Methods and devices for power distribution in electric work machinery, and electric work machinery.

Abstract

This application discloses a method, apparatus, and electric work platform for power allocation. The method includes: determining the total power demand of the electric work platform and the actual maximum output power of the power battery at the current moment; when the total power demand exceeds the actual maximum output power, acquiring the operating parameters of the electric work platform; determining the current operating condition of the electric work platform based on the operating parameters, wherein the operating conditions include a combined driving acceleration hydraulic action condition, a combined driving wheel slippage hydraulic action condition, and a combined hill start hydraulic action condition, with different preset power allocation strategies corresponding to different operating conditions; determining the target drive motor power and target hydraulic motor power based on the preset power allocation strategy corresponding to the current operating condition and the operating parameters; and controlling the drive motor and hydraulic motor to operate according to the target drive motor power and target hydraulic motor power. This application can improve the flexibility of power allocation.

Description

Technical Field

[0001] This application relates to the field of power distribution technology, and specifically to a method, apparatus, and electric working machinery for power distribution. Background Technology

[0002] Electric work platforms (such as electric loaders and electric excavators) are core equipment for the green transformation of work machinery, widely used in infrastructure projects due to their low pollution and high energy efficiency. Their power systems use batteries as the core energy source, with drive motors responsible for driving and hydraulic motors handling loading, lifting, and other operational actions. The power distribution between these two components directly determines the equipment's operating efficiency, range, and operational safety. Currently, most electric work platform power distribution schemes use a fixed ratio, allocating battery output power according to a preset fixed proportion (e.g., 60% for the drive motor and 40% for the hydraulic motor), which cannot adapt to the dynamic power requirements of different operating scenarios. Therefore, existing power distribution methods for electric work platforms suffer from poor flexibility. Summary of the Invention

[0003] The purpose of this application is to provide a method, apparatus, electric work machinery, and machine-readable storage medium for power distribution of electric work machinery, in order to solve the problem of poor flexibility in the existing power distribution methods for electric work machinery.

[0004] To achieve the above objectives, the first aspect of this application provides a method for power distribution in electric work machinery, the electric work machinery including a power battery, a drive motor, and a hydraulic motor, the method comprising: Determine the total power demand of the electric work machinery and the actual maximum output power of the power battery at the current moment; When the total power demand exceeds the actual maximum output power, obtain the operating parameters of the electric work machinery. The current operating condition of the electric work machine is determined based on the operating parameters. The operating conditions of the electric work machine include the combined operating condition of driving acceleration hydraulic action, the combined operating condition of driving wheel slippage hydraulic action, and the combined operating condition of starting on a slope hydraulic action. Different operating conditions correspond to different preset power distribution strategies. Based on the preset power allocation strategy corresponding to the current working condition, the target drive motor power and the target hydraulic motor power are determined according to the working condition parameters. The drive motor and hydraulic motor are controlled to operate according to the target drive motor power and the target hydraulic motor power.

[0005] In this embodiment, the operating parameters include the drive wheel speeds of each drive wheel in the electric work platform, the current output shaft speed, the output shaft speed of the previous sampling period, the hydraulic motor speed, and the slope value of the current position of the electric work platform. Determining the current operating condition of the electric work platform based on the operating parameters includes: determining the drive wheel speed difference of the electric work platform based on the wheel speeds of each drive wheel; determining the drive acceleration of the electric work platform based on the current output shaft speed, the output shaft speed of the previous sampling period, and the preset sampling period; and determining the current operating condition of the electric work platform based on the slope value, the drive wheel speed difference, the hydraulic motor speed, and the drive acceleration.

[0006] In this embodiment, the current operating condition of the electric work platform is determined based on the slope value, the speed difference of the drive wheels, the speed of the hydraulic motor, and the drive acceleration. This includes: if the electric work platform only meets a first preset condition, determining the current operating condition as a combined driving acceleration hydraulic action condition, where the first preset condition is that the drive acceleration is greater than a preset acceleration and the speed of the hydraulic motor is greater than a preset speed; if the electric work platform only meets a second preset condition, determining the current operating condition as a combined driving wheel slippage hydraulic action condition, where the second preset condition is that the speed difference of the drive wheels is greater than a preset speed difference and the speed of the hydraulic motor is greater than a preset speed; if the electric work platform only meets a third preset condition, determining the current operating condition as a combined hill start hydraulic action condition, where the third preset condition is that the slope value is greater than a preset threshold and the speed of the hydraulic motor is greater than a preset speed; and if the electric work platform meets at least two of the first, second, and third preset conditions, determining the operating condition with the highest preset priority among the multiple operating conditions that meet the conditions as the current operating condition.

