Power supply system and power supply control method for working bucket of insulated overhead working truck

Abstract

The invention belongs to the technical field of insulating overhead working trucks, and provides an insulating overhead working truck working bucket power supply system and a power supply control method.The insulating overhead working truck working bucket power supply system comprises a power unit, an insulating hydraulic transmission unit, a power generation unit and an energy storage and load unit which are sequentially connected in the energy transmission and conversion direction; power of the power unit is transmitted to the power generation unit through the insulating hydraulic transmission unit and is driven to generate power, and the power is supplied to the energy storage and load unit after rectification and voltage stabilization; and the control unit is used for acquiring the real-time operation state of the power supply system, pre-judging the load power change trend based on a power real-time balance principle, and dynamically adjusting the operation parameters of each unit to achieve power balance. According to the invention, a stable and reliable power supply can be provided for the working bucket on the premise that the insulation performance of the insulation vehicle is not damaged.

Description

Technical Field

[0001] This application relates to the field of insulated aerial work platform technology, and in particular to a power supply system and power supply control method for the working bucket of an insulated aerial work platform. Background Technology

[0002] Insulated aerial work platforms are commonly used in live-line work and maintenance in power distribution and grid systems. Their core function is to safely and efficiently transport personnel, tools, and equipment to designated high-altitude work locations. These platforms utilize insulated arms (typically made of non-conductive materials such as fiberglass, with no internal metal conductors) to effectively insulate personnel from the ground, ensuring the safe conduct of live-line work.

[0003] However, due to the insulating properties of the insulated arm, the control signals and electrical components inside the work bucket cannot be transmitted from the chassis to the work bucket via conventional metal wires. Therefore, providing a reliable and safe power supply to the insulated vehicle's work bucket becomes a critical issue.

[0004] Currently, a common solution is to equip the work basket with energy storage batteries (such as lead-acid or lithium batteries) for power supply. For example, patent application CN117936940A discloses a battery management method and system for an insulated aerial work platform. The method includes: real-time acquisition of battery voltage via a platform controller; if the sampled battery voltage is ≤ a voltage threshold, the battery is ready for charging; further, the remaining working time of the battery is determined to decide whether to charge; then, after the hydraulic system is in an idle state, the platform controller controls the generator output valve to open via the DO port, the power control relay to close, and the hydraulic generator set to supply power to the battery until the battery is saturated. This method can monitor the battery in real time and automatically charge it, allowing the insulated platform to work continuously, thereby improving the work efficiency of the work vehicle. However, this power supply method has obvious limitations: as the usage time increases, the battery life and effective working time become uncertain, often resulting in workers being trapped due to depleted battery power while working at height, which can easily lead to safety accidents. In addition, both lead-acid and lithium batteries have a high risk of thermal runaway when charged and discharged in insulated vehicles under harsh conditions such as being exposed to the summer sun, which can easily lead to battery fire or explosion, posing a serious safety hazard.

[0005] To address the drawbacks of the aforementioned batteries, existing companies have attempted to use hydraulic generators. For example, patent CN104528603B discloses a control device for electrical operation on the working platform of an insulated boom aerial work platform. This device includes a hydraulic oil supply circuit and is characterized by further comprising a hydraulic generator unit, a battery power supply unit, an electrical control box control unit, a voltage stabilization and charging control unit, and a hydraulic solenoid valve group control unit. The output of the voltage stabilization and charging control unit is connected to the input of the electrical control box control unit; the positive terminal of the battery power supply unit is connected to the input of the electrical control box control unit; the output of the electrical control box control unit is connected to the solenoid coil of the hydraulic valve group control unit; the hydraulic input port of the hydraulic generator unit is connected to the hydraulic oil supply circuit; the voltage output terminal of the hydraulic generator unit is connected to the input of the voltage stabilization and charging control unit; and the output of the voltage stabilization and charging control unit is connected to the input terminal of the battery power supply unit. However, the engine of this device may constantly operate at a high speed to ensure power generation capacity, failing to dynamically adjust according to the actual load, resulting in poor fuel economy. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a power supply system and power control method for the working bucket of an insulated aerial work platform, which can provide a stable and reliable power supply to the working bucket without compromising the insulation performance of the insulated vehicle.

