Range extender torque control method and system, storage medium and vehicle

Abstract

The invention provides a range extender torque control method and system, a storage medium and a vehicle, and the method comprises the steps that when a power generation demand signal is received, the range extender control system is switched from an idle working condition to a power generation working condition, the power generation power is determined based on a battery pack Soc value, and a discrete rotating speed point in an efficient interval of an engine is set; checking the target torque of the generator through multiple constraint conditions; when a power generation and power take-off demand signal is received, the range extender control system is switched from a power generation working condition to a power generation and power take-off composite working condition, and the engine operates according to a preset cooperative constraint condition; and when the engine does not meet the cooperative constraint condition, the range extender control system is switched to the power take-off working condition, the generator is switched to the auxiliary driving state and outputs power in cooperation with the engine, and the torque of the generator meets the discharge torque limit of the battery pack and the generator. The application covers the whole scene of'no demand-power generation-power take-off-composite operation-fault protection ', and can flexibly adapt to the complex operation requirements of special vehicles such as loaders and the like.

Description

Technical Field

[0001] This application belongs to the field of vehicle range extender control technology, and particularly relates to a range extender torque control method, system, storage medium and vehicle. Background Technology

[0002] Range-extended electric powertrains, which combine the environmental friendliness of pure electric drive with the range reliability of engine-assisted charging, have been widely used in passenger cars, commercial vehicles, and other fields. Existing range extender control systems in conventional vehicles focus on power generation, that is, converting mechanical energy into electrical energy through an engine-driven generator to charge the battery pack or directly power the vehicle's drive system. They lack power take-off functionality and corresponding control logic for external work equipment.

[0003] As a special-purpose vehicle, loaders need to frequently provide mechanical power to external equipment such as hydraulic systems and working tools through power take-off devices. The power take-off function is the core requirement for them to complete loading, lifting and other operations. This makes it impossible for ordinary range extender control systems that only have power generation functions to be directly adapted to the use scenarios of loaders.

[0004] Meanwhile, the working conditions of loaders are characterized by large and drastic fluctuations in torque: on the one hand, when the engine or generator outputs power alone, it is often difficult to meet the large torque requirements of the loader for high-intensity operation, resulting in low operating efficiency; on the other hand, when the torque required for power take-off exceeds the maximum allowable load of the engine or generator, it is very easy to cause engine overload stall or even abnormal shutdown, which seriously affects the safety and continuity of operation.

[0005] In summary, existing range extender control systems suffer from problems such as limited functionality, poor adaptability to high torque power take-off, and insufficient operational stability, failing to meet the dual requirements of loaders for both power generation and high torque power take-off. Summary of the Invention

[0006] In view of this, this application aims to provide a range extender torque control method, system, storage medium, and vehicle to solve at least one of the above-mentioned problems.

[0007] To achieve the above objectives, the technical solution of this application is implemented as follows: In a first aspect, this application provides a torque control method for a range extender, comprising: In response to the range extender control system being in an idling state, the engine operates at a preset speed and maintains the idling state while meeting the needs of the vehicle; wherein, the idling state is the initial operating state after the range extender control system is started. In response to receiving a power generation demand signal, the range extender control system switches from the idling condition to the power generation condition, determines the power generation power based on the battery pack Soc value, sets discrete speed points within the engine's high-efficiency range, and verifies the generator's target torque through multiple constraints. In response to receiving signals indicating power generation and power take-off demand, the range extender control system switches from power generation mode to a combined power generation and power take-off mode, and the engine operates according to preset cooperative constraints. In response to the engine failing to meet the cooperative constraint conditions, the range extender control system switches to power take-off mode, the generator switches to auxiliary drive mode, and outputs power in coordination with the engine. The generator torque meets the discharge torque limits of the battery pack and the generator. In response to the engine speed being lower than the preset safety value under power take-off conditions, the range extender control system switches to power take-off protection mode, and controls the clutch to be disengaged, the engine to idle speed, and the generator torque to be set to zero. After a preset time of stable operation, it returns to idle mode.

