Dynamic compactor unhooking control method, device and equipment and storage medium

Abstract

The invention relates to the technical field of engineering machinery control, and discloses a dynamic compactor unhooking control method, device and equipment and a storage medium. The method comprises the steps that in the process that a winding plant pulls a rammer to be lifted, stress parameters output by a tension detection assembly connected with an unhooking trigger mechanism are obtained in real time; when the stress parameters meet preset triggering conditions, it is judged that the rammer is about to enter an unhooking state, and the power generation output power of the power system is adjusted so that the power generation output power can be smaller than or equal to the charging power limit value of the power battery; determining the upper limit value of the hoisting power of the hoisting device according to the available power supply power of the power system, and controlling the subsequent operation of the hoisting device according to the upper limit value of the hoisting power until the current unhooking process is completed; and taking the maximum tension value acquired by the tension detection assembly in the current unhooking process as a reference threshold value for judging the next unhooking state. The operation safety of the dynamic compactor can be improved.

Description

Technical Field

[0001] This application relates to the field of engineering machinery control technology, and in particular to a method, device, equipment and storage medium for unhooking control of a dynamic compaction machine. Background Technology

[0002] Currently, dynamic compaction machines are mainly driven by traditional fuel, with the engine as the sole power source, directly or via a hydraulic system driving the winch to lift the ramming hammer. During uncoupling, the winch load drops abruptly from heavy to unloaded within one second. The resulting impact is gradually attenuated through the hydraulic system and mechanical transmission chain before being transmitted to the engine. The system passively absorbs energy fluctuations through mechanical inertia and hydraulic overflow mechanisms. Although this approach suffers from high energy consumption and inefficient control, it generally maintains stable operation. With the development of new energy technologies, construction machinery is transitioning towards high efficiency, green technology, and low carbon emissions, leading to the emergence of range-extended hybrid dynamic compaction machines. These machines utilize a high-power range extender and a small-capacity battery for power supply. During operation, the range extender primarily provides the power required by the winch, while the battery only performs peak shaving and valley filling functions. This results in the battery's charging and discharging power not fully covering the range extender's output capacity. Under this architecture, the winch load drops sharply during uncoupling. If the power generation does not match the demand change in time, excess energy will flow back into the battery, posing an overcharge risk. Subsequent lifting may also lead to battery over-discharge due to a sudden increase in power demand. Summary of the Invention

[0003] In view of this, the embodiments of this application provide a method, device, equipment and storage medium for controlling the uncoupling of a dynamic compaction machine. It can predict the timing of uncoupling by monitoring the tension change of the uncoupling trigger mechanism in real time and dynamically adjust the power generation of the range extender and the power used by the winch. This effectively solves the problem of overcharging and over-discharging of the power battery caused by instantaneous load shedding in the configuration of the range-extended electric dynamic compaction machine with a small capacity power battery, and improves the energy matching and operational safety of the system.

[0004] In a first aspect, embodiments of this application provide a method for controlling the unhooking of a dynamic compaction machine, including: During the process of the winch pulling the ram to lift, the force parameters output by the tension detection component connected to the unhooking trigger mechanism are acquired in real time; When the force parameters meet the preset triggering conditions, it is determined that the hammer is about to enter the unhooking state, and the power output of the power system is adjusted so that the power output is less than or equal to the charging power limit of the power battery. The upper limit of the hoisting power of the hoisting device is determined based on the available power supply of the power system after adjusting the power output of the generator, so as to control the operation of the subsequent hoisting device according to the upper limit of the hoisting power until the current uncoupling process is completed. After the current uncoupling process is completed, the maximum tensile force value collected by the tensile force detection component during the current uncoupling process will be used as the reference threshold for determining the next uncoupling state; wherein, the reference threshold is used to determine the preset triggering condition.

[0005] In an optional implementation, during the first run, determining that the hammer is about to enter the unhooking state when the force parameters meet the preset triggering conditions includes: If the force parameter is greater than the initial reference threshold and the duration reaches the first preset time threshold, it is determined that the hammer is about to enter the unhooking state; wherein, the initial reference threshold is the tension value of the tension detection component when the unhooking trigger mechanism is in the relaxed state.