[0007] In this embodiment, the operating parameters include the current power demand of the drive motor, the current power demand of the hydraulic motor, and the handle opening of the electric work machine at the current moment. When the current operating condition is a combined driving and accelerating hydraulic action condition, based on the preset power allocation strategy corresponding to the current operating condition, the target drive motor power and the target hydraulic motor power are determined according to the operating parameters. This includes: determining a limiting coefficient based on the handle opening; determining a limiting power for the drive motor based on the limiting coefficient and the current power demand of the drive motor; determining the limiting power of the drive motor as the target drive motor power, and determining the current power demand of the hydraulic motor as the target hydraulic motor power.

[0008] In this embodiment, the operating parameters include the slope value of the current position of the electric work machinery; when the current operating condition is a combined operating condition of hydraulic action starting on a slope, the target drive motor power and the target hydraulic motor power are determined according to the operating parameters based on the preset power distribution strategy corresponding to the current operating condition, including: determining the target drive motor power based on the slope value, preset traction power and preset anti-slip coefficient; and determining the difference between the actual maximum output power and the target drive motor power as the target hydraulic motor power.

[0009] In this embodiment, the operating parameters include the current hydraulic motor power requirement. When the electric work machinery includes a single drive motor and the current operating condition is a combined condition of drive wheel slippage and hydraulic action, the target drive motor power and target hydraulic motor power are determined based on the preset power allocation strategy corresponding to the current operating condition, according to the operating parameters. This includes: determining the remaining battery power based on the difference between the actual maximum output power and the preset traction power; if the remaining battery power is greater than or equal to the current hydraulic motor power requirement, the preset traction power is determined as the target drive motor power, and the current hydraulic motor power requirement is determined as the target hydraulic motor power; if the remaining battery power is less than the current hydraulic motor power requirement, the difference between the actual maximum output power and the current hydraulic motor power requirement is determined as the target drive motor power, and the current hydraulic motor power requirement is determined as the target hydraulic motor power.

[0010] In this embodiment, the operating parameters include the current required power of the drive motor, the current required power of the hydraulic motor, and the drive wheel speeds of each drive wheel in the electric work machinery. When the electric work machinery includes multiple drive motors, and the current operating condition is a combined condition of drive wheel slippage and hydraulic action, the target drive motor power and target hydraulic motor power are determined based on the preset power allocation strategy corresponding to the current operating condition, according to the operating parameters. This includes: determining the target drive wheel experiencing slippage based on the drive wheel speed; determining the target drive motor power of the target drive motor corresponding to the target drive wheel as the preset traction power; determining the target drive motor power of the other drive motors among the multiple drive motors (excluding the target drive motor) as the current required power of the drive motor; determining the power difference between the actual maximum output power and the total drive motor power, where the total drive motor power is the sum of the target drive motor powers of the multiple drive motors; and determining the smaller of the power difference and the current required power of the hydraulic motor as the target hydraulic motor power.

[0011] A second aspect of this application provides a device for power distribution in electric work machinery, comprising: The memory is configured to store instructions; The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the aforementioned method for power distribution in electric machinery.

[0012] A third aspect of this application provides an electric work machine, comprising: a power battery; a drive motor; a hydraulic motor; and the aforementioned device for power distribution of the electric work machine.

[0013] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned method for power distribution in electric work machinery.

[0014] The above technical solution first determines the total power demand of the electric work platform and the actual maximum output power of the power battery at the current moment. Then, when the total power demand exceeds the actual maximum output power, the operating parameters of the electric work platform are obtained. Next, the current operating condition of the electric work platform is determined based on the operating parameters. The operating conditions of the electric work platform include a combined driving acceleration hydraulic action condition, a combined driving wheel slippage hydraulic action condition, and a combined hill start hydraulic action condition. Different operating conditions correspond to different preset power allocation strategies. Furthermore, based on the preset power allocation strategy corresponding to the current operating condition, the target drive motor power and target hydraulic motor power are determined according to the operating parameters. Finally, the drive motor and hydraulic motor are controlled to operate according to the target drive motor power and target hydraulic motor power. This application can be applied to the power allocation of electric work platforms under combined operating conditions, matching different dynamic power allocation strategies for different combined operating conditions, thus improving the flexibility of power allocation.

[0015] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 A flowchart illustrating a method for power distribution in electric work machinery, provided as an embodiment of this application; Figure 2 This is a structural block diagram of a device for power distribution in electric work machinery, provided as an embodiment of this application. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0018] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0019] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0020] The core power source of electric work machinery is the power battery. Limited by the battery's chemical characteristics and thermal management system, its output power has a physical upper limit. When the total power demand exceeds this limit, directly allocating power according to demand can lead to battery over-discharge, overheating and runaway, or even damage. To address this, this application proposes a method for power allocation in electric work machinery.

[0021] Figure 1 This is a flowchart illustrating a method for power distribution in electric work machinery, provided as an embodiment of this application. Figure 1 As shown in the figure, this application provides a method for power distribution in electric work machinery, which includes a power battery, a drive motor, and a hydraulic motor. The method may include the following steps: Step 101: Determine the total power demand of the electric work machinery and the actual maximum output power of the power battery at the current moment.

