Hybrid bulldozer downhill energy recovery automatic control method and system

Abstract

The invention belongs to the technical field of hybrid power engineering machinery, and provides a hybrid power bulldozer downhill energy recovery automatic control method and system, after a hybrid power bulldozer enters a downhill stall working condition, whether a first-stage energy consumption response is started or not is determined according to comparison between the electric quantity of a battery pack and the upper limit of a set value; after the first-stage energy consumption response is started, if the electric quantity of the battery pack reversely charged by the driving motor is larger than the energy consumption demand of the first-stage energy consumption response, a second-stage energy consumption response is started; after the second-stage energy consumption response is started, the electric quantity of the battery pack is continuously compared with the upper limit of the set value, and whether third-stage energy consumption response is started or not is determined according to the comparison result; through the three-level energy consumption response which is automatically realized, the problem of over-charging of the battery pack can be avoided, the problems of charging explosion of the battery pack and stall of an engine are solved, and the safety performance of the whole machine is ensured.

Description

Technical Field

[0001] This invention belongs to the field of hybrid power engineering machinery technology, and in particular relates to an automatic control method and system for energy recovery of hybrid bulldozers going downhill. Background Technology

[0002] When the bulldozer is working or traveling on a slope, under its own weight, the bulldozer will accelerate along the slope. When the speed reaches a certain speed, the drive motor will not need to output power. Instead, it will run at overspeed under the reverse drive of the tracks. At this time, the drive motor will have the function of a generator and generate electricity in reverse.

[0003] When working downhill, the drive motor will charge the battery pack in reverse. The longer the downhill section, the greater the reverse charging. Due to the limited battery capacity, without control, even if the engine does not drive the generator, the reverse charging by the drive motor may exceed the battery's capacity, leading to battery overcharging and damage. If the battery is not dissipated in time after it is fully charged, the energy system will become unbalanced, potentially causing battery explosions and fires, engine overspeeding, and other abnormal malfunctions, rendering the machine unable to operate or move normally on slopes. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes an automatic control method and system for energy recovery during downhill driving of a hybrid bulldozer. Through an automatically implemented three-level energy consumption response, this invention ensures that the battery pack will not overcharge, thus solving the problems of battery pack explosion and engine stall, and guaranteeing the overall safety performance of the machine.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution: In a first aspect, the present invention provides an automatic control method for energy recovery during downhill driving of a hybrid bulldozer, comprising: Based on the positive or negative status of the power input to the drive motor, determine whether the hybrid bulldozer has entered a downhill stall condition, and the drive motor charges the battery pack in reverse. After entering the downhill stall condition, the system determines whether to activate the first-level energy consumption response based on a comparison between the battery pack's charge level and the set upper limit. After the first-level energy consumption response is started, if the amount of charge that the drive motor provides to the battery pack in reverse is greater than the energy consumption requirement of the first-level energy consumption response, then the second-level energy consumption response is started. After the second-level energy consumption response is activated, the battery pack's charge level is compared with the set upper limit, and the third-level energy consumption response is activated based on the comparison result.

[0006] Furthermore, when the drive motor's power input is negative, it is determined to be a downhill stall condition, at which point the drive motor outputs power in reverse.

[0007] Furthermore, when the battery pack's charge reaches the set upper limit, the engine fuel supply is stopped, and the battery pack outputs electrical energy in reverse to supply the generator as a drive motor.

[0008] Furthermore, after the first stage of energy consumption is started, if the amount of charge that the drive motor provides to the battery pack in reverse is greater than the energy consumption requirement of the first stage of energy consumption, the temperature-controlled fan system will be activated to consume energy.

[0009] Furthermore, if the temperature-controlled fan system consumes maximum power and the battery pack's charge exceeds the set upper limit, the working hydraulic system will be activated to dissipate energy.