[0006] In an optional implementation, during non-first-time operation, determining that the hammer is about to enter the unhooking state when the force parameters meet the preset triggering conditions includes: If the force parameter is greater than a preset multiple of the maximum tensile force recorded during the previous unhooking process, and the duration reaches a second preset time threshold, it is determined that the ram is about to enter the unhooking state; wherein, the preset multiple is a constant between 0.3 and 0.5.

[0007] In an optional implementation, the power system includes a range extender and the power battery; Adjusting the power generation output power of the power system to make the power generation output power less than or equal to the charging power limit of the power battery includes: In response to the determination that the system is about to enter a decoupling state, a power limiting command is sent to the range extender to reduce the power generation output power based on the power limiting command, so that the power generation output power is less than or equal to the charging power limit of the power battery; wherein the power limiting command includes the charging power limit of the power battery.

[0008] In an optional implementation, the available power supply is the sum of the current range extender's power generation and the maximum allowable discharge power of the power battery.

[0009] Determining the upper limit of the hoisting power of the winch device based on the available power supply of the power system after adjusting the power output of the generator includes: using the available power supply as the upper limit of the hoisting power of the winch device.

[0010] In an optional implementation, before using the maximum tensile force value collected by the tensile force detection component during the current unhooking process as the reference threshold for determining the next unhooking status, the method further includes: determining whether the unhooking is complete. The determination of whether the unhooking is complete includes: If the force parameter output by the tension detection component falls below the preset tension threshold, then the unhooking is confirmed to be complete.

[0011] In an optional implementation, when the tension detection component malfunctions, determining whether the unhooking is complete includes: Obtain the operating parameters of the drive motor of the hoisting device; If the operating parameters drop to the no-load level, then the uncoupling is considered complete.

[0012] Secondly, embodiments of this application provide a dynamic compaction machine unhooking control device, comprising: The tension detection module is used to acquire the force parameters output by the tension detection component connected to the unhooking trigger mechanism in real time during the process of the winch pulling the hammer to lift. The power control module is used to determine that the hammer is about to enter the unhooking state when the force parameters meet the preset trigger conditions, and to adjust the power output of the power system so that the power output is less than or equal to the charging power limit of the power battery. The power control module is also used to determine the upper limit of the hoisting power of the hoisting device based on the available power supply of the power system after adjusting the power output of the generator, so as to control the operation of the subsequent hoisting device according to the upper limit of the hoisting power until the current uncoupling process is completed. The recording module is used to record the maximum tension value collected by the tension detection component during the current uncoupling process as a reference threshold for determining the next uncoupling status after the current uncoupling process is completed; wherein, the reference threshold is used to determine the preset triggering condition.

[0013] Thirdly, embodiments of this application provide an electric engineering device, which includes a processor and a memory. The memory stores a computer program, and the processor executes the computer program to implement the above-described dynamic compaction machine unhooking control method.

[0014] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed on a processor, implements the above-described dynamic compaction machine unhooking control method.

[0015] The embodiments of this application have the following beneficial effects: By monitoring the force changes of the unhooking trigger mechanism in real time during the lifting process, this application can accurately identify the trend of the unhooking action before the hammer is about to unhook, and adjust the power output of the power system in advance accordingly, so that the power generation capacity of the range extender matches the charging acceptance capacity of the power battery. This avoids the energy backflow problem caused by the sudden load drop at the moment of unhooking, prevents battery overcharging, and ensures the safe operation of the power system. At the same time, by dynamically capturing the tension characteristics during the unhooking process and storing the maximum tension value, this application enables the control strategy to adapt to the actual needs under different working conditions, thereby improving the system's responsiveness and control accuracy to changing construction conditions. Furthermore, by combining energy management logic, this application reasonably constrains the power usage boundary of the hoisting device, thereby achieving coordinated operation between the power generation, energy storage, and power consumption units. This not only improves the overall energy utilization efficiency of the vehicle but also extends the service life of key components and enhances the stability and reliability of the electric dynamic compaction machine in complex working environments. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic diagram of the architecture of an embodiment of this application is shown; Figure 2 A flowchart illustrating a dynamic compaction machine unhooking control method according to an embodiment of this application is shown. Figure 3 A schematic diagram of a dynamic compaction machine unhooking control device according to an embodiment of this application is shown. Detailed Implementation

[0018] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0019] The components of the embodiments of this application described and illustrated in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0020] In the following text, the terms "comprising," "having," and their cognates, which may be used in various embodiments of this application, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more combinations thereof. Furthermore, the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0021] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this application pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be construed as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this application.