[0022] In this embodiment, electric work machinery refers to work machinery driven by a power battery, such as electric loaders and electric excavators. Electric work machinery may include a power battery, a drive motor, a hydraulic motor, and other electrical components, such as air conditioning systems and DC-DC converters. Total power demand refers to the total power required by the electric work machinery at the current moment to complete driving, hydraulic operations, and the demands of other electrical components; it is the sum of the power demanded by the drive motor, the hydraulic motor, and other electrical components. The actual maximum output power of the power battery refers to the maximum power that the power battery can stably output under the current state.

[0023] In one embodiment, the current power requirement of the drive motor can be calculated based on the drive motor speed and torque fed back by the motor controller via the CAN bus; the current power requirement of the hydraulic motor can be calculated based on the hydraulic motor speed and torque fed back by the motor controller via the CAN bus; the power requirement of the air conditioning system can be directly read from the power data fed back by the air conditioning system on the CAN bus; and the power requirement of the DC-DC converter can be calculated based on the DC-DC converter output voltage and current.

[0024] In this embodiment of the application, determining the actual maximum output power of the power battery at the current moment includes: The system acquires the current bus voltage, bus current, and remaining charge of the power battery. Based on the bus voltage and current, it determines the actual output power of the power battery. Based on the actual output power, remaining charge, and a preset attenuation coefficient, it determines the attenuation voltage of the power battery. Based on the attenuation voltage, the maximum output current of the power battery, and a preset efficiency coefficient, it determines the maximum output power of the power battery after attenuation, where the maximum output current is determined by the physical characteristics of the power battery. The smaller of the rated output power of the power battery and the maximum output power after attenuation is determined as the actual maximum output power of the power battery. By considering the maximum output power after battery attenuation and adjusting the actual maximum output power in real time, it avoids battery overcurrent and aging problems caused by rigidly distributing power to the maximum capacity when the charge is low, which helps extend battery life and reduce the system overcurrent failure rate.

[0025] Step 102: When the total power demand is greater than the actual maximum output power, obtain the operating parameters of the electric work machinery.

[0026] As can be understood, operating parameters refer to physical parameters that reflect the current operating status of electric work platforms, including but not limited to the drive wheel speeds of each drive wheel, the current output shaft speed, the output shaft speed of the previous sampling period, the hydraulic motor speed, the slope value of the current position of the electric work platform, the current power demand of the drive motor, the current power demand of the hydraulic motor, and the current handle opening of the electric work platform. Specifically, when the total power demand exceeds the actual maximum output power of the power battery, the current operating scenario can be accurately determined by collecting key parameters of the electric loader, providing data support for determining the current operating condition of the electric loader and the matching power allocation strategy.

[0027] Step 103: Determine the current operating condition of the electric work machine based on the operating condition parameters. The operating conditions of the electric work machine include the combined operating condition of driving acceleration hydraulic action, the combined operating condition of driving wheel slippage hydraulic action, and the combined operating condition of starting on a slope hydraulic action. Different operating conditions correspond to different preset power distribution strategies.

[0028] It can be understood that the combined driving acceleration and hydraulic action condition refers to the operating condition where the electric work machinery performs hydraulic actions (such as lifting the bucket while driving) simultaneously during acceleration. The combined driving wheel slippage and hydraulic action condition refers to the operating condition where the electric work machinery performs hydraulic shoveling actions (such as the bucket cutting into the material) simultaneously when the driving wheels slip due to insufficient ground adhesion while loading materials. The combined slope start and hydraulic action condition refers to the operating condition where the electric work machinery performs hydraulic pre-actions (such as pre-lifting the bucket before starting) simultaneously when starting on a slope. Considering the differences in safety and efficiency requirements of electric work machinery under different operating conditions, this application embodiment sets different preset power allocation strategies for different operating conditions. Specifically, the current operating state of the electric work machinery can be determined based on the operating parameters of the electric loader. In one example, the driving acceleration, driving wheel speed difference, hydraulic motor speed, and current slope value of the electric work machinery can be determined based on the operating parameters, and then the operating condition currently met by the electric work machinery can be determined based on the above parameters.

[0029] Step 104: Based on the preset power allocation strategy corresponding to the current working condition, determine the target drive motor power and the target hydraulic motor power according to the working condition parameters.

[0030] It can be understood that the target drive motor power is the power value ultimately allocated to the drive motor according to a preset power allocation strategy. The target hydraulic motor power is the power value ultimately allocated to the hydraulic motor according to a preset power allocation strategy. It should be noted that the embodiments of this application mainly consider the power allocation of the drive motor and the hydraulic motor. The power requirements of other electrical components are relatively small and are not considered here. After meeting the power requirements of the hydraulic motor and the drive motor, the remaining power can be allocated to other electrical components.

[0031] Specifically, after determining the current operating condition of the electric work platform, the target drive motor power and target hydraulic motor power can be determined according to the preset power allocation strategy corresponding to the current operating condition and in combination with the operating parameters of the electric work platform. In this way, targeted power allocation strategies can be adopted for different operating conditions to meet the needs of different operating conditions.