[0008] Secondly, based on the same inventive concept, this application also provides a range extender torque control system, which applies the range extender torque control method as described in the first aspect, including a control module and a power module, wherein the control module and the power module are communicatively connected. The control module includes a vehicle controller, and an engine management system, a power management system, and a generator controller connected to the vehicle controller; the power module includes an engine, a generator, a power take-off unit, and a power battery pack. The vehicle controller is used to execute a speed-torque coordinated control strategy and send control commands to the engine management system and the generator controller to dynamically switch driving conditions. The engine management system receives the speed control command from the vehicle controller, drives the engine to run, and feeds back the maximum allowable driving torque of the engine. The generator controller receives the torque control command from the vehicle controller to regulate the generator operating status and feeds back the maximum generating torque and maximum discharging torque of the generator. The power management system is used to collect battery pack status parameters and feed them back to the vehicle controller. The output end of the engine is rigidly mechanically connected to the generator, and the power output end of the generator is connected to the power take-off unit via an electromagnetic clutch. The power take-off unit is used to drive external working equipment and provide feedback on the torque required for power take-off. The power battery pack is used to store electrical energy and provide power to the whole vehicle.

[0009] Thirdly, based on the same inventive concept, this application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions for causing the computer to perform the method as described in the first aspect.

[0010] Fourthly, based on the same inventive concept, this application also provides a vehicle, the vehicle including a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method described in the first aspect.

[0011] Compared with the prior art, the range extender torque control method, system, storage medium, and vehicle described in this application have the following advantages: (1) This application can realize the deep integration of power generation and power take-off functions of the range extender system, without the need for additional independent power take-off or power generation devices, simplifying the loader's power architecture and reducing manufacturing costs and installation space occupation; (2) In the power take-off condition, the generator switches to auxiliary drive mode and outputs power in coordination with the engine to meet the high torque power take-off requirements of the loader and improve the working efficiency; (3) This application effectively avoids engine overload shutdown caused by excessive torque through multi-dimensional torque constraint and power take-off protection working condition design, ensuring the continuity and safety of operation; (4) This application adopts five working modes, covering the entire scenario of "no demand - power generation - power take-off - composite operation - fault protection", which can flexibly adapt to the complex operation needs of special vehicles such as loaders. Attached Figure Description

[0012] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram showing the connection of each component of the control module described in the embodiments of this application; Figure 2 This is a schematic diagram showing the connection of each component of the power module described in the embodiments of this application; Figure 3 This is a flowchart of a range extender torque control method according to an embodiment of this application; Figure 4 This is a schematic diagram of the hardware structure of the electronic device described in an embodiment of this application. Detailed Implementation

[0013] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0014] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0015] To address the shortcomings of existing range extender control systems that only have power generation capabilities and cannot adapt to the power take-off requirements of special-purpose vehicles such as loaders, and that they suffer from insufficient power and are prone to engine stalling when facing high torque power take-off, this embodiment provides a range extender control system and method that combines power take-off and power generation functions. This achieves coordinated optimization of power generation and power take-off operations, meeting the complex operational needs of special-purpose vehicles such as loaders.

[0016] The embodiments of this application are described in detail below with reference to the accompanying drawings.

[0017] Example 1 This embodiment provides a range extender torque control system, which includes a control module and a power module. The control module and the power module communicate and work together via a CAN bus. Among them, such as Figure 1 As shown, the control module includes: The vehicle controller, as the main control node of the range extender control system, sends engine target speed commands to the engine management system and generator target torque commands to the generator controller via the CAN bus, achieving precise control of power generation. The engine management system receives speed control commands from the vehicle controller via the CAN bus, drives the engine to operate stably to output mechanical energy, and provides a power source for the range extender system's power generation or direct power take-off operation. The generator controller receives torque control commands from the vehicle controller via the CAN bus, efficiently converts the mechanical energy output by the engine into electrical energy, prioritizing battery pack charging, or assisting the engine in performing power take-off operation during peak vehicle power demand, achieving on-demand energy allocation. The power management system sends battery pack status parameters to the vehicle controller in real time via the CAN bus, including but not limited to battery pack state of charge (Soc), maximum permissible charge and discharge power, battery pack total voltage, and battery pack Soc.

[0018] like Figure 2 As shown, the power module includes: The engine, as the core power source, has its output end rigidly mechanically connected to the generator, ensuring seamless and low-loss transmission of mechanical energy and outputting stable mechanical power at the target speed. The generator has dual functions of power transmission and energy conversion. Its power input end is rigidly connected to the engine, and its power output end is selectively connected to the power take-off (PTO) via an electromagnetic clutch. When there is no power take-off requirement, it converts mechanical energy into electrical energy; when there is a power take-off requirement, it can switch to auxiliary drive mode, working in conjunction with the engine to output power. The PTO, the power execution component, is connected to the generator output end via an electromagnetic clutch, forming an "engine-generator-PTO" power transmission path. It receives combined power to drive external operating equipment and provides real-time feedback on the torque required for power take-off. The power battery pack, as an energy storage unit, receives and stores the electrical energy converted by the generator, and provides energy to the drive motor or generator auxiliary drive as needed.

