Charging and discharging control method and device of super capacitor, operation machine and storage medium

Abstract

The invention relates to the technical field of hybrid power, and discloses a charging and discharging control method and device of a super capacitor, an operation machine and a storage medium. When it is detected that a hybrid power system is in a target working condition, working condition parameters of the hybrid power system are obtained; according to the method, the charge state protection threshold value and the control strategy of the charge and discharge power of the super capacitor are determined, and then the super capacitor is controlled to charge and discharge based on the charge state protection threshold value and the control strategy of the charge and discharge power of the super capacitor, so that the charge state of the super capacitor is dynamically maintained in a high-efficiency interval; the charging and discharging efficiency of the super capacitor is always kept at a relatively high level, so that the recovery rate of regenerated energy and the utilization rate of auxiliary driving energy of the super capacitor are remarkably improved, the extreme charge state of the super capacitor is effectively avoided, the internal loss and the aging rate of the super capacitor are reduced, and the cycle life of the battery is prolonged.

Description

Technical Field

[0001] This invention relates to the field of hybrid vehicle technology, specifically to a method, apparatus, operating machinery, and storage medium for controlling the charging and discharging of supercapacitors. Background Technology

[0002] Currently, the greening and intelligentization of construction machinery has become a clear development trend. Among them, hybrid electric excavators, as an important technological path, have gradually been applied. Due to their high power density and fast discharge speed, supercapacitors are often used as key energy storage buffer units to recover braking energy and provide instantaneous auxiliary power. However, the mainstream management method of supercapacitors in hybrid excavators is still relatively basic and passive. The core is to treat them as simple "energy pools" and perform start-stop control based on fixed state of charge thresholds. That is, charging is restricted only when the supercapacitor charge is too high and discharging is restricted when the charge is too low. However, the state of charge of supercapacitors will passively and randomly fluctuate with the working conditions in actual operation. The system lacks the fine-grained control capability to actively maintain it in an efficient and reasonable working range, resulting in its performance advantages and energy-saving potential not being fully realized. Summary of the Invention

[0003] This invention provides a method, device, operating machinery, and storage medium for controlling the charging and discharging of a supercapacitor, in order to solve the problem that the state of charge of a supercapacitor fluctuates with operating conditions in actual operation and lacks the ability to actively maintain it within a high-efficiency and reasonable operating range with fine-grained control.

[0004] In a first aspect, the present invention provides a charging and discharging control method for a supercapacitor, applied to a hybrid power system, the hybrid power system including at least a supercapacitor, a generator motor, and a rotary motor, the method comprising: in response to detecting that the hybrid power system is in a target operating condition, acquiring operating condition parameters of the hybrid power system, the operating condition parameters including at least one of the output power of the generator motor, the load demand power, the demand or output power of the rotary motor, and the energy flow direction of corresponding components in the generator motor, the supercapacitor, and the rotary motor; determining a state-of-charge protection threshold and a charging and discharging power control strategy for the supercapacitor, or determining a charging and discharging power control strategy for the supercapacitor, based on the operating condition parameters and the energy flow direction of the corresponding components; and controlling the supercapacitor to charge and discharge based on the state-of-charge protection threshold and the charging and discharging power control strategy, or the charging and discharging power control strategy.

[0005] The supercapacitor charging and discharging control method provided by this invention, in response to detecting that the hybrid power system is in a target operating condition, acquires the operating condition parameters of the hybrid power system, and then, based on the operating condition parameters and the energy flow direction of the corresponding components, determines the supercapacitor's state of charge protection threshold and charging / discharging power control strategy, or determines the supercapacitor's charging / discharging power control strategy. Subsequently, based on the supercapacitor's state of charge protection threshold and charging / discharging power control strategy, or the charging / discharging power control strategy, the supercapacitor can be controlled to charge and discharge, thereby dynamically maintaining the supercapacitor's state of charge in the high-efficiency range, keeping its charging and discharging efficiency at a high level, thus significantly improving the supercapacitor's regenerative energy recovery rate and auxiliary drive energy utilization rate, effectively avoiding extreme states of charge of the supercapacitor, reducing its internal losses and aging rate, and extending battery cycle life.