[0032] Step 105: Control the operation of the drive motor and hydraulic motor according to the target drive motor power and the target hydraulic motor power.

[0033] Specifically, after determining the target drive motor power and the target hydraulic motor power, the vehicle controller can send power commands to the drive motor controller (MCU) and the hydraulic motor controller according to the target drive motor power and the target hydraulic motor power, so that the motor outputs power according to the target power.

[0034] In this way, based on the operating parameters, the precise matching of operating conditions and power distribution strategies can be achieved, taking into account safety, efficiency and battery protection, adapting to the complex composite operating scenarios of electric operating machinery, and providing a reliable solution for the power control of electric operating machinery.

[0035] The above technical solution first determines the total power demand of the electric work platform and the actual maximum output power of the power battery at the current moment. Then, when the total power demand exceeds the actual maximum output power, the operating parameters of the electric work platform are obtained. Next, the current operating condition of the electric work platform is determined based on the operating parameters. The operating conditions of the electric work platform include a combined driving acceleration hydraulic action condition, a combined driving wheel slippage hydraulic action condition, and a combined hill start hydraulic action condition. Different operating conditions correspond to different preset power allocation strategies. Furthermore, based on the preset power allocation strategy corresponding to the current operating condition, the target drive motor power and target hydraulic motor power are determined according to the operating parameters. Finally, the drive motor and hydraulic motor are controlled to operate according to the target drive motor power and target hydraulic motor power. This application can be applied to the power allocation of electric work platforms under combined operating conditions, matching different dynamic power allocation strategies for different combined operating conditions, thus improving the flexibility of power allocation.

[0036] In this embodiment, the operating parameters include the drive wheel speeds of each drive wheel in the electric work platform, the current output shaft speed, the output shaft speed of the previous sampling period, the hydraulic motor speed, and the slope value of the current position of the electric work platform. Determining the current operating condition of the electric work platform based on the operating parameters may include: determining the drive wheel speed difference of the electric work platform based on the wheel speeds of each drive wheel; determining the drive acceleration of the electric work platform based on the current output shaft speed, the output shaft speed of the previous sampling period, and the preset sampling period; and determining the current operating condition of the electric work platform based on the slope value, the drive wheel speed difference, the hydraulic motor speed, and the drive acceleration.

[0037] It can be understood that the drive wheel speed is the real-time rotational speed of each drive wheel of the electric work machine; the output shaft speed is the real-time rotational speed of the power output shaft of the work machine; the output shaft speed of the previous sampling period is the output shaft speed recorded in the previous fixed time interval, which can be used to calculate the speed change rate in conjunction with the current output shaft speed; the preset sampling period is the fixed data acquisition interval set by the system; the hydraulic motor speed is the real-time rotational speed of the motor driving the hydraulic system; the slope value is the ground inclination angle of the current position of the electric work machine, which can be collected by sensors or calculated conventionally, and is used to reflect the terrain features of the working environment, such as uphill, downhill or flat ground.

[0038] Specifically, the drive wheel speed difference of the electric work platform is determined based on the wheel speeds of each drive wheel. This drive wheel speed difference is the difference in speed between drive wheels on the same or different axles, used to determine if wheel slippage exists. In one example, the drive wheel speed difference = (front wheel speed - rear wheel speed) / average wheel speed, where the average wheel speed is the average of all drive wheel speeds. Simultaneously, the drive acceleration of the electric work platform is determined based on the current output shaft speed, the output shaft speed of the previous sampling period, and the preset sampling period: drive acceleration = (current output shaft speed - output shaft speed of the previous sampling period) / preset sampling period. Further, the current operating condition of the electric work platform can be determined based on the slope value, drive wheel speed difference, hydraulic motor speed, and drive acceleration.

[0039] In one example, a mapping relationship between working conditions and feature thresholds can be established. The calculated slope value, drive wheel speed difference, hydraulic motor speed and drive acceleration are compared with the corresponding preset thresholds to realize working condition determination.

[0040] In this embodiment, determining the current operating condition of the electric work machine based on the slope value, drive wheel speed difference, hydraulic motor speed, and drive acceleration may include: if the electric work machine only meets a first preset condition, determining the current operating condition as a combined driving acceleration hydraulic action condition, where the first preset condition is that the drive acceleration is greater than a preset acceleration and the hydraulic motor speed is greater than a preset speed; if the electric work machine only meets a second preset condition, determining the current operating condition as a combined driving wheel slippage hydraulic action condition, where the second preset condition is that the drive wheel speed difference is greater than a preset speed difference and the hydraulic motor speed is greater than a preset speed; if the electric work machine only meets a third preset condition, determining the current operating condition as a combined hill start hydraulic action condition, where the third preset condition is that the slope value is greater than a preset threshold and the hydraulic motor speed is greater than a preset speed; if the electric work machine meets at least two of the first, second, and third preset conditions, determining the operating condition with the highest preset priority among the multiple operating conditions that meet the conditions as the current operating condition.