[0022] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0023] A dynamic compaction machine is an engineering machine that uses the enormous impact energy generated by the free fall of a heavy object to compact and reinforce the foundation. Its working principle involves a winch that lifts a hammer weighing tens to hundreds of tons to a height of tens of meters. Then, an automatic release device separates the hammer from the hook, allowing it to fall freely. The hammer's gravitational potential energy is converted into kinetic energy, powerfully impacting the foundation and thus increasing soil density and bearing capacity.

[0024] As construction machinery develops towards green, efficient, and low-carbon directions, range-extended hybrid dynamic compaction machines are gradually becoming one of the mainstream technological routes. These machines use a range extender as the main power source, coupled with a small-capacity battery to power the electric drive system. While reducing overall vehicle costs, this also brings new energy management challenges. When the hammer is lifted to a predetermined height and the uncoupling action is triggered, the winch load drops abruptly from full load to no load in a very short time, resulting in a momentary excess of power generation. If the range extender output is not adjusted in time, the excess energy will flow back into the battery, potentially causing overcharging. Furthermore, in subsequent lifting operations, a lack of effective constraints on power consumption may also lead to excessive battery discharge, affecting system safety and lifespan. Based on this, this embodiment proposes a uncoupling control method suitable for range-extended hybrid dynamic compaction machines. By monitoring the force changes of the uncoupling trigger mechanism in real time, predicting the uncoupling timing, adjusting the power system's output in advance, and reasonably setting the upper limit of the winch's power usage, dynamic matching of energy supply and demand is achieved, thereby effectively ensuring the safe operation of the battery and improving the overall machine's energy efficiency and operational reliability.

[0025] The following is a system architecture diagram of the decoupling control method, as follows: Figure 1 As shown, the system architecture mainly includes: The winch device 100, driven by a motor, is used to wind up and unwind the wire rope to complete the lifting action of the ram.

[0026] The unhooking trigger mechanism 200 includes a steel wire rope connected to the vehicle body, a lever assembly, and a claw structure. When the vehicle is lifted to a set height, the steel wire rope is tightened and drives the lever to open, thereby separating the hammer from the hook.

[0027] The tension detection component 300 is installed on the force transmission path of the unhooking trigger mechanism 200 (such as fixed at the wire rope anchor point or lever fulcrum) to collect the tension signal at that position in real time and output the corresponding force parameters.

[0028] The power battery 400 is used to provide power to the vehicle's electrical equipment. Its charging power limit and maximum allowable discharge power can be dynamically calculated by the battery management system (BMS) based on parameters such as the current state of charge, temperature, and state of health (SOH).

[0029] The range extender 500, which includes an engine and a generator, serves as the primary power source, providing the basic power required for winch operation under normal working conditions.

[0030] The vehicle controller 600 (VCU) is the core control unit. It receives force parameters from the tension detection component and battery limit information sent by the BMS to perform functions such as decoupling prediction, power adjustment command generation, and winch power limit calculation.

[0031] The Power Management Module 700, integrated into the VCU or set up independently, is used to coordinate the energy distribution between the range extender and the power battery.

[0032] The following describes the unhooking control method for the dynamic compaction machine using specific embodiments.

[0033] Figure 2 A schematic flowchart of a dynamic compaction machine uncoupling control method according to an embodiment of this application is shown. Exemplarily, the dynamic compaction machine uncoupling control method includes steps S100-S400: Step S100: During the process of the winch pulling the ram to lift, the force parameters output by the tension detection component connected to the unhooking trigger mechanism are acquired in real time.