[0010] Furthermore, in the case of downhill stall, the upper limit of the set value is reserved with a first preset percentage margin compared to the battery pack's maximum capacity. When the battery charge exceeds the upper limit of the set value by a second preset percentage, the energy consumption response is activated. The first preset percentage is greater than the second preset percentage.

[0011] Secondly, the present invention also provides an automatic control system for energy recovery during downhill driving of a hybrid bulldozer, comprising: The working condition judgment module is configured to determine whether the hybrid bulldozer has entered a downhill stall condition based on the positive or negative status of the drive motor power input, and the drive motor charges the battery pack in reverse. The first-level energy consumption response module is configured to determine whether to activate the first-level energy consumption response after entering the downhill stall condition by comparing the battery pack's charge level with the set upper limit. The second-level energy consumption response module is configured to: after the first-level energy consumption response is started, if the amount of charge that the drive motor provides to the battery pack in reverse is greater than the energy consumption requirement of the first-level energy consumption response, then the second-level energy consumption response will be started. The third-level energy consumption response module is configured to: after the second-level energy consumption response is activated, continue to compare the battery pack's charge level with the set upper limit, and determine whether to activate the third-level energy consumption response based on the comparison result.

[0012] Thirdly, the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the automatic control method for downhill energy recovery of a hybrid bulldozer as described in the first aspect.

[0013] Fourthly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to implement the steps of the automatic control method for downhill energy recovery of a hybrid bulldozer as described in the first aspect.

[0014] Fifthly, the present invention also provides a computer program product, the computer program product comprising a computer program, which, when executed by a processor, implements the steps of the automatic control method for energy recovery of a hybrid bulldozer downhill as described in the first aspect.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention, when a hybrid bulldozer enters a downhill stall condition, determines whether to activate the first-level energy consumption response based on a comparison between the battery pack's charge level and a set upper limit. After the first-level energy consumption response is activated, if the reverse charging power from the drive motor to the battery pack exceeds the energy consumption requirement of the first-level response, then the second-level energy consumption response is activated. After the second-level response is activated, the battery pack's charge level is continuously compared with the set upper limit, and the result determines whether to activate the third-level energy consumption response. This automatically implemented three-level energy consumption response ensures that the battery pack will not overcharge, solving the problems of battery pack overcharging and engine stall, and guaranteeing the overall safety performance of the machine. Attached Figure Description

[0016] The accompanying drawings, which form part of this embodiment, are used to provide a further understanding of this embodiment. The illustrative embodiments and their descriptions are used to explain this embodiment and do not constitute an improper limitation of this embodiment.

[0017] Figure 1 This is the transmission route of the hybrid bulldozer in Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the control system of Embodiment 1 of the present invention; Figure 3 This is a logic diagram of the control method in Embodiment 1 of the present invention; The components include: 1. Engine; 2. Transfer case; 3. Generator; 4. Power distributor; 5. Battery pack; 6. Drive motor; 7. Fan pump; 8. Fan motor; 9. Fan; 10. Hydraulic system control unit; 11. Overall power system monitoring unit; 12. Working pump; 13. Working valve; 14. Oil cylinder. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0020] Hybrid bulldozers, also known as hybrid bulldozers, differ from commonly seen bulldozers that are driven solely by a diesel engine or solely by a battery. Hybrid bulldozers typically have two or more drive sources. In this case, the diesel engine drives a generator to produce electricity, which, in conjunction with the battery, drives two electric motors on either side. These electric motors then power the left and right transmission systems, enabling the bulldozer to move and steer. The typical transmission route is: engine - transfer case - generator - generator controller - power distributor - drive motor controller - final drive case - tracks. The battery pack is connected to the power distributor, which monitors its charging and discharging.

[0021] Energy recovery: When a hybrid bulldozer is working downhill, the main unit's gravity pulls the drive motor in the opposite direction. The electronic control system usually has the function of reversing the charging of the battery, realizing energy recovery and storing it on the battery.

[0022] Bulldozer operating conditions: Bulldozers can perform bulldozing operations or travel and move between sites under different conditions such as flat ground and slopes.