[0041] In this embodiment, the driving acceleration is a parameter reflecting the vehicle's acceleration state; a value greater than a preset acceleration indicates that the vehicle is in an acceleration state. The hydraulic motor speed is a parameter reflecting the hydraulic action execution state; a value greater than a preset speed indicates that hydraulic actions such as loading or lifting are in progress. The driving wheel speed difference is the difference between the speeds of each driving wheel; a value greater than a preset speed difference indicates that the driving wheels are slipping. The slope value is a parameter reflecting the degree of terrain inclination; a value greater than a preset threshold indicates that the vehicle is in a slope environment. The preset acceleration, preset speed, preset speed difference, and preset threshold are all set values ​​and can be calibrated experimentally.

[0042] It is understood that the composite operating condition of electric work machinery is essentially a combination of drive state, hydraulic state, and environmental state. The current operating condition can be determined based on the current operating parameters of the electric work machinery, according to a first preset condition, a second preset condition, and a third preset condition. Specifically, the first preset condition is the judgment condition for the composite operating condition of drive acceleration hydraulic action; the second preset condition is the judgment condition for the composite operating condition of drive wheel slippage hydraulic action; and the third preset condition is the judgment condition for the composite operating condition of hill start hydraulic action. In particular, the operating condition judgment in this embodiment is mainly a single operating condition determination; that is, when the current operating parameters of the electric work machinery satisfy only any one of the three preset conditions, the current operating condition is determined to be the corresponding operating condition.

[0043] Furthermore, this application embodiment also includes multi-condition conflict determination. In practical applications, electric work machinery usually does not simultaneously meet two or more preset conditions. However, to prevent special cases from occurring, this application embodiment adopts a priority setting method to handle multi-condition conflict determination. Specifically, when the electric work machinery meets at least two of the first, second, and third preset conditions, the work condition with the highest preset priority among the multiple work conditions that meet the conditions is determined as the current work condition. In one example, considering that starting on a slope involves safety issues, drive wheel slippage affects work efficiency and equipment lifespan, and drive acceleration is a normal work condition, according to the principle of safety first and efficiency second, the preset priorities can be set from high to low as the following: half-slope start hydraulic action composite work condition, drive wheel slippage hydraulic action composite work condition, and drive acceleration hydraulic action composite work condition. For example, when the electric work machinery simultaneously meets the first and second preset conditions, its corresponding current work condition is determined as the drive wheel slippage hydraulic action composite work condition.

[0044] Thus, by combining multiple parameters and prioritizing them, and avoiding misjudgment based on a single parameter, this technical solution can cover multiple overlapping working conditions and adapt to complex construction site environments.

[0045] In this embodiment, the operating parameters include the current power demand of the drive motor, the current power demand of the hydraulic motor, and the handle opening of the electric work machine at the current moment. When the current operating condition is a combined driving and accelerating hydraulic action condition, the target drive motor power and target hydraulic motor power are determined based on the preset power allocation strategy corresponding to the current operating condition and according to the operating parameters. This may include: determining a limiting coefficient based on the handle opening; determining a limiting power for the drive motor based on the limiting coefficient and the current power demand of the drive motor; determining the limiting power of the drive motor as the target drive motor power, and determining the current power demand of the hydraulic motor as the target hydraulic motor power.

[0046] In this embodiment, the current drive motor power requirement is the real-time power required by the drive motor to meet the vehicle's driving needs; the current hydraulic motor power requirement is the real-time power required by the hydraulic motor to perform actions such as shoveling and lifting; and the handle opening is the triggering range of the operating handle of the working machinery (such as the accelerator handle or the hydraulic action handle), which is usually expressed as 0-100%.

[0047] It is understandable that in the combined driving and accelerating hydraulic action, the driver expresses the power demand through the handle opening. However, the output power of the power battery is limited, and it is necessary to avoid excessive driving power that could cause hydraulic action to stall. Therefore, this embodiment of the application can use the handle opening as the demand benchmark, constrain the power of the drive motor through a limit coefficient, prioritize the power required for hydraulic action, and simultaneously meet reasonable acceleration needs, achieving a dynamic balance between demand, constraint, and allocation. First, the limit coefficient is determined based on the handle opening. In one example, the corresponding limit coefficient can be determined based on the handle opening of the current electric operating machine, according to a pre-built mapping relationship between handle opening and limit coefficient. For example, a limit coefficient of 0.5 corresponds to a handle opening of 0-30%, a limit coefficient of 0.8 corresponds to a handle opening of 31-70%, and a limit coefficient of 1.0 corresponds to a handle opening of 71-100%. In another example, the limit coefficient can be the handle opening minus a set value, for example, limit coefficient = arm opening - 0.4, where 0.4 is a set value, which can be determined based on the actual situation of the electric operating machine and combined with experiments. In this way, by dynamically adjusting the limiting coefficient through the handle opening, the disconnect between power distribution and operational intent can be avoided.