[0034] Demonstratively, after the dynamic compaction machine starts operation, the winch device begins to wind up the wire rope, slowly lifting the hammer from the ground into the hoisting phase. During this process, the wire rope in the disengagement trigger mechanism gradually tightens as the hoisting height increases, but has not yet reached the critical point to trigger the disengagement action. To predict disengagement events, the system is equipped with a tension detection component connected to the force transmission path of the disengagement trigger mechanism. This component is used to sense the changes in tension experienced by the mechanism in real time and output the corresponding force parameters.

[0035] In some implementations, the tension detection component can be installed at the fixed end of the wire rope connecting the vehicle body and the release lever of the unhooking mechanism, or integrated inside the lever fulcrum pin, to directly measure the tension value transmitted to the unhooking mechanism. This component can be a strain gauge tension sensor, an S-type force sensor, or other force-sensitive elements with high stability and impact resistance.

[0036] The force parameter is a series of tensile force values ​​continuously output by the tensile force detection component. The vehicle controller reads the force parameter data stream through the vehicle communication network at a fixed sampling period.

[0037] It should be noted that the process of the winch pulling the rammer to lift refers to the entire upward phase from when the rammer leaves the ground until it is completely unhooked. During this period, the system continuously collects the force parameters output by the tension detection component, which serve as the basis for subsequent judgments on whether the preset triggering conditions are met.

[0038] It is understood that this embodiment starts monitoring before decoupling occurs, and can identify the signal that decoupling is about to occur in advance based on the changing trend of the force parameters, thereby reserving time for the power system to adjust the power, which is a prerequisite for the safety protection of the power battery.

[0039] Step S200: When the force parameters meet the preset triggering conditions, it is determined that the hammer is about to enter the unhooking state, and the power output of the power system is adjusted so that the power output is less than or equal to the charging power limit of the power battery.

[0040] In this embodiment, the preset triggering conditions are divided into two modes based on the number of times the equipment runs: first run mode and non-first run mode, in order to adapt to the operational needs under different working conditions and improve control accuracy.

[0041] In the case of initial operation or when the control system has not stored historical uncoupling data, a fixed reference value is used for judgment. At this time, when the force parameter meets the preset triggering condition, it is determined that the hammer will enter the uncoupling state, including: if the force parameter is greater than the initial reference threshold and the duration reaches the first preset time threshold, it is determined that the hammer will enter the uncoupling state.

[0042] The initial reference threshold refers to the output value of the tension detection component when the unhooking trigger mechanism is in a fully relaxed state (i.e., without external tension, only subject to the sensor's own deformation and the weight of the wire rope). This value can be obtained through factory calibration, that is, when the equipment is unloaded and the wire rope is hanging freely, continuously collect the tension signal for 5 minutes and take the average value as the initial reference threshold. It is generally no more than 0.3 tons and is usually between 0.1 and 0.3 tons.

[0043] The first preset time threshold is mainly used to eliminate instantaneous interference signals (such as vibration and impact) and prevent false triggering. This first preset time threshold can be set to 0.1 seconds, that is, only when the force parameter continuously exceeds the initial reference threshold for more than 0.1 seconds will the unhooking prediction process be confirmed.

[0044] When the equipment has completed at least one effective unhooking operation and the system has recorded the maximum tension value during the previous unhooking process, the rammer will be determined to enter the unhooking state when the force parameters meet the preset trigger conditions. This includes: if the force parameters are greater than a preset multiple of the maximum tension value recorded during the previous unhooking process and the duration reaches the second preset time threshold, the rammer will be determined to enter the unhooking state. The preset multiplier is a constant ranging from 0.3 to 0.5. If the preset multiplier is too small (e.g., ...), ... If the preset value is too high (e.g., 0.3), it will cause premature detection of disengagement, leading to the range extender reducing power earlier, prolonging the battery's energy supply time, and increasing discharge losses. If the value is less than 0.5, the optimal response time may be missed, resulting in a lag in the power adjustment of the range extender and the risk of instantaneous overcharging of the power battery. Therefore, the preset multiple value in this embodiment is 0.3-0.5, so as to achieve a good balance between response speed and safety.