[0023] Working hydraulic system: The hydraulic control system used by bulldozers to control the blade and ripper, typically includes a working pump, working valves, and related hydraulic cylinders.

[0024] Working valve: A hydraulic valve used to control various movements of the shovel and ripper. Most are disc-type multi-way valves, and the number of discs (connections) can be configured according to actual needs.

[0025] Working pump: A hydraulic pump used to control the actions of the working system, serving as the power source for each action of the working system. Bulldozers typically use fixed displacement pumps and variable displacement piston pumps. Fixed displacement pumps are generally gear pumps, whose displacement is fixed, and the pump flow output only changes with the speed. Variable displacement piston pumps are hydraulic pumps with variable displacement, and bulldozers usually use them in conjunction with working valves to form a load-sensitive hydraulic system.

[0026] Load-sensitive hydraulic systems typically consist of a variable displacement piston pump, a load-sensitive control hydraulic valve, and a hydraulic cylinder / motor. The system's flow and pressure output vary according to load changes, offering advantages such as energy saving and comfortable operation compared to fixed displacement hydraulic systems.

[0027] Temperature-controlled fan hydraulic system: This system uses a temperature sensor to collect the temperature of the cooling system medium and a controller to analyze the temperature to control the hydraulic pump and motor, adjusting the fan speed. The main components typically include a fan pump, a fan motor, and control valves. Common temperature-controlled fan hydraulic systems include a gear pump + fixed displacement gear motor combination or a variable displacement piston pump + fixed displacement motor system. The gear pump + fixed displacement gear motor system is a fixed displacement system; since the pump displacement is constant, its output flow remains constant at a constant engine speed. In this system, the fan motor speed is adjusted by regulating the pressure of the relief valve of the electro-proportional valve integrated into the system. The variable displacement piston pump + fixed displacement motor system is a variable displacement system. The fan pump is a variable displacement pump with an integrated control valve. The valve integrates an electro-proportional control solenoid valve, which changes the pump's output pressure by altering the control current, thereby controlling the fan motor speed. To ensure the system maintains high-speed output even in the event of a power outage, guaranteeing normal operation of the entire machine, the aforementioned proportional solenoid valve is an inverse proportional solenoid valve.

[0028] Transfer case: also called power distribution gearbox, is used to distribute the engine's power to the components that need power, dividing the engine's power into multiple power output ports, such as distributing it to the generator, hydraulic pump, etc.

[0029] Example 1: like Figure 1 As shown, when the bulldozer is working or traveling on a slope, under its own weight, the bulldozer will move faster and faster along the slope. When the speed reaches a certain speed, the first drive motor and the second drive motor will no longer need to output power. Instead, they will run at overspeed under the reverse drive of the tracks. At this time, the first drive motor and the second drive motor will have the function of generators and generate electricity in reverse, which will flow to the power distributor and be stored in the battery pack. At the same time, the first generator and the second generator will also output electrical energy and store it in the battery pack.

[0030] As noted in the background section, when charging on a downhill slope, once the battery is fully charged, the entire machine needs to consume energy as quickly as possible. If energy is not consumed in time, the battery may explode, and the engine may also be at risk of overspeeding.

[0031] To address at least one of the aforementioned problems, this embodiment provides an automatic control method for energy recovery during downhill driving of a hybrid bulldozer. Through automatic monitoring and control, it can prevent battery overcharging and engine overspeeding during downhill driving, ensuring that the entire machine can meet the normal operating conditions under various working conditions.

[0032] This embodiment also provides an automatic control system for energy recovery during downhill driving of a hybrid bulldozer, and the control method described above utilizes this control system. For example... Figure 2As shown, the control system integrates the electric drive system, temperature control fan system, and working hydraulic system of the hybrid bulldozer, and achieves maximum energy recovery and timely consumption of the hybrid bulldozer through the interaction of controllers between the various systems, thus maintaining the energy balance of the bulldozer under all working conditions.