[0048] Furthermore, based on the limiting factor and the current power requirement of the drive motor, the limited power of the drive motor is determined: limited power of the drive motor = limiting factor × current power requirement of the drive motor. Then, the limited power of the drive motor is set as the target drive motor power, and the current hydraulic power requirement is directly set as the target hydraulic power, to ensure that the total power does not exceed the actual maximum output power of the power battery. In this way, hydraulic power is prioritized to prevent action jamming, while drive power is reasonably limited to avoid power contention, reduce conflicts between acceleration and hydraulic action, reduce driver workload, and improve work efficiency.

[0049] In this embodiment, the operating parameters include the slope value of the current position of the electric work machinery; when the current operating condition is a combined operating condition of starting on a slope and hydraulic action, the target drive motor power and the target hydraulic motor power are determined according to the operating parameters based on the preset power distribution strategy corresponding to the current operating condition. This may include: determining the target drive motor power based on the slope value, the preset traction power, and the preset anti-slip coefficient; and determining the difference between the actual maximum output power and the target drive motor power as the target hydraulic motor power.

[0050] In this embodiment, the preset traction power is the basic driving power preset for different slopes, that is, the minimum driving power required for the vehicle to remain stationary or start at the corresponding slope, which can be determined through experiments. The preset anti-slip coefficient is a safety factor used to amplify the basic traction power, reserve power redundancy to avoid slipping, and balance safety and power utilization.

[0051] It is understandable that when starting on a slope, the vehicle needs to overcome the slope resistance to prevent rolling back, while maintaining hydraulic operation, such as preventing material from spilling from the bucket. Therefore, this embodiment of the application uses the slope value as the core basis, calculates the lower limit of the drive power by preset traction power and anti-rollback coefficient to ensure that the vehicle does not roll back, and then subtracts the drive power from the actual maximum output power of the battery to obtain the power that the hydraulic motor can allocate, so as to achieve safety first and on-demand allocation.

[0052] Specifically, the target drive motor power is determined by multiplying the preset traction power, the preset anti-slip coefficient, and the slope value. The difference between the actual maximum output power and the target drive motor power is then determined as the target hydraulic motor power. In this way, reserving drive power redundancy through the anti-slip coefficient helps reduce the risk of slippage. Furthermore, maximizing the allocation of hydraulic power while meeting anti-slip requirements helps avoid hydraulic actuation jamming. Dynamically adjusting the drive power based on the slope value requires no manual intervention, adapts to complex construction site terrain, and offers high flexibility.

[0053] In this embodiment, the operating parameters include the current hydraulic motor power requirement. When the electric work machinery includes a single drive motor and the current operating condition is a combined condition of drive wheel slippage and hydraulic action, the target drive motor power and target hydraulic motor power are determined based on the preset power allocation strategy corresponding to the current operating condition, according to the operating parameters. This can include: determining the remaining battery power based on the difference between the actual maximum output power and the preset traction power; if the remaining battery power is greater than or equal to the current hydraulic motor power requirement, determining the preset traction power as the target drive motor power and the current hydraulic motor power requirement as the target hydraulic motor power; if the remaining battery power is less than the current hydraulic motor power requirement, determining the difference between the actual maximum output power and the current hydraulic motor power requirement as the target drive motor power and the current hydraulic motor power requirement as the target hydraulic motor power.

[0054] In this embodiment, the preset traction power is the minimum drive power to ensure the electric work machinery does not slip, and it can be set according to the actual situation of the vehicle. It is understood that when the drive wheels slip, insufficient traction makes them prone to spinning freely. Over-distributing drive power will exacerbate slippage, while hydraulic power must be guaranteed to maintain the loading action. Therefore, this embodiment can first reserve a preset traction power to prevent drive wheel stall, and then dynamically distribute it according to the relationship between the remaining battery power and hydraulic demand, thereby prioritizing the hydraulic demand and appropriately reducing the drive power when insufficient, balancing slippage suppression and loading efficiency.

[0055] Specifically, when the electric work machinery includes a single drive motor (i.e., a single drive motor drives multiple drive wheels), the target drive motor power and target hydraulic motor power are determined as follows: First, calculate the remaining battery power: Remaining battery power = Actual maximum output power - Preset traction power. Then, determine the target power based on the scenario. In one example, if the remaining battery power is greater than or equal to the current hydraulic power requirement, then the target drive motor power = preset traction power, and the target hydraulic power = current hydraulic motor power requirement, thus preventing slippage while meeting hydraulic demand. In another example, if the remaining power is less than the current hydraulic motor power requirement, then the target drive motor power = Actual maximum output power - current hydraulic motor power requirement, and the target hydraulic power = current hydraulic motor power requirement, prioritizing loading, with drive power only meeting minimum traction. Thus, the preset traction power prevents drive wheel idling, and the hydraulic demand is prioritized to ensure uninterrupted loading, reducing slippage and improving loading efficiency.