[0045] The second preset time threshold is also used to eliminate instantaneous interference signals. Its value can be slightly shorter than the first preset time threshold, for example, set to 0.08-0.15 seconds. Since the system already has historical data support for non-first-time runs, the judgment benchmark is more targeted. Therefore, a slightly shorter confirmation window can be used to improve the response speed.

[0046] This embodiment introduces a dynamic judgment method based on the historical maximum tensile force value, which can achieve adaptive identification of multiple working conditions such as different weight hammers and different lifting heights, thereby improving the precision of the control strategy.

[0047] In some implementations, adjusting the power generation output of the power system to make the power generation output less than or equal to the charging power limit of the power battery includes: in response to a determination that the system is about to enter a decoupling state, sending a power limiting command to the range extender so that the range extender reduces the power generation output based on the power limiting command, so that the power generation output is less than or equal to the charging power limit of the power battery.

[0048] The power system comprises a range extender and a power battery. The range extender, as the primary power generation unit, provides the basic power required for the hoisting device to operate. The power battery is used for peak shaving and valley filling, absorbing or replenishing energy during power fluctuations. To prevent overcharging of the power battery due to excessive power generation during decoupling, the controller sends a power limiting command to the range extender, requiring it to actively reduce its actual power output. This power limiting command includes the current permissible charging power limit for the power battery.

[0049] Specifically, the vehicle controller obtains the current permissible charging power limit PBChargLim from the battery management system in real time. This value can be dynamically calculated by the BMS based on parameters such as battery SOC, temperature, and SOH. The controller then encapsulates the received charging power limit in a power limiting command and sends it to the range extender controller via the communication network. Upon receiving the command, the range extender controller adjusts the engine throttle opening, generator excitation current, or rectifier output parameters to gradually reduce the generator output power, ultimately stabilizing it within the range not exceeding PBChargLim.

[0050] For example, in one operating scenario, the BMS reports a PBChargLim of 200kW, while the range extender's original operating power is 300kW. After receiving the instruction from the controller, the range extender needs to reduce its output power to below 200kW in a very short time (e.g., 0.5s) to achieve power matching between the generation side and the energy storage side, effectively avoiding the risk of overcharging.

[0051] It is understandable that this control process is a feedforward adjustment, which occurs before the actual decoupling. It is proactive and can accurately avoid energy backflow caused by subsequent load drops.

[0052] Step S300: Determine the upper limit of the hoisting power of the hoisting device based on the available power supply of the power system after adjusting the power output of the generator, so as to control the operation of the subsequent hoisting device according to the upper limit of the hoisting power until the current uncoupling process is completed.

[0053] As an example, after predicting the decoupling state and adjusting the range extender's power output, the vehicle controller further determines the maximum power boundary that the subsequent winch can use during this decoupling, i.e., the upper limit of the winch power, and based on this, restricts the winch operation during this lifting process to prevent the power battery from over-discharging due to excessive instantaneous power demand.

[0054] The available power supply refers to the total electrical energy output capacity that the power system can continuously and stably provide under the current operating conditions. It is the sum of the current generation power of the range extender and the maximum allowable discharge power of the power battery. That is, the available power supply PwAllow = PE + PBDisChargLim. This available power supply reflects the maximum combined power supply capacity that the whole machine can provide to the hoisting device without compromising battery safety.

[0055] The current power output PE of the range extender refers to the actual output power maintained by the range extender after receiving the power limit command. It is usually equal to or slightly lower than the allowable charging power limit PBChargLim of the power battery. The maximum allowable discharge power PBDisChargLim of the power battery is provided in real time by the battery management system.

[0056] Based on the above calculation results, in this embodiment, the available power supply is directly used as the upper limit of the hoisting power of the hoisting device. This setting method ensures the matching relationship between energy supply and load demand, making full use of system resources and avoiding overload operation.