[0033] The electric drive system includes components such as an engine 1, a transfer case 2, a generator 3, a power distributor 4, a battery pack 5, a drive motor 6, and a power system monitoring unit 11. The engine 1 is connected to the transfer case 2, and the generator 3 is mounted on the transfer case 2 via a spline connection. Part of the power from the engine 1 is transmitted to the generator 3 through the transfer case 2. The generator 3 then generates electricity and supplies it to either the battery pack 5 or the drive motor 6 through the power distributor 4. During normal operation on level ground and during walking, the power to the drive motor 6 can be provided by the generator 3 and the battery pack 5 individually or jointly.

[0034] The temperature-controlled fan system includes a fan pump 7, a fan motor 8, and a fan 9. The fan pump 7 is mounted on the transfer case 2, and the fan motor 8 drives the fan 9 to rotate for overall heat dissipation. The temperature-controlled fan system is a variable displacement piston pump + fixed displacement motor system. The variable displacement piston pump integrates an electro-proportional control valve group, which controls the fan pump output pressure to change inversely with the current. That is, the larger the control current, the lower the output pressure. In the power-off state, the system can output the maximum pressure to ensure the fan's maximum speed output. The fan pump current supply is controlled by the hydraulic system electronic control unit 10, and the fan motor 8 integrates a speed sensor.

[0035] The working system includes a working pump 12, a working valve 13, and related actuating cylinders 14, etc. The working hydraulic system is a load-sensitive system. The working pump 12 is a variable displacement piston pump, which integrates a swashplate angle sensor to monitor the real-time changes in the swashplate angle of the piston pump and thus calculate the real-time changes in the piston pump's displacement. The working valve 13 is a load-sensitive valve with multiple working connections, which can control various actions of the blade and ripper. It also has a dedicated energy-consuming working connection. The energy-consuming working connection does not output flow when the oil port is not closed. The A and B ports of the energy-consuming working connection are equipped with secondary relief valves. The working valve 13 integrates an electro-proportional solenoid valve, which is controlled by electro-proportional pilot control. The output flow of the working valve increases with the increase of the solenoid valve current, and the pressure automatically changes with the change of the valve port load.

[0036] The hydraulic system control unit 10 has the function of monitoring key parameters of the temperature-controlled fan hydraulic system and the working hydraulic system. Specifically, it monitors the output pressure of the fan pump 7 (assumed to be P) and the output speed of the fan motor 8 (assumed to be n). Since the motor is a fixed displacement motor (assumed to be L), the system flow rate (assumed to be Q, Q=n*L) can be calculated using the motor speed, and then the power consumption of the fan system (assumed to be Pw, Pw=P*Q) can be calculated. The working pump pressure and swashplate angle are monitored. The swashplate angle can be used to calculate the working pump displacement (assumed to be L). Combined with the working pump speed (assumed to be n), the working system output flow rate (assumed to be Q, Q=n*L) can be calculated. Further combined with the working pump pressure (assumed to be P), the working system power consumption (assumed to be Pw, Pw=P*Q) can be calculated.

[0037] like Figure 3 As shown, the control method performed based on the control system includes: S1. Based on the positive or negative value of the power input to the drive motor 6, determine whether the hybrid bulldozer has entered the downhill stall condition; after entering the downhill stall condition, determine whether to activate the first-level energy consumption response by comparing the battery pack 5's power level with the set upper limit. Specifically: The system automatically monitors the battery pack 5's power level. When the power level is less than a set value, the engine 1 drives the generator 3 to charge the battery pack 5. When the power level reaches the set value, the system stops charging the battery pack 5.