[0056] In this embodiment, the operating parameters include the current required power of the drive motor, the current required power of the hydraulic motor, and the drive wheel speeds of each drive wheel in the electric work machinery. When the electric work machinery includes multiple drive motors, and the current operating condition is a combined condition of drive wheel slippage and hydraulic action, the target drive motor power and target hydraulic motor power are determined based on the preset power allocation strategy corresponding to the current operating condition, according to the operating parameters. This may include: determining the target drive wheel experiencing slippage based on the drive wheel speed; determining the target drive motor power of the target drive motor corresponding to the target drive wheel as a preset traction power; determining the target drive motor power of the other drive motors among the multiple drive motors (excluding the target drive motor) as the current required power of the drive motor; determining the power difference between the actual maximum output power and the total drive motor power, where the total drive motor power is the sum of the target drive motor powers of the multiple drive motors; and determining the smaller of the power difference and the current required power of the hydraulic motor as the target hydraulic motor power.

[0057] It is understandable that in multi-drive motor scenarios, drive wheel slippage often manifests as single or partial drive wheel idling, and unrestricted power will exacerbate slippage. To address this, the embodiments of this application first identify the slipping target drive wheel by wheel speed, limit the power of its corresponding motor, allocate power to the normal drive wheels as needed, and then subtract the total drive power from the maximum battery output power, taking the smaller value between the remaining amount and the hydraulic demand as the hydraulic power. This achieves the dual goals of suppressing slippage and ensuring loading.

[0058] Specifically, when electric work machinery includes multiple drive motors, such as dual or quad drive motors, the target drive motor power and target hydraulic motor power are determined as follows: First, the target drive wheel experiencing slippage is determined based on the drive wheel speed. When the multiple drive motors are dual drive motors, the target drive wheel is the wheel with the highest drive wheel speed among the multiple drive wheels. When the multiple drive motors are quad drive motors, the average drive wheel speed is first determined based on the drive wheel speeds of each drive wheel, and a wheel speed threshold is determined based on the average drive wheel speed. The drive wheel whose drive wheel speed exceeds the wheel speed threshold is then identified as the target drive wheel. Where the wheel speed threshold is greater than or equal to the average drive wheel speed, an abnormally high drive wheel speed indicates insufficient adhesion and slippage on that wheel. Further, the target drive motor power of the target drive motor corresponding to the target drive wheel is determined as the preset traction power, and the target drive motor power of other drive motors besides the target drive motor is determined as the current drive motor's required power. Then, the sum of the target drive motor powers for all drive motors is calculated to obtain the total drive motor power. The power difference between the actual maximum output power of the power battery and the total drive motor power is then calculated; this power difference reflects the power margin that can be allocated to the hydraulic motors. Finally, the smaller of the power difference and the current hydraulic motor power requirement is determined as the target hydraulic motor power. Thus, in scenarios with multiple drive motors, specifically limiting the power of the drive motor corresponding to the slipping drive wheel helps reduce the slippage rate and avoid power waste. It eliminates the need to uniformly limit all drive motors, adapting to the differentiated control needs of multiple motors. The hydraulic power is taken as the smaller of the margin and the requirement, balancing driving and operation.

[0059] Figure 2 This is a structural block diagram of a device for power distribution in electric work machinery, provided as an embodiment of this application. Figure 2 As shown in the illustration, this application also provides a device for power distribution in electric work machinery, comprising: Memory 210 is configured to store instructions; The processor 220 is configured to retrieve instructions from the memory 210 and, when executing the instructions, to implement the method for power distribution of electric work machinery as described in the above embodiments.

[0060] This application also provides an electric work machine, including: a power battery; a drive motor; a hydraulic motor; and the device for power distribution of the electric work machine described in the above embodiments.

[0061] This application also provides a machine-readable storage medium storing instructions for causing a machine to perform the power distribution method for electric work machinery described in the above embodiments.

[0062] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0063] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0064] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0065] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0066] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0067] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0068] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0069] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0070] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for power distribution in electric work machinery, characterized in that, The electric work machinery includes a power battery, a drive motor, and a hydraulic motor, and the method includes: Determine the total power demand of the electric work machinery and the actual maximum output power of the power battery at the current moment; When the total power demand is greater than the actual maximum output power, the operating parameters of the electric work machinery are obtained; The current operating condition of the electric work machine is determined based on the operating condition parameters. The operating conditions of the electric work machine include a combined operating condition of driving acceleration hydraulic action, a combined operating condition of driving wheel slippage hydraulic action, and a combined operating condition of starting on a slope hydraulic action. Different operating conditions correspond to different preset power distribution strategies. Based on the preset power allocation strategy corresponding to the current working condition, the target drive motor power and the target hydraulic motor power are determined according to the working condition parameters; The drive motor and the hydraulic motor are controlled to operate according to the target drive motor power and the target hydraulic motor power; The operating parameters include the current power requirement of the drive motor, the current power requirement of the hydraulic motor, and the drive wheel speed of each drive wheel in the electric operating machinery. When the electric work machinery includes multiple drive motors, and the current working condition is a combined working condition of drive wheel slippage and hydraulic action, the step of determining the target drive motor power and target hydraulic motor power based on the working condition parameters according to the preset power allocation strategy corresponding to the current working condition includes: The target drive wheel that slipped was determined based on the drive wheel speed. The target drive motor power of the target drive motor corresponding to the target drive wheel is determined as the preset traction power, and the target drive motor power of the other drive motors among the multiple drive motors other than the target drive motor is determined as the current drive motor required power. Determine the power difference between the actual maximum output power and the total drive motor power, wherein the total drive motor power is the sum of the target drive motor powers of the plurality of drive motors; The smaller of the power difference and the current hydraulic motor power requirement is determined as the target hydraulic motor power.

