trajectory of the bearing arm controlled by the working condition disturbance steering mechanism during the steering execution process, and to determine the vector from the starting point to the ending point of the running trajectory as the steering characterization vector.

6. The battery management system for the electric new energy loader according to claim 1, characterized in that, The dynamic energy replenishment module is used to determine whether to activate the range extender to replenish the power battery. The dynamic power replenishment module is used to compare the power monitoring value obtained within the power monitoring time window with the preset power threshold value; If the power monitoring value is less than or equal to the power threshold, the dynamic energy replenishment module determines to start the range extender to replenish the power battery.

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