[0038] When the hybrid bulldozer is operating and traveling on a slope, the power distributor 4 monitors the power input of the drive motor 6 in real time. When the power input of the drive motor 6 is negative, it is determined to be a downhill stall condition, and the drive motor 6 will output power in reverse. At the same time, the overall power system control unit 11 compares whether the battery pack 5 is at the upper limit of the set power value. If it has not reached the upper limit, the drive motor is allowed to charge the battery pack 5 in reverse. When the power of the battery pack 5 reaches the upper limit, the fuel supply of the engine 3 is stopped. Since the engine 3 no longer supplies fuel and no longer outputs power, in order to ensure the response of the entire machine working system, it is necessary to ensure that the minimum speed at the transfer case can be supplied by the reverse power output of the battery pack 5 to the generator 3 as a drive motor. This realizes the first stage of energy consumption response. The energy-consuming components include the idling energy consumption of the generator 3, the low-voltage energy consumption of the working pump 12, and the low-voltage energy consumption of the fan system.

[0039] S2. When the first-stage energy consumption response is activated, if the system monitors that the battery pack 5 still has the risk of exceeding the predetermined upper limit 2, it means that the power supplied to the battery pack 5 by the drive motor 6 in reverse is greater than the energy consumption requirements of each component in the first-stage energy consumption. If further energy consumption is required, the power of the battery pack 5 will be consumed.

[0040] At this time, the temperature-controlled fan system can be started simultaneously to consume energy, which is defined as the second-level energy consumption response. At this time, the hydraulic system control unit 10 will reduce the current supplied to the fan pump 7. The reduction magnitude is automatically calculated and supplied by the whole machine power system control unit by comparing the reverse charging power of the drive motor 6 and the power consumed by the fan system.

[0041] S3. If the maximum power consumption of the temperature control fan system still cannot keep the battery pack 5 power within the specified range, the working hydraulic system can be started at the same time to consume energy. This is defined as the third level of energy consumption response. At this time, the hydraulic system control unit 10 will automatically calculate based on the comparison of the reverse charging power of the drive motor 6, the power consumption of the fan system, and the power consumption of the working system (the calculation method is described in 4.5), and supply a certain current to the energy-consuming working proportional valve of the working valve 13 to achieve a certain energy consumption of the working system.

[0042] In some embodiments, to address the issue of battery explosion caused by misjudgment of battery power in battery pack 5, the upper limit of battery power in battery pack 5 is reserved with a margin of about 10% compared to the maximum capacity of battery pack 5. This margin is used to compensate for monitoring errors and prevent misjudgment of battery power. When the battery power exceeds the upper limit by 5%, if the system is in a downhill energy recovery mode at this time, the system must start energy consumption. However, if the energy consumption response cannot be started due to system failure, the host system will conduct an early warning check and take forced shutdown measures.

[0043] The system employs a three-stage energy consumption response mechanism. The first stage compares the power consumed by the energy consumption response with the power recovered during downhill operation. The system then sequentially activates the first, second, and third stages of energy consumption response, with the power consumption increasing sequentially. The first stage has the lowest power consumption, specifically when the engine stops fuel supply, consuming the power required to reverse-drive the transmission and engine. The second stage adds energy consumption from the temperature-controlled fan system to the first stage's energy consumption. The power consumed by the temperature-controlled fan is controlled by the current supplied to the fan pump; the lower the current, the greater the power consumption, until the fan reaches its maximum speed, at which point the second stage reaches its maximum power consumption. The third level consumes the most power. In addition to the first and second levels of power consumption, it adds the power consumption of the working system's power consumption linkage. The power consumption of the working system's power consumption linkage varies depending on the current of the proportional valve adjusting the working valve; the lower the current, the less power is consumed by the working system's power consumption linkage. The activation of all these power consumption levels is achieved by comparing the battery pack 5's charge status with the power recovery power under downhill conditions. When the battery pack 5's charge has not reached the set upper limit, power recovery is allowed to charge the battery pack 5. When the battery pack 5's charge has reached the set upper limit, if the entire machine is still in downhill energy recovery mode, the power consumption response is activated. The specific power consumption level to be activated is automatically calculated and compared by the system.