[0007] To achieve the above and related objectives, the present invention adopts the following technical solution:

[0008] The first aspect of the present invention provides an insulated aerial work platform work bucket power supply system, comprising a power unit, an insulated hydraulic transmission unit, a power generation unit and an energy storage and load unit connected sequentially along the energy transmission and conversion direction, so as to transmit the power of the power unit to the power generation unit through the insulated hydraulic transmission unit and drive it to generate electricity, and then supply power to the energy storage and load unit after rectification and voltage stabilization.

[0009] It also includes a control unit, which is used to obtain the real-time operating status of the power supply system, predict the load power change trend based on the real-time power balance principle, and dynamically adjust the operating parameters of each unit to achieve power balance.

[0010] Furthermore, the power unit includes a chassis engine, a power take-off unit connected to the chassis engine, and a gear pump driven by the power take-off unit.

[0011] Furthermore, the insulated hydraulic transmission unit includes a hydraulic pipeline connected to a gear pump, a flow valve installed on the hydraulic pipeline, and a hydraulic motor connected to the outlet of the flow valve via the hydraulic pipeline. The hydraulic pipeline is an insulated resin hose filled with insulated hydraulic oil.

[0012] Furthermore, the power generation unit includes a three-phase permanent magnet motor connected to a hydraulic motor via a mechanical transmission mechanism, a three-phase rectifier bridge and a voltage regulator electrically connected to the three-phase permanent magnet motor.

[0013] Furthermore, the energy storage and load unit includes a load installed on the work hopper and a lithium battery as a backup power source. A voltage regulator is connected in parallel with the load and the lithium battery to supply power to the load or to charge the lithium battery.

[0014] Furthermore, it also includes an AC charger, whose input terminal is connected to an external AC power source and whose output terminal is connected to a lithium battery.

[0015] Furthermore, the principle of real-time power balance includes real-time calculation of power imbalance:

[0016] (Formula 1),

[0017] In formula 1, P represents the power imbalance. v P represents the output power of a three-phase permanent magnet motor. g Indicates the load power, where,

[0018] when When the chassis engine speed is increased first to increase the output power of the three-phase permanent magnet motor, if the power balance equation is still not met, the lithium battery is controlled to discharge to supplement the power supply.

[0019] when At the same time, the chassis engine speed is reduced first to decrease the output power of the three-phase permanent magnet motor and allow the excess electrical energy to charge the lithium battery.

[0020] Furthermore, the power balance equations include:

[0021] (Formula 2),

[0022] In Formula 2, P V P(t) represents the output power of the three-phase permanent magnet motor at time t; P1(t) represents the power of the lithium battery at time t; P g (t) represents the load power at time t; P b (t) represents the battery power at time t; This represents the power loss of the power supply system at time t.

[0023] A second aspect of the present invention provides a power supply control method for the working bucket of an insulated aerial work platform, comprising the following steps:

[0024] Step S100: Collect the real-time operating status of the power supply system, including at least the output power of the three-phase permanent magnet motor, the power of the lithium battery, and the load power;

[0025] Step S200: Calculate the power imbalance in real time based on the real-time operating status, predict the load power change trend based on the real-time power balance principle, and dynamically generate control commands.

[0026] In step S300, the control command is executed, and the output power of the three-phase permanent magnet motor of the hydraulic transmission is changed by adjusting the speed of the chassis engine first, so that the power supply system can meet the power balance equation; if the power balance equation cannot be met by adjusting the speed of the chassis engine alone, the lithium battery is controlled to discharge or charge to make up for the power difference.

[0027] Furthermore, in step S300, the lithium battery is in a float charge state when the power supply system is working normally.

[0028] The beneficial technical effects of this invention are as follows:

[0029] This invention supplies power to the work bucket primarily through hydraulic transmission and secondarily through lithium battery backup. Based on the principle of real-time power balance, it dynamically coordinates the operating parameters of each unit to provide a stable and reliable power supply to the work bucket while ensuring the insulation performance of the insulated aerial work platform.

[0030] This invention utilizes hydraulic transmission, insulating resin hoses, and insulating hydraulic oil to completely isolate high and low voltage circuits. The entire power supply system is non-conductive, reliably ensuring the safety of personnel working on live lines and enabling safe operation.