[0057] After determining the upper limit of the hoisting power, this upper limit will be used to dynamically monitor and intervene in the subsequent operation of the hoisting device. Specific control strategies include, but are not limited to, one or more of the following: 1. Speed-limited control method: This method estimates the required power for different lifting speeds based on parameters such as the current hoist load (e.g., hammer weight, wire rope ratio) and pulley block transmission efficiency. When the power demand corresponding to the target operating speed exceeds the available power supply, the controller automatically reduces the target speed command to ensure that the actual operating power does not exceed the upper limit. For example, during operation, if the operator sets the lifting speed to 100m / min, the corresponding required power is 300kW, but PwAllow=250kW, the controller will reduce the target speed to approximately 83m / min to ensure safe operation.

[0058] 2. Acceleration / torque limiting method: During the start-up or speed change phase, if the motor output torque is detected to be too high, causing the instantaneous power to exceed the limit, the controller will limit the acceleration slope or apply torque limiting to prevent peak power surges.

[0059] 3. Human-machine interaction prompts: If the system is in a high-load edge operation state for a long time, the operator can be prompted to reduce the intensity of work or stop the work through the cab display screen or audible and visual alarms to protect the battery system.

[0060] Through the above control methods, this embodiment can effectively extend the service life of the power battery and improve the energy utilization efficiency of the whole vehicle.

[0061] It should be noted that the upper limit of the hoisting power is not fixed, but dynamically updated according to each operating condition. For example, when the ambient temperature is low and the battery discharge capacity decreases, PBDisChargLim decreases, which in turn reduces PwAllow. The control system will then intervene to limit the speed earlier, thus achieving timely adjustment.

[0062] Step S400: After the current uncoupling process is completed, the maximum tensile force value collected by the tensile force detection component during the current uncoupling process is used as the reference threshold for the next uncoupling status determination.

[0063] In some implementations, before using the maximum tension value collected by the tension detection component during the current unhooking process as the reference threshold for determining the next unhooking status, the method further includes: determining whether the unhooking is complete.

[0064] Determining whether the uncoupling is complete includes: if the force parameters output by the tension detection component fall back below the preset tension threshold, then the uncoupling is confirmed to be complete.

[0065] If the tension detection component malfunctions, the determination of whether the uncoupling is complete includes: obtaining the operating parameters of the drive motor of the winch; if the operating parameters drop to the no-load level, the uncoupling is determined to be complete.

[0066] As an example, in order to support adaptive control in subsequent work cycles, this embodiment needs to record the maximum tension value collected by the tension detection component during this uncoupling process, and use the maximum tension value as a reference threshold for judging the next uncoupling status.

[0067] It is understandable that throughout the entire lifting to uncoupling process, the VCU continuously receives and caches the force parameter sequence from the tension detection component. Once the system confirms that uncoupling is complete, it stops updating the maximum value for the current cycle and locks the peak tension during that operation. After the uncoupling completion signal is confirmed, the final determined maximum tension value is stored. This stored value will be used in the next run to calculate the judgment benchmark in the preset trigger conditions.

[0068] In addition, to avoid recording invalid data (such as false peaks caused by vibration fluctuations) before the decoupling process is truly complete, this embodiment also needs to determine whether the decoupling is complete.

[0069] When determining whether disengagement is complete, if the tension detection component is functioning normally, its output force parameter will rapidly decrease after disengagement occurs. As the clamps open and the wire rope releases the lever tension, the force transmission path is interrupted, and the tension drops sharply. Therefore, the VCU identifies the disengagement completion event by monitoring the changing trend of the force parameter. Specifically, if the force parameter decreases from its peak and remains below a certain preset tension threshold, disengagement is determined to be complete.

[0070] When the tension detection component experiences faults such as open circuit, short circuit, signal drift, or communication timeout, its output cannot be relied upon for effective judgment. In this case, the system activates a backup judgment mechanism to ensure the integrity of the control flow. Specifically, the controller acquires the operating parameters of the hoist drive motor, such as motor input current, output torque, input power, and speed change rate. After uncoupling, due to the free fall of the ram, the wire rope no longer bears a heavy load, and the load on the hoist motor drops sharply, manifested as a rapid drop in current / torque to the no-load level (close to zero or only maintaining the small energy consumption required for brake release). Therefore, the judgment logic is that if the operating parameters of the drive motor are detected to drop sharply from a high-load state (e.g., full-load current) to the no-load level within a short period and remain stable for more than a preset time (e.g., 0.1 seconds), then uncoupling is determined to be complete.