[0019] The range extender torque control system described in this embodiment can achieve deep integration of the range extender system's power generation and power take-off functions, eliminating the need for additional independent power take-off or power generation devices, simplifying the loader's power architecture, and reducing manufacturing costs and installation space occupation; under power take-off conditions, the generator switches to auxiliary drive mode, working in tandem with the engine to output power, meeting the loader's high torque power take-off requirements and improving operating efficiency.

[0020] Example 2 Please see Figure 3 As shown, this embodiment provides a range extender torque control method. This method is based on a range extender control system architecture, in which the vehicle control unit (VCU) employs a cooperative control strategy: sending a speed mode control command to the engine to operate at the target speed; and sending a torque mode control command to the generator to output the target torque, providing a control basis for operating condition switching. The range extender control system operates in five modes: idling, generator operation, combined generator and power take-off operation, power take-off operation, and power take-off protection operation. These modes are dynamically switched based on vehicle demand to achieve an optimal balance between power supply and energy utilization. Specifically, the method includes the following: The system operates at idle speed, which is the initial operating condition after the range extender system starts. Its core function is to maintain the engine at a stable low speed, providing a rapid response capability for subsequent operating condition switching. This operating condition is maintained when there is no need for power generation or power take-off. The specific control parameters are: the engine operates at a fixed speed of 800 rpm (this parameter can be calibrated according to the actual power take-off equipment requirements, hereinafter referred to as "TBD"). This speed needs to be calibrated and matched to balance the engine's thermal management requirements and fuel economy.

[0021] When the vehicle controller receives the vehicle's power generation demand signal through the power management system (BMS), the system automatically switches from idling mode to power generation mode. In power generation mode, the engine target speed is set at three or more discrete speed points based on the vehicle's power generation demand. The selection of these speed points must meet two constraints: first, they must be within the high-efficiency range of the engine's universal characteristic curve to ensure optimal fuel economy; second, the interval between speed points must balance the accuracy of power generation adjustment with the frequency of engine speed adjustment to avoid mechanical wear and efficiency loss caused by frequent speed adjustments.

[0022] Among them, power generation The acquisition method is as follows: The vehicle controller receives the battery pack SOC value in real time from the power management system via the CAN bus, and determines the corresponding SOC-power generation two-dimensional mapping table by querying it. .

[0023] The generator's requested torque value needs to be verified through multiple constraints, and the final value is the generator's requested original torque. Maximum allowable generating torque of the battery pack Maximum permissible drive torque of the engine and the maximum generating torque of the generator The minimum value among the four, namely: ; Among them, the generator requests the original torque. Calculate using the following formula: ; In the formula, This indicates that the generator is requesting the original torque, in Nm. Represents power generation capacity, in units of ; Indicates the target engine speed, in units of .

[0024] Maximum permissible torque of battery pack Based on the battery pack charging capacity and generator efficiency, the calculation formula is as follows: ; In the formula, This indicates the maximum permissible charging torque of the battery pack, in Nm. This indicates the maximum allowable charging current of the battery pack, in amperes (A). This indicates the actual voltage of the battery pack, in volts (V). Indicates the target engine speed, in units of ; This indicates the current efficiency of the generator (unitless). The efficiency MAP was obtained by retrieving a pre-calibrated efficiency MAP, which uses generator speed as the data source. and output torque (As independent variables).

[0025] Maximum permissible drive torque of engine The generator's maximum generating torque is fed back in real time by the engine management and control system (EMS). Feedback is provided in real time by the generator control system.

[0026] When the vehicle controller receives both the power generation demand signal and the power take-off demand signal simultaneously during the power generation operation, the system switches to a combined power generation and power take-off operation.

[0027] Under the combined operation of power generation and power take-off, the engine target speed is fixed at 1500 rpm (TBD). This parameter can be calibrated according to actual needs, and the engine operates in accordance with preset cooperative constraints.

[0028] Torque Coordination Constraint: Generator requests original torque Torque required by the power take-off device The combined value must not exceed the engine's maximum permissible drive torque. 80% (TBD).

[0029] Independent constraint: Generator requests original torque Each individual battery must meet the requirement of not exceeding the maximum allowable torque of the battery pack. .