[0044] Traditional methods can be used to calculate power consumption, but large fluctuations in speed and pressure can lead to significant variations in calculated flow rate and power, potentially causing inaccurate calculations. To prevent frequent switching due to instantaneous system changes, the system monitors the average over a period of time (e.g., 10 or 20 seconds) and uses this data to calculate the power consumption of each energy consumption response level. Furthermore, since battery power and energy consumption are monitored in real time, the second and third levels of energy consumption are variable and controllable. A closed-loop control system exists between battery power, energy recovery, and the power consumption of each level. When the battery power exceeds a set value and the system is in a downhill energy recovery state, the energy consumption response is activated. The more electricity the energy recovery system generates, the higher the power consumption is adjusted to until energy recovery and power consumption reach a balance. In summary, this achieves automatic control and balance of power recovery and power consumption, ensuring the safety of the entire electric drive control system.

[0045] In summary, the power system control unit 11, the hydraulic system control unit 10, and the power distributor 4 monitor the reverse power generation of the drive motor 6 under downhill conditions, automatically compare and determine whether to activate the first-level energy consumption response, the second-level energy consumption response, or the third-level energy consumption response, so as to achieve a balance between the battery pack 5 charge and the reverse power generation of the drive motor 6 under downhill conditions and keep them within an optimal range.

[0046] This embodiment can improve the safety of the whole machine: it has the function of automatically monitoring the reverse charging power of the whole machine under downhill conditions, automatically realizing three levels of energy consumption, ensuring that the battery power will not overcharge under various operating conditions, eliminating the problem of battery pack explosion and engine stall, and ensuring the safety performance of the whole machine.

[0047] This embodiment can improve the system's energy efficiency: the system automatically calculates and controls the balance between the battery pack 5's charge and the reverse charging energy of the drive motor 6, preventing overcharging of the battery and ensuring that the battery charge is at the upper limit of the most reasonable value under downhill conditions, thereby maximizing energy recovery. The recovered energy can be used for subsequent normal operations, improving the overall energy-saving effect of the hybrid bulldozer.

[0048] In this embodiment, the power supply system control unit 11 monitors the battery pack 5's power status in real time and monitors whether the drive motor 6 is in reverse power generation state. Based on the power generation of the drive motor 6 and the battery power status, automatic power consumption control is performed, and the first-level energy consumption response, the second-level energy consumption response, or the third-level energy consumption response is automatically activated by comparing the power consumption.

[0049] The method described in this embodiment can be applied to the field of hybrid power construction machinery, and also to other types of hybrid machinery. This embodiment is a method for efficient energy recovery and excess energy consumption control of a hybrid electric bulldozer during downhill operation or travel. It has automatic control and management functions, which can prevent excessive energy recovery from damaging the battery and causing abnormal phenomena such as engine overspeed. It has been applied to the DEH100 hybrid bulldozer.

[0050] Example 2: This embodiment provides an automatic control system for energy recovery during downhill driving of a hybrid bulldozer, including: The working condition judgment module is configured to determine whether the hybrid bulldozer has entered a downhill stall condition based on the positive or negative status of the drive motor power input, and the drive motor charges the battery pack in reverse. The first-level energy consumption response module is configured to determine whether to activate the first-level energy consumption response after entering the downhill stall condition by comparing the battery pack's charge level with the set upper limit. The second-level energy consumption response module is configured to: after the first-level energy consumption response is started, if the amount of charge that the drive motor provides to the battery pack in reverse is greater than the energy consumption requirement of the first-level energy consumption response, then the second-level energy consumption response will be started. The third-level energy consumption response module is configured to: after the second-level energy consumption response is activated, continue to compare the battery pack's charge level with the set upper limit, and determine whether to activate the third-level energy consumption response based on the comparison result.

[0051] The working method of the system is the same as that of the automatic control method for energy recovery of hybrid bulldozer downhill in Embodiment 1, and will not be repeated here.

[0052] Example 3: This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the automatic control method for energy recovery of a hybrid bulldozer downhill as described in Embodiment 1.