[0031] This invention employs closed-loop intelligent control based on the principle of real-time power balance to ensure real-time power balance in the system, guaranteeing stable and reliable power supply to the load. In case of unforeseen circumstances, the lithium battery effectively intervenes to ensure normal system operation. Under normal operating conditions, the power supply system directly supplies power to the load, eliminating concerns about battery power levels. Using a lithium battery as a backup power source, which is in a float-charge state under normal conditions, enhances safety. In the event of a hydraulic system failure, it can be temporarily used as a power source to prevent personnel from being trapped at heights, thereby improving system reliability.

[0032] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0033] The accompanying drawings, incorporated in and forming part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without inventive effort. In the drawings:

[0034] Figure 1This is a schematic diagram of the power supply system layout for the insulated aerial work platform's work bucket in this application;

[0035] Figure 2 This is a connection diagram of the components of the power supply system for the working bucket of the insulated aerial work vehicle in this application.

[0036] Figure Labels

[0037] 1: Chassis engine; 2: Superstructure controller; 3: Power take-off; 4: Gear pump; 5: Flow valve; 6: Hydraulic motor; 7: Three-phase permanent magnet motor; 8: Three-phase rectifier bridge; 9: Voltage regulator; 10: Lithium battery; 11: Mains charger; 12: Load. Detailed Implementation

[0038] Unless otherwise defined, all technical and / or scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should be understood that certain features of the invention (described in the context of separate embodiments for clarity) may also be provided in a single embodiment. Conversely, multiple features of the invention (described in the context of a single embodiment for brevity) may also be provided separately or in any suitable combination or, where appropriate, in any other described embodiment of the invention. Certain features described in the context of various embodiments will not be considered essential features of those embodiments unless the embodiment is inoperable without those elements. The invention is further illustrated below by specific examples; however, it should be noted that the specific process conditions and results described in the embodiments of the invention are merely illustrative and should not be construed as limiting the scope of protection of the invention. All equivalent changes or modifications made in accordance with the spirit and essence of the invention should be covered within the scope of protection of the invention.

[0039] like Figure 1 As shown, the present invention discloses an insulated aerial work platform bucket power supply system, comprising a power unit, an insulated hydraulic transmission unit, a power generation unit, and an energy storage and load unit connected sequentially along the energy transfer and conversion direction. The insulated hydraulic transmission unit transmits power from the power unit to the power generation unit and drives it to generate electricity. After rectification and voltage stabilization, the power is supplied to the energy storage and load unit. The system also includes a control unit for acquiring the real-time operating status of the power supply system, predicting the load power change trend based on the real-time power balance principle, and dynamically adjusting the operating parameters of each unit to achieve power balance.

[0040] Furthermore, this application includes a power unit for providing mechanical energy; an insulated hydraulic transmission unit connected to the power unit's pipeline for transmitting mechanical energy via hydraulic pressure; a power generation unit connected to the insulated hydraulic transmission unit for receiving the mechanical energy transmitted by the insulated hydraulic transmission unit and using it to generate electricity, while simultaneously converting the generated AC power into DC power and performing voltage stabilization to obtain DC voltage; an energy storage and load unit electrically connected to the power generation unit and configured to use DC voltage to supply or charge it; and a control unit for acquiring the real-time operating status of the power supply system, predicting the load power change trend based on the real-time power balance principle, and dynamically adjusting the operating parameters of the power unit, the insulated hydraulic transmission unit, the power generation unit, and the energy storage and load unit based on the prediction results. The real-time power balance principle includes dynamically adjusting the output power of the power generation and backup power sources to match the real-time power supply of the power supply system with the load demand power.

[0041] Furthermore, the power unit of this application includes a chassis engine 1, a power take-off (PTO) 3 connected to the chassis engine 1, and a gear pump 4 driven by the PTO 3. When the chassis engine 1 starts, it serves as the prime mover for the entire power supply system. The power output of the PTO 3 is switched on via a control switch in the cab, driving the gear pump 4 to rotate at high speed via a drive shaft or direct connection.