[0030] Among them, the torque take-off Based on the real-time dynamic changes in the load of the power take-off device, the vehicle controller collects data in real time via the CAN bus. The signal is used to adjust the torque distribution.

[0031] When the system is operating under a combined power generation and power take-off condition, if the vehicle's power generation demand signal disappears, or the power take-off torque... Exceeding the engine's maximum permissible drive torque When the power output reaches 80%, the system switches to power take-off mode.

[0032] When the system is in power take-off mode, the engine target speed is maintained at 1500 rpm (TBD), the generator switches from generator mode to auxiliary drive mode, and works with the engine to provide power to the power take-off device. The generator torque meets the discharge torque limit of the battery pack and the generator.

[0033] Specifically, generator torque constraint: generator requests drive torque Two conditions must be met simultaneously: the discharge torque must not exceed the maximum allowable discharge torque of the battery pack. And not exceeding the generator's maximum discharge torque .

[0034] Maximum permissible discharge torque of battery pack The calculation formula is as follows: ; In the formula, This includes the maximum permissible discharge torque of the battery pack, in Nm; This includes the maximum permissible discharge current of the battery pack, in amperes (A). This includes the actual voltage of the battery pack, measured in volts (V).

[0035] Maximum discharge torque of generator Feedback is provided in real time by the generator control system.

[0036] When the vehicle controller detects that the actual engine speed is below 1200 rpm during power take-off operation, the system immediately enters power take-off protection mode to prevent the engine from stalling due to excessive load.

[0037] Under power take-off protection conditions, the vehicle controller controls the clutch between the engine and the power take-off device to disengage and cut off load transmission; sets the engine target speed to idle speed of 800 rpm (TBD) to maintain stable operation; and sets the generator requested torque value to 0 Nm to avoid the generator generating additional load on the engine.

[0038] The range extender torque control method described in this embodiment achieves coordinated optimization of power generation and power take-off operations through multi-dimensional torque constraints (engine, generator, battery pack) and power take-off protection design. This effectively avoids engine overload and shutdown caused by excessive power take-off torque, ensuring operational continuity and safety. The five working modes cover the entire scenario of "no demand - power generation - power take-off - composite operation - fault protection", which can flexibly adapt to the complex operating needs of special vehicles such as loaders.

[0039] It should be noted that the above description describes some embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in a different order than that shown in the above embodiments and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0040] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, the embodiments of this application also provide a vehicle control device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method described in any of the above embodiments.

[0041] Figure 4 This embodiment illustrates a more specific hardware structure of a vehicle control device, which may include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, memory 1020, input / output interface 1030, and communication interface 1040 are interconnected internally via the bus 1050.

[0042] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0043] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0044] The input / output interface 1030 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components within the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touchscreens, microphones, various sensors, etc., while output devices may include displays, speakers, vibrators, indicator lights, etc.

[0045] The communication interface 1040 is used to connect the communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0046] Bus 1050 includes a pathway for transmitting information between various components of the device, such as processor 1010, memory 1020, input / output interface 1030, and communication interface 1040.

[0047] It should be noted that although the above-described device only shows the processor 1010, memory 1020, input / output interface 1030, communication interface 1040, and bus 1050, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0048] The vehicle control device of the above embodiments is used to implement the corresponding method in any of the foregoing embodiments and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0049] A vehicle includes the vehicle control device described in the above embodiments. The vehicle can be a special-purpose vehicle, such as a loader or dump truck. The vehicle can also be a commercial vehicle, such as a special sanitation vehicle or emergency rescue vehicle.

[0050] Since the vehicle applies all the technical solutions of the above-mentioned control device or vehicle controller, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0051] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this application also provides a non-transitory computer-readable storage medium that stores computer instructions for causing the computer to perform the methods described in any of the above embodiments.

[0052] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, program modules, 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-transfer medium that can be used to store information accessible by a computing device.

[0053] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to perform the methods described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0054] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this application (including the claims) is limited to these examples; within the framework of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this application as described above, which are not provided in the details for the sake of brevity.

[0055] Additionally, to simplify the description and discussion, and to avoid obscuring the embodiments of this application, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. Furthermore, the apparatus may be shown in block diagram form to avoid obscuring the embodiments of this application, and this also takes into account the fact that the details of the implementation of these block diagram apparatuses are highly dependent on the platform on which the embodiments of this application will be implemented (i.e., these details should be fully understood by those skilled in the art). While specific details (e.g., circuits) have been set forth to describe exemplary embodiments of this application, it will be apparent to those skilled in the art that the embodiments of this application can be implemented without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0056] Although this application has been described in conjunction with specific embodiments thereof, many substitutions, modifications, and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0057] The embodiments of this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of this application should be included within the protection scope of this application.