[0071] This application monitors the force changes of the tension detection component in the uncoupling trigger mechanism in real time to accurately predict the timing of hammer uncoupling. It proactively adjusts the power output of the power system before sudden load changes, thus avoiding the problem of excessive power in the range extender caused by instantaneous load shedding from the winch, preventing overcharging of the power battery, and ensuring the safety and lifespan of the battery system. Furthermore, this embodiment dynamically adjusts the threshold for determining the next uncoupling based on the maximum tension value recorded during historical uncoupling processes. This enables adaptive identification of various working conditions, such as different hammer weights and different lifting heights, improving the accuracy of the control strategy and operational efficiency. Further, this embodiment combines the actual power generation capacity of the range extender with the power battery discharge limit to reasonably set the upper limit of the winch's power usage, achieving coordinated energy management of the entire vehicle. This fully utilizes system resources while avoiding excessive battery discharge. This method optimizes the operation control of the electric dynamic compaction machine from two dimensions: energy matching and working condition adaptation, thereby improving the stability of the equipment under high-frequency, variable-load operating conditions.

[0072] Figure 3 A schematic diagram of a dynamic compaction machine unhooking control device according to an embodiment of this application is shown. Exemplarily, the dynamic compaction machine unhooking control device includes: The tension detection module 10 is used to acquire the force parameters output by the tension detection component connected to the unhooking trigger mechanism in real time during the process of the winch pulling the hammer to lift.

[0073] The power control module 20 is used to determine that the hammer is about to enter the unhooking state when the force parameters meet the preset trigger conditions, and to adjust the power output of the power system so that the power output is less than or equal to the charging power limit of the power battery.

[0074] The power control module 20 is also used to determine the upper limit of the hoisting power of the hoisting device based on the available power supply of the power system after adjusting the power output, so as to control the operation of the subsequent hoisting device according to the upper limit of the hoisting power until the current uncoupling process is completed.

[0075] The recording module 30 is used to record the maximum tension value collected by the tension detection component during the current uncoupling process as a reference threshold for the next uncoupling status determination after the current uncoupling process is completed; wherein, the reference threshold is used to determine the preset triggering conditions.

[0076] It is understood that the device in this embodiment corresponds to the unhooking control method of the dynamic compaction machine in the above embodiment, and the options in the above embodiment are also applicable to this embodiment, so they will not be described again here.

[0077] This application also provides an electric engineering device, exemplary of which includes a processor and a memory, wherein the memory stores a computer program, and the processor, by running the computer program, causes the electric engineering device to perform the functions of the various modules in the above-described dynamic compaction machine uncoupling control method or the above-described dynamic compaction machine uncoupling control device.

[0078] The processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including at least one of a Central Processing Unit (CPU), Graphics Processing Unit (GPU), Network Processor (NP), Digital Signal Processor (DSP), Application-Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0079] The memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The memory is used to store computer programs, and the processor can execute the computer programs accordingly after receiving execution instructions.

[0080] This application also provides a computer-readable storage medium for storing the computer program used in the aforementioned electro-engineering equipment. For example, the computer-readable storage medium may include, but is not limited to, various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0081] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that, in alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0082] In addition, the functional modules or units in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0083] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0084] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A method for controlling the unhooking of a dynamic compaction machine, characterized in that, include: During the process of the winch pulling the ram to lift, the force parameters output by the tension detection component connected to the unhooking trigger mechanism are acquired in real time; When the force parameters meet the preset triggering conditions, it is determined that the hammer is about to enter the unhooking state, and the power output of the power system is adjusted so that the power output is less than or equal to the charging power limit of the power battery. The upper limit of the hoisting power of the winch device is determined based on the available power supply of the power system after adjusting the power output of the generator, so as to control the operation of the subsequent winch device according to the upper limit of the hoisting power until the current uncoupling process is completed. After the uncoupling process is completed, the maximum tension value collected by the tension detection component during the uncoupling process will be used as the reference threshold for determining the next uncoupling status; wherein, the reference threshold is used to determine the preset triggering condition.