[0053] Example 4: This embodiment provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor. When the processor executes the program, it implements the steps of the automatic control method for energy recovery of a hybrid bulldozer downhill as described in Embodiment 1.

[0054] Example 5: This embodiment provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the steps of the automatic control method for energy recovery of hybrid bulldozers downhill as described in Embodiment 1.

[0055] The above description is merely a preferred embodiment of this practice and is not intended to limit the scope of this practice. Various modifications and variations can be made to this practice by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this practice should be included within the protection scope of this practice.

Claims

1. An automatic control method for energy recovery during downhill driving of a hybrid bulldozer, characterized in that, include: Based on the positive or negative status of the power input to the drive motor, determine whether the hybrid bulldozer has entered a downhill stall condition, and the drive motor charges the battery pack in reverse. After entering the downhill stall condition, the system determines whether to activate the first-level energy consumption response based on a comparison between the battery pack's charge level and the set upper limit. After the first-level energy consumption response is started, if the amount of charge that the drive motor provides to the battery pack in reverse is greater than the energy consumption requirement of the first-level energy consumption response, then the second-level energy consumption response is started. After the second-level energy consumption response is activated, the battery pack's charge level is compared with the set upper limit, and the third-level energy consumption response is activated based on the comparison result.

2. The automatic control method for energy recovery of a hybrid bulldozer downhill as described in claim 1, characterized in that, When the drive motor's power input is negative, it is determined to be a downhill stall condition, at which point the drive motor will output power in reverse.

3. The automatic control method for downhill energy recovery of a hybrid bulldozer as described in claim 2, characterized in that, When the battery pack reaches the set upper limit of charge, the engine fuel supply is stopped. At this time, the battery pack outputs electrical energy in reverse to supply the generator as a drive motor.

4. The automatic control method for energy recovery of a hybrid bulldozer downhill as described in claim 1, characterized in that, After the first stage of energy consumption starts, if the amount of charge that the drive motor provides to the battery pack in reverse exceeds the energy consumption requirement of the first stage of energy consumption, the temperature-controlled fan system will be activated to consume energy.

5. The automatic control method for downhill energy recovery of a hybrid bulldozer as described in claim 4, characterized in that, If the temperature-controlled fan system consumes maximum power and the battery pack's charge exceeds the set upper limit, the working hydraulic system will be activated to dissipate energy.

6. The automatic control method for energy recovery of a hybrid bulldozer downhill as described in claim 4, characterized in that, In the case of downhill stall, the upper limit of the set value is reserved with a first preset percentage margin compared to the battery pack's maximum capacity. When the battery charge exceeds the upper limit of the set value by a second preset percentage, the energy consumption response is activated. The first preset percentage is greater than the second preset percentage.

7. An automatic control system for energy recovery during downhill driving of a hybrid bulldozer, characterized in that, include: The working condition judgment module is configured to determine whether the hybrid bulldozer has entered a downhill stall condition based on the positive or negative status of the drive motor power input, and the drive motor charges the battery pack in reverse. The first-level energy consumption response module is configured to determine whether to activate the first-level energy consumption response after entering the downhill stall condition by comparing the battery pack's charge level with the set upper limit. The second-level energy consumption response module is configured to: after the first-level energy consumption response is started, if the amount of charge that the drive motor provides to the battery pack in reverse is greater than the energy consumption requirement of the first-level energy consumption response, then the second-level energy consumption response will be started. The third-level energy consumption response module is configured to: after the second-level energy consumption response is activated, continue to compare the battery pack's charge level with the set upper limit, and determine whether to activate the third-level energy consumption response based on the comparison result.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the automatic control method for downhill energy recovery of hybrid bulldozers as described in any one of claims 1-6.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that, When the processor executes the program, it implements the steps of the automatic control method for energy recovery of hybrid bulldozers downhill as described in any one of claims 1-6.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the automatic control method for energy recovery of a hybrid bulldozer downhill as described in any one of claims 1-6.

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