Claims

1. A torque control method for a range extender, characterized in that, include: In response to the range extender control system being in an idling state, the engine operates at a preset speed and maintains the idling state while meeting the needs of the vehicle; wherein, the idling state is the initial operating state after the range extender control system is started. In response to receiving a power generation demand signal, the range extender control system switches from the idling condition to the power generation condition, determines the power generation power based on the battery pack Soc value, sets discrete speed points within the engine's high-efficiency range, and verifies the generator's target torque through multiple constraints. In response to receiving signals indicating power generation and power take-off demand, the range extender control system switches from power generation mode to a combined power generation and power take-off mode, and the engine operates according to preset cooperative constraints. In response to the engine failing to meet the cooperative constraint conditions, the range extender control system switches to power take-off mode, the generator switches to auxiliary drive mode, and outputs power in coordination with the engine. The generator torque meets the discharge torque limits of the battery pack and the generator. In response to the engine speed being lower than the preset safety value under power take-off conditions, the range extender control system switches to power take-off protection mode, and controls the clutch to be disengaged, the engine to idle speed, and the generator torque to be set to zero. After a preset time of stable operation, it returns to idle mode.

2. The method according to claim 1, characterized in that: The range extender control system is in generator mode, and the generator target torque is the minimum value among the following four: the generator's requested initial torque, the battery pack's maximum permissible generator torque, the engine's maximum permissible drive torque, and the generator's maximum generator torque; wherein, the formula for calculating the generator's requested initial torque is: ； In the formula, This indicates that the generator is requesting the original torque; Indicates power generation capacity; This indicates the target engine speed.

3. The method according to claim 1, characterized in that: The cooperative constraints include the engine maintaining a predetermined power take-off target speed, the generator torque and the power take-off torque not exceeding a preset threshold, and the generator torque not exceeding the maximum allowable power generation torque of the battery pack.

4. The method according to claim 3, characterized in that: The sum of the generator torque and the power take-off torque shall not exceed 80% of the engine's maximum permissible drive torque.

5. The method according to claim 3, characterized in that, The formula for calculating the maximum allowable power generation torque of the battery pack is as follows: ； In the formula, Indicates the maximum allowable charging torque of the battery pack; Indicates the maximum allowable charging current of the battery pack; Indicates the actual voltage of the battery pack; Indicates the target engine speed; This indicates the current efficiency of the generator.

6. The method according to claim 1, characterized in that: When the range extender control system is in power take-off mode, the formula for calculating the maximum allowable discharge torque of the battery pack is: ； In the formula, Indicates the maximum permissible discharge torque of the battery pack; Indicates the maximum allowable discharge current of the battery pack; This indicates the actual voltage of the battery pack.

7. The method according to claim 1, characterized in that: The trigger condition for the power take-off protection mode is that the actual engine speed is below 1200 rpm; the preset time to restore to idle speed is 30 seconds.

8. A range extender torque control system, employing the range extender torque control method as described in any one of claims 1-7, characterized in that: The system includes a control module and a power module, with the control module and the power module being communicatively connected. The control module includes a vehicle controller, and an engine management system, a power management system, and a generator controller connected to the vehicle controller. The power module includes an engine, a generator, a power take-off unit, and a battery pack. The vehicle controller is used to execute a speed-torque coordinated control strategy and send control commands to the engine management system and the generator controller to dynamically switch driving conditions. The engine management system receives the speed control command from the vehicle controller, drives the engine to run, and feeds back the maximum allowable driving torque of the engine. The generator controller receives the torque control command from the vehicle controller to regulate the generator operating status and feeds back the maximum generating torque and maximum discharging torque of the generator. The power management system is used to collect battery pack status parameters and feed them back to the vehicle controller. The output end of the engine is rigidly mechanically connected to the generator, and the power output end of the generator is connected to the power take-off unit via an electromagnetic clutch. The power take-off unit is used to drive external working equipment and provide feedback on the torque required for power take-off. The power battery pack is used to store electrical energy and provide power to the whole vehicle.

9. A non-transitory computer-readable storage medium, characterized in that, in, The non-transitory computer-readable storage medium stores computer instructions for causing the computer to execute the range extender torque control method according to any one of claims 1-7.

10. A vehicle, characterized in that, The vehicle includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the range extender torque control method as described in any one of claims 1-7.

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