2. The method for controlling the unhooking of a dynamic compaction machine according to claim 1, characterized in that, During initial operation, determining that the hammer is about to enter the unhooking state when the force parameters meet the preset triggering conditions includes: If the force parameter is greater than the initial reference threshold and the duration reaches the first preset time threshold, it is determined that the hammer is about to enter the unhooking state; wherein, the initial reference threshold is the tension value of the tension detection component when the unhooking trigger mechanism is in a relaxed state.

3. The method for controlling the unhooking of a dynamic compaction machine according to claim 1, characterized in that, In non-first-time operation, the step of determining that the hammer is about to enter the unhooking state when the force parameters meet the preset triggering conditions includes: If the force parameter is greater than a preset multiple of the maximum tensile force recorded during the previous unhooking process, and the duration reaches a second preset time threshold, it is determined that the ram is about to enter the unhooking state; wherein, the preset multiple is a constant between 0.3 and 0.

5.

4. The method for controlling the unhooking of a dynamic compaction machine according to claim 1, characterized in that, The power system includes a range extender and the power battery; Adjusting the power generation output power of the power system to make the power generation output power less than or equal to the charging power limit of the power battery includes: In response to the determination that the system is about to enter a decoupling state, a power limiting command is sent to the range extender to reduce the power generation output power based on the power limiting command, so that the power generation output power is less than or equal to the charging power limit of the power battery; wherein the power limiting command includes the charging power limit of the power battery.

5. The method for controlling the unhooking of a dynamic compaction machine according to claim 4, characterized in that, The available power supply is the sum of the current range extender's power generation and the maximum allowable discharge power of the power battery; Determining the upper limit of the hoisting power of the winch device based on the available power supply of the power system after adjusting the power output of the generator includes: using the available power supply as the upper limit of the hoisting power of the winch device.

6. The method for controlling the unhooking of a dynamic compaction machine according to claim 1, characterized in that, Before using the maximum tensile force value collected by the tensile force detection component during this unhooking process as the reference threshold for determining the next unhooking status, the method further includes: determining whether the unhooking is complete; The determination of whether the unhooking is complete includes: If the force parameter output by the tension detection component falls below the preset tension threshold, then the unhooking is confirmed to be complete.

7. The method for controlling the unhooking of a dynamic compaction machine according to claim 6, characterized in that, When the tension detection component malfunctions, determining whether the unhooking is complete includes: Obtain the operating parameters of the drive motor of the hoisting device; If the operating parameters drop to the no-load level, then the uncoupling is considered complete.

8. A dynamic compaction machine unhooking control device, characterized in that, include: The tension detection module is used to acquire the force parameters output by the tension detection component connected to the unhooking trigger mechanism in real time during the process of the winch pulling the hammer to lift. The power control module is used to determine that the hammer is about to enter the unhooking state when the force parameters meet the preset trigger conditions, and to adjust the power output of the power system so that the power output is less than or equal to the charging power limit of the power battery. The power control module is also used to determine the upper limit of the hoisting power of the hoisting device based on the available power supply of the power system after adjusting the power output of the generator, so as to control the operation of the subsequent hoisting device according to the upper limit of the hoisting power until the current uncoupling process is completed. The recording module is used to record the maximum tension value collected by the tension detection component during the current uncoupling process as a reference threshold for determining the next uncoupling status after the current uncoupling process is completed; wherein, the reference threshold is used to determine the preset triggering condition.

9. An electric engineering device, characterized in that, The electric engineering equipment includes a processor and a memory, the memory storing a computer program, and the processor executing the computer program to implement the dynamic compaction machine unhooking control method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, It stores a computer program, which, when executed on a processor, implements the dynamic compaction machine unhooking control method according to any one of claims 1-7.

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