[0006] In one optional implementation, when the target operating condition is a light-load condition, the generator motor is in a charging state and charges the supercapacitor. Based on the operating condition parameters and the energy flow direction of the corresponding components, a state-of-charge protection threshold and a control strategy for the charging and discharging power of the supercapacitor are determined, including: determining a first state-of-charge protection threshold for the supercapacitor under light-load conditions, wherein the first state-of-charge protection threshold is a threshold obtained by testing the operating condition parameters and charging test data of the supercapacitor under light-load conditions; monitoring the current state of charge of the supercapacitor; when the current state of charge is less than the first state-of-charge protection threshold, charging the supercapacitor based on the current charging power; when the current state of charge is not less than the first state-of-charge threshold, controlling the charging power to gradually decrease to zero, wherein the decrease in charging power includes decreasing at a first rate and then decreasing at a second rate, wherein the first rate is greater than the second rate.

[0007] When the current state of charge of the supercapacitor reaches the state of charge protection threshold, the present invention controls the charging power to continuously decrease, so that the charging power of the supercapacitor drops to 0 before the current state of charge reaches 100%, effectively avoiding extreme state of charge of the supercapacitor, reducing internal losses and aging rate. Furthermore, since the supercapacitor more effectively bears the power surge, the charge and discharge rate of the power battery is reduced, which also helps to extend the battery cycle life.

[0008] In one optional implementation, when the target operating condition is a slewing braking condition, the slewing motor charges the supercapacitor. The control strategy for determining the state-of-charge protection threshold and charging / discharging power of the supercapacitor based on the operating condition parameters and the energy flow direction of the corresponding components includes: responding to the detection of a slewing motor braking signal, predicting the braking duration of the slewing motor based on a pre-calibrated slewing motor speed curve and the slewing motor speed, wherein the speed curve is associated with the slewing motor speed and the braking time; calculating the integral of the supercapacitor within the braking duration based on a pre-calibrated charging power curve and the supercapacitor's charging power, determining a reserved state-of-charge increment value, wherein the charging power curve is associated with the braking time and the charging power; subtracting the upper limit of the supercapacitor's state of charge from the reserved state-of-charge increment value to obtain a second state-of-charge protection threshold for the supercapacitor; obtaining the current state of charge of the supercapacitor; and charging the supercapacitor based on the charging power curve when the current state of charge is less than the second state-of-charge protection threshold.

[0009] In response to the braking signal of the rotary motor, this invention can reserve the incremental value of the state of charge in advance based on the instantaneous power demand, and then determine the second state of charge protection threshold. It can reserve the SOC space in advance to recover braking energy. Through prediction and active management, the power output / absorption capacity of the supercapacitor is more matched with the real-time operating conditions, reducing the transient load changes of the engine, making the engine work more stable and the operation smoother.

[0010] In one optional implementation, the method further includes: if the current state of charge is greater than the second state of charge protection threshold, controlling the rotary motor to stop charging the supercapacitor.

[0011] In one optional implementation, when the target operating condition is a heavy-load condition and the load power demand is greater than the output power of the generator motor, the generator motor provides energy to the load, and the supercapacitor provides energy to the load and the rotary motor. The control strategy for determining the state-of-charge protection threshold and charging / discharging power of the supercapacitor based on the operating condition parameters and the energy flow direction of the corresponding components includes: calculating the state of charge required for the rotary motor to rotate to a preset angle, the preset angle corresponding to the angle required for the rotary motor to rotate to its normal operating position; calculating the difference between the current state of charge of the supercapacitor and the required state of charge, and determining the difference as a third state of charge protection threshold; when the current state of charge is greater than the third state of charge protection threshold, controlling the supercapacitor to provide energy to the load and the rotary motor based on a preset discharge power until the current state of charge reaches the state of charge protection threshold; and when the current state of charge reaches the state of charge protection threshold, controlling the supercapacitor to provide energy to the rotary motor.

[0012] The layered discharge strategy of setting a third state of charge protection threshold in this invention can reasonably allocate the supercapacitor energy, ensuring both normal load operation and meeting the core requirements of the rotary motor, thus guaranteeing the smoothness and efficiency of the excavator's operation.