[0042] Furthermore, the insulated hydraulic transmission unit of this application includes a hydraulic pipeline connected to the gear pump 4, a flow valve 5 installed on the hydraulic pipeline, and a hydraulic motor 6 connected to the outlet of the flow valve 5 via the hydraulic pipeline. The hydraulic pipeline is an insulated resin hose filled with insulated hydraulic oil. The gear pump 4 converts mechanical energy into hydraulic energy, drawing in insulated hydraulic oil from the tank and outputting high-pressure oil with a certain pressure and flow rate. The high-pressure oil is transported through the hydraulic pipeline, achieving electrical isolation, making the oil the sole medium for energy transfer, cutting off the metal conductor path, and thus ensuring electrical insulation between the working bucket and the chassis. The flow valve 5 is used to regulate the oil flow to the hydraulic motor 6. By adjusting the flow rate, the rotational speed of the hydraulic motor 6 can be precisely controlled, thereby controlling the power generation of the three-phase permanent magnet motor 7.

[0043] Furthermore, the power generation unit of this application includes a three-phase permanent magnet motor 7 connected to the hydraulic motor 6 via a mechanical transmission mechanism, a three-phase rectifier bridge 8 and a voltage regulator 9 electrically connected to the three-phase permanent magnet motor 7. The mechanical transmission mechanism of this application can be a drive shaft. The three-phase rectifier bridge 8 and voltage regulator of this application have a large input voltage range and can stably output DC voltage; this application utilizes hydraulic transmission for power generation and directly drives the load 12 through rectification and inverter technology, eliminating the need for any form of battery power supply.

[0044] Furthermore, the hydraulic motor 6 in this application drives the three-phase permanent magnet motor 7 through mechanical transmission, which is only one form of power generation. Other forms of power generation may exist in the system.

[0045] Furthermore, the energy storage and load unit of this application includes a load 12 installed on the working hopper and a lithium battery 10 as a backup power source. A voltage regulator 9 is connected in parallel with both the load 12 and the lithium battery 10 to supply power to the load 12 or charge the lithium battery 10. The output terminal of the voltage regulator 9 serves as the positive terminal of the main power supply and is simultaneously connected to the positive terminals of both the load 12 and the lithium battery 10 on the working hopper; their negative terminals are grounded together, forming a complete circuit. Since the load 12 is always connected to the output terminal of the voltage regulator 9, it receives a continuous power supply regardless of whether the electrical energy comes from the generator or the lithium battery 10. When the load 12 suddenly increases, causing insufficient power generation, the lithium battery 10 can respond instantaneously and immediately supplement the power difference, avoiding voltage drops or equipment restarts caused by power switching. Furthermore, during normal operation of the power supply system, the control unit keeps the lithium battery 10 in a float charge state, maintaining a full charge and ready for use at any time. This effectively avoids overcharging and discharging of the lithium battery 10, which helps extend its cycle life.

[0046] Furthermore, this application also includes an AC charger 11, the input terminal of which is connected to an external AC power source, and the output terminal of which is connected to a lithium battery 10.

[0047] Furthermore, the control unit of this application includes an upper-mounted controller 2, which is connected to the chassis engine 1 via a CAN bus to collect the real-time operating status of the power supply system, including at least the output power of the three-phase permanent magnet motor, the power of the lithium battery and the load power, and dynamically adjusts the speed of the chassis engine 1 or switches the power supply accordingly.

[0048] Furthermore, the real-time power balance principle of this application also includes real-time calculation of power imbalance:

[0049] (Formula 1),

[0050] In formula 1, P represents the power imbalance. v P represents the output power of a three-phase permanent magnet motor. g Indicates the load power, where,

[0051] when When this occurs, it indicates that the load power may be too high. The speed of the chassis engine 1 is increased first to increase the output power of the three-phase permanent magnet motor. If the power balance equation is still not satisfied, the lithium battery 10 is controlled to discharge to supplement the power supply.

[0052] when When the load demand is less than the power output, the speed of the chassis engine 1 is reduced first to reduce the output power of the three-phase permanent magnet motor and allow the excess power to charge the lithium battery 10.

[0053] Furthermore, the power balance equations include:

[0054] (Formula 2),

[0055] In Formula 2, P V P(t) represents the output power of the three-phase permanent magnet motor at time t; P1(t) represents the power of the lithium battery at time t; P g (t) represents the load power at time t; P b (t) represents the battery power at time t. Here, the battery is also a lithium battery. Positive values ​​indicate charging, and negative values ​​indicate discharging. This represents the power loss of the power supply system at time t.