2. The method according to claim 1, characterized in that, The operating parameters include the drive wheel speed of each drive wheel in the electric work machinery, the current output shaft speed, the output shaft speed in the previous sampling period, the hydraulic motor speed, and the slope value of the current position of the electric work machinery. Determining the current operating condition of the electric work machine based on the operating parameters includes: The difference in drive wheel speeds of the electric work machine is determined based on the wheel speeds of each drive wheel. The driving acceleration of the electric working machine is determined based on the current output shaft speed, the output shaft speed of the previous sampling period, and the preset sampling period. The current operating condition of the electric work machinery is determined based on the slope value, the speed difference of the drive wheels, the speed of the hydraulic motor, and the drive acceleration.

3. The method according to claim 2, characterized in that, Determining the current operating condition of the electric work machinery based on the slope value, the speed difference of the drive wheels, the speed of the hydraulic motor, and the drive acceleration includes: If the electric work machinery only meets the first preset condition, the current working condition is determined to be the combined working condition of the driving acceleration hydraulic action. The first preset condition is that the driving acceleration is greater than the preset acceleration and the speed of the hydraulic motor is greater than the preset speed. If the electric working machinery only meets the second preset condition, the current working condition is determined to be a combined working condition of the drive wheel slipping and hydraulic action. The second preset condition is that the speed difference of the drive wheel is greater than the preset speed difference and the speed of the hydraulic motor is greater than the preset speed. If the electric work machinery only meets the third preset condition, the current working condition is determined to be the composite working condition of hydraulic action for starting on a slope. The third preset condition is that the slope value is greater than a preset threshold and the speed of the hydraulic motor is greater than the preset speed. If the electric working machine satisfies at least two of the first preset condition, the second preset condition, and the third preset condition, the working condition with the highest preset priority among the multiple working conditions that satisfy the conditions is determined as the current working condition.

4. The method according to claim 1, characterized in that, The operating parameters include the current power demand of the drive motor, the current power demand of the hydraulic motor, and the current handle opening of the electric working machine. When the current operating condition is the combined driving and acceleration hydraulic action condition, determining the target drive motor power and target hydraulic motor power based on the operating condition parameters according to the preset power allocation strategy corresponding to the current operating condition includes: The limiting coefficient is determined based on the handle opening degree; The driving motor limit power is determined based on the limiting coefficient and the current driving motor power requirement; The power limit of the drive motor is determined as the target drive motor power, and the current power requirement of the hydraulic motor is determined as the target hydraulic motor power.

5. The method according to claim 1, characterized in that, The operating parameters include the slope value of the current position of the electric operating machinery; When the current operating condition is the combined hydraulic action condition for starting on a slope, the step of determining the target drive motor power and the target hydraulic motor power based on the operating condition parameters according to the preset power allocation strategy corresponding to the current operating condition includes: The target drive motor power is determined based on the slope value, the preset traction power, and the preset anti-slip coefficient; The difference between the actual maximum output power and the target drive motor power is determined as the target hydraulic motor power.

6. The method according to claim 1, characterized in that, The operating parameters include the current power requirement of the hydraulic motor; When the electric work machinery includes a single drive motor, and the current working condition is a combined working condition of drive wheel slippage and hydraulic action, the step of determining the target drive motor power and the target hydraulic motor power based on the working condition parameters according to the preset power allocation strategy corresponding to the current working condition includes: The remaining battery power is determined based on the difference between the actual maximum output power and the preset traction power; When the remaining battery power is greater than or equal to the current hydraulic motor power requirement, the preset traction power is determined as the target drive motor power, and the current hydraulic motor power requirement is determined as the target hydraulic motor power; When the remaining power of the battery is less than the current power requirement of the hydraulic motor, the difference between the actual maximum output power and the current power requirement of the hydraulic motor is determined as the target drive motor power, and the current power requirement of the hydraulic motor is determined as the target hydraulic motor power.

7. A device for power distribution in electric work machinery, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the method for power distribution of electric work machinery according to any one of claims 1 to 6.

8. An electric work machine, characterized in that, include: Power battery; Drive motor; Hydraulic motor; The device for power distribution of electric work machinery according to claim 7.

9. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the method for power distribution of electric working machinery according to any one of claims 1 to 6.

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