[0013] In one optional implementation, when the target operating condition is a heavy-load condition and the load power demand is less than the output power of the generator motor, the generator motor provides energy to the load and the supercapacitor, and the supercapacitor provides energy to the rotary motor. Based on the operating condition parameters and the energy flow direction of the corresponding components, a charging and discharging power control strategy for the supercapacitor is determined, including: obtaining the power demand of the rotary motor; controlling the discharge power of the supercapacitor to be equal to the power demand of the rotary motor; and controlling the output power of the generator motor to be equal to the sum of the discharge power of the supercapacitor and the load power demand.

[0014] Secondly, the present invention provides a charging and discharging control device for a supercapacitor, applied to a hybrid power system, the hybrid power system including at least a supercapacitor, a generator motor, and a rotary motor, the device comprising: an operating condition parameter acquisition module, configured to acquire operating condition parameters of the hybrid power system in response to detecting that the hybrid power system is in a target operating condition, the operating condition parameters including at least one of the output power of the generator motor, the load demand power, the demand or output power of the rotary motor, and the energy flow direction of corresponding components in the generator motor, the supercapacitor, and the rotary motor; a strategy determination module, configured to determine a state-of-charge protection threshold and a control strategy for charging and discharging power of the supercapacitor based on the operating condition parameters and the energy flow direction of the corresponding components, or to determine a charging and discharging power control strategy for the supercapacitor; and a charging and discharging control module, configured to control the supercapacitor to charge and discharge based on the state-of-charge protection threshold and the charging and discharging power control strategy, or the charging and discharging power control strategy.

[0015] Thirdly, the present invention provides a working machine, the working machine including a controller, the controller including a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, the processor executing the computer instructions to perform the supercapacitor charging and discharging control method of the first aspect or any corresponding embodiment described above.

[0016] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the supercapacitor charging and discharging control method of the first aspect or any corresponding embodiment described above. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a structural block diagram of a hybrid power system according to an embodiment of the present invention;

[0019] Figure 2 This is a schematic flowchart of a first method for controlling the charging and discharging of a supercapacitor according to an embodiment of the present invention. Figure 3 This is a schematic diagram of a second process for controlling the charging and discharging of a supercapacitor according to an embodiment of the present invention; Figure 4 This is an example diagram illustrating the overcharge protection start point setting according to an embodiment of the present invention; Figure 5 This is an example graph showing the relationship between charging power and state of charge value according to an embodiment of the present invention. Figure 6 This is an example diagram showing the energy flow direction of each component under the slewing braking condition according to an embodiment of the present invention. Figure 7 The graphs showing the relationship between braking time and rotary motor speed and supercapacitor state of charge according to an embodiment of the present invention are illustrative examples. Figure 8 This is a flowchart illustrating the calculation of the reserved state of charge increment value according to an embodiment of the present invention; Figure 9 This is an example diagram of the energy flow direction of each component under heavy load conditions and when the load demand power is greater than the output power of the generator motor, according to an embodiment of the present invention. Figure 10 This is an example graph showing the change of state of charge over time when a supercapacitor provides energy to a load under heavy load conditions, according to an embodiment of the present invention. Figure 11 This is an example diagram of the energy flow direction of each component under heavy load conditions and when the load demand power is less than the output power of the generator motor, according to an embodiment of the present invention. Figure 12 This is an example diagram illustrating the relationship between the output power of the generator motor, the load demand power, and the supercapacitor charging power according to an embodiment of the present invention. Figure 13 This is an example diagram showing the change of the state of charge value of a supercapacitor over time after setting the supercapacitor charging power and the generator motor output power according to an embodiment of the present invention. Figure 14This is a flowchart illustrating the setting of the charging power of the supercapacitor and the output power of the generator motor according to an embodiment of the present invention; Figure 15 This is a structural example diagram of a vehicle according to an embodiment of the present invention; Figure 16 This is a structural block diagram of a supercapacitor charging and discharging control device according to an embodiment of the present invention; Figure 17 This is a schematic diagram of the hardware structure of the controller according to an embodiment of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0022] The current mainstream management methods for supercapacitors have the following obvious drawbacks in practical applications: 1. Rigid State of Charge (SOC) operating range, insufficient efficiency potential: Fixed threshold strategies cannot adapt to the complex, variable, and highly random working conditions of excavators. The SOC of the supercapacitor may operate in an inefficient range (such as too low or too high) for a long time, preventing it from absorbing or releasing energy near the optimal efficiency point, thus reducing the overall efficiency of energy recovery and auxiliary power supply; 2. Prone to deep charging and discharging, affecting safety and lifespan: Under continuous and drastic changes in working conditions, simple control logic may cause the supercapacitor's SOC to frequently reach extreme values ​​(such as close to 0% or 100%). Deep discharging will reduce its usable voltage and power output capability, while long-term full charging or overcharging may accelerate aging, increase the risk of thermal runaway, and affect system safety; 3. Poor coordination with the main energy source, which may affect the smoothness of operation: When the supercapacitor cannot provide or absorb power as needed due to improper SOC management, the entire load will be instantly transferred to the engine or power battery, which may cause engine... Severe fluctuations in rotational speed and battery current surges can lead to uneven operation and even affect maneuverability; 4. Insufficient energy utilization: To avoid the above safety issues, existing strategies tend to be conservative, potentially limiting the charging and discharging of supercapacitors too early, resulting in the waste of some recyclable regenerative energy, or the peak power that could have been provided by the capacitor being provided by less efficient energy sources; To address the above shortcomings, this invention provides a supercapacitor charging and discharging control method with built-in SOC safety boundary protection and intelligent prediction mechanisms, which strengthens the safety defenses of the electrical system at the software level and reduces the risks caused by improper management of energy storage components; By intelligently adjusting the state of charge protection threshold and charging and discharging control strategy based on the operating conditions and parameters of the hybrid power system, overcharging and deep discharging of the supercapacitor are actively avoided, and its SOC is strictly controlled within a safe range that is conducive to long lifespan, ensuring the continuous, stable and efficient operation of the hybrid power system under various operating conditions.