[0056] Furthermore, based on the principle of real-time power balance, this application can achieve on-demand power supply, significantly reducing fuel consumption and idling losses of the chassis engine 1, and improving the energy utilization efficiency of the entire vehicle. Moreover, by calculating the power imbalance in real time, the power supply system can respond quickly to sudden changes in load 12, thereby balancing the power in a short period of time.

[0057] Furthermore, such as Figure 2 As shown, when the power supply system of this application is working normally, the chassis engine 1 provides power, which is converted from mechanical energy into hydraulic energy through the power take-off 3 and gear pump 4 and transmitted to the flow valve 5. The flow valve 5 controls the speed of the hydraulic motor 6 and the generator by adjusting the flow of hydraulic oil, thereby indirectly adjusting the power output of the AC generator (three-phase permanent magnet motor 7). In this process, the power is transmitted through insulating hydraulic oil in insulating resin hoses, completely isolating the electrical connection between the working bucket and the chassis, and meeting the safety requirements of high-voltage insulation operation. Then, the AC power is converted into DC power through the three-phase rectifier bridge 8, and then the unstable DC power is stabilized by the voltage regulator 9 to power the load 12 or charge the lithium battery 10. In this process, the output of the voltage regulator 9 is connected to both the load 12 and the lithium battery 10 at the same time. This design achieves seamless switching. When the power output is sufficient, it prioritizes powering the load 12 (such as proportional valves, fiber optic converters, controllers, indicator lights, etc.) and float charging the battery. When the load 12 increases and the power output is insufficient, the lithium battery 10 can discharge instantaneously to supplement the power supply and avoid power interruption. In addition, this application uses the mains charger 11 as a supplement to ensure that the lithium battery 10 of the insulated aerial work vehicle can be fully charged during non-operation periods and is always in the best standby state.

[0058] Furthermore, such as Figure 2As shown, during the operation of the power supply system, the upper-mounted controller 2 collects key data such as the output power of the three-phase permanent magnet motor, the power of the lithium battery, and the load power in real time. If a change in the load 12 is detected, the power imbalance is calculated based on the principle of real-time power balance, the trend of load 12 change is predicted, and control commands are dynamically issued, such as adjusting the speed of the chassis engine 1 to change the power generation, or controlling the charging and discharging of the lithium battery 10.

[0059] This invention also provides a power supply control method for the working bucket of an insulated aerial work platform, comprising the following steps:

[0060] Step S100: Collect the real-time operating status of the power supply system, including at least the output power of the three-phase permanent magnet motor, the power of the lithium battery, and the load power;

[0061] Step S200: Calculate the power imbalance in real time based on the real-time operating status, predict the load power change trend based on the real-time power balance principle, and dynamically generate control commands.

[0062] In step S300, the control command is executed, and the output power of the three-phase permanent magnet motor of the hydraulic transmission is changed by adjusting the speed of the chassis engine first, so that the power supply system can meet the power balance equation; if the power balance equation cannot be met by adjusting the speed of the chassis engine alone, the lithium battery is controlled to discharge or charge to make up for the power difference.

[0063] Furthermore, this application collects the output power of the three-phase permanent magnet motor to monitor the real-time power generation of the power supply system; collects the load power to monitor the real-time power consumption of electrical equipment on the working hopper, such as proportional valves, fiber optic converters, indicator lights, etc.; and collects the lithium battery power to monitor the charging and discharging status and rate of the lithium battery.

[0064] Furthermore, this application utilizes advanced algorithms such as model predictive control, based on the principle of real-time power balance and combined with real-time operating status, to predict the trend of load power change, so as to adjust the generator power and the charging and discharging of the backup power supply in advance, thereby reducing response delay, making the power supply smoother and more stable, and avoiding voltage fluctuations.

[0065] Furthermore, the control commands in this application control each component according to priority. When the load changes abruptly, the first priority is to adjust the power source, i.e., control the speed of the chassis engine. The execution path is as follows: superstructure controller, CAN bus, adjust chassis engine speed, adjust gear pump output, adjust hydraulic motor speed, and adjust the output power of the three-phase permanent magnet motor. The first priority directly controls the power source to match the power generation, minimizing energy loss. The second priority is when the load change is very drastic, and adjusting the chassis engine speed alone is insufficient to respond or meet all power demands. In this case, the lithium battery instantly intervenes as a backup power source to compensate for the power gap by discharging or absorbing excess energy for charging, thereby ensuring uninterrupted and reliable power supply and avoiding system failures caused by power imbalance.

[0066] Furthermore, in step S300, the lithium battery is in a float charge state when the power supply system is working normally. The lithium battery in this application serves as a backup system and does not operate under normal circumstances, thus enhancing safety.

[0067] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. An insulated aerial device bucket power supply system, comprising: The power unit, the insulation hydraulic transmission unit, the power generation unit and the energy storage and load unit are connected in sequence along the direction of energy transmission and conversion, so that the power of the power unit is transmitted to the power generation unit through the insulation hydraulic transmission unit to drive the power generation unit to generate electricity, and the generated electricity is supplied to the energy storage and load unit after rectification and voltage stabilization. The control unit is further included to acquire the real-time operation state of the power supply system, predict the load power change trend based on the power real-time balance principle, and dynamically adjust the operation parameters of each unit to achieve power balance.

2. The power supply system of claim 1, wherein The power unit includes a chassis engine, a power takeoff connected with the chassis engine, and a gear pump driven by the power takeoff.

3. The power supply system of claim 2, wherein, The insulation hydraulic transmission unit includes a hydraulic pipeline in communication with the gear pump, a flow valve arranged on the hydraulic pipeline, and a hydraulic motor in communication with the outlet of the flow valve through the hydraulic pipeline, wherein the hydraulic pipeline is an insulation resin hose filled with insulation hydraulic oil.

4. The power supply system of claim 3, wherein, The power generation unit includes a three-phase permanent magnet motor connected with the hydraulic motor through a mechanical transmission mechanism, a three-phase rectifier bridge electrically connected with the three-phase permanent magnet motor, and a voltage stabilizer.

5. The power supply system of claim 4, wherein, The energy storage and load unit includes a load mounted on a working bucket and a lithium battery as the backup power supply, and the voltage stabilizer is connected in parallel with the load and the lithium battery respectively to supply power to the load or charge the lithium battery.

6. The power supply system of claim 5, wherein, The utility charger is further included, and the input end of the utility charger is connected with external power supply, and the output end is connected with the lithium battery.

7. The power supply system of claim 6, wherein The power real-time balance principle includes real-time calculation of power imbalance: (Formula 1), In Equation 1, represents the power imbalance amount; P v represents the three-phase permanent magnet motor output power; P g represents the load power, wherein, When the speed of the chassis engine is preferentially increased to increase the output power of the three-phase permanent magnet motor, and if the power balance equation is still not met, the lithium battery is discharged to supplement power supply. When the speed of the chassis engine is reduced preferentially to reduce the output power of the three-phase permanent magnet motor, and the excess electric energy charges the lithium battery.

8. The power supply system of claim 7, wherein, The power balance equation includes: (Formula 2), In formula 2, P V (t) represents the output power of the three-phase permanent magnet motor at time t; P1(t) represents the power of the lithium battery at time t; P g (t) represents the load power at time t; P b (t) represents the battery power at time t; and P represents the power loss of the power supply system at time t.

9. An insulated aerial device work bucket power supply control method, characterized by, The method includes the following steps: In step S100, the real-time operation state of the power supply system is acquired, including at least the output power of the three-phase permanent magnet motor, the lithium battery power and the load power. In step S200, the power imbalance is calculated in real time according to the real-time operation state, the load power change trend is predicted based on the power real-time balance principle, and the control instruction is dynamically generated. In step S300, the control instruction is executed, the output power of the three-phase permanent magnet motor of the hydraulic transmission is changed by preferentially adjusting the speed of the chassis engine to make the power supply system meet the power balance equation; if the power balance equation cannot be met by only adjusting the speed of the chassis engine, the lithium battery is discharged or charged to make up for the power difference.

10. The power supply control method according to claim 9, wherein In step S300, the lithium battery is in a floating state when the power supply system is working normally.

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