[0023] According to an embodiment of the present invention, a method for controlling the charging and discharging of a supercapacitor is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0024] This embodiment provides a charging and discharging control method for a supercapacitor, applied to a hybrid power system. The hybrid power system includes at least a supercapacitor, a generator-motor, and a rotary motor. The generator-motor and supercapacitor serve as the main power sources. The generator-motor provides high power output, suitable for heavy-load and long-term operation. The supercapacitor provides instantaneous high torque output, suitable for rapid response and energy-saving operation, and can also store the electrical energy required for the generator-motor's operation. An energy recovery system recovers excess mechanical energy during deceleration, braking, and other conditions, converting it into electrical energy for charging and storage. The two are coupled through a transmission system and an electric drive system, allowing for flexible selection of the operating mode according to actual load requirements. For a detailed architecture, please refer to [reference needed]. Figure 1 As shown, the supercapacitor can provide power to the load and the rotary motor, and the rotary motor can provide energy to the supercapacitor under corresponding working conditions. The generator motor can provide energy to the load and the supercapacitor. Among them, the hybrid power system can be applied to different types of operating machinery to implement the charging and discharging control method of the supercapacitor. That is, there is no limitation on the type of operating machinery. Operating machinery including hybrid power systems can operate based on the charging and discharging control method of supercapacitors. Take the hybrid excavator as an example.

[0025] Figure 2 This is a flowchart of a supercapacitor charging and discharging control method according to an embodiment of the present invention, as shown below. Figure 2 As shown, the process includes the following steps: Step S201: In response to detecting that the hybrid power system is in the target operating condition, the operating condition parameters of the hybrid power system are acquired.

[0026] The operating parameters include at least one of the following: the output power of the generator motor, the load demand power, the demand or output power of the rotary motor, and the energy flow direction of the corresponding components in the generator motor, supercapacitor and rotary motor.

[0027] This invention can monitor the system's operating status in real time and determine whether it has entered a preset target operating condition, such as the slewing braking / starting, light load, heavy load, and acceleration of construction machinery, which require the supercapacitor to participate in energy regulation. In response to detecting that the hybrid power system is in the target operating condition, the core operating parameters of the hybrid power system can be collected, including but not limited to the output power of the generator motor, the load demand power of the vehicle / equipment, the demand / output power of the slewing motor, and energy flow direction data, such as whether the generator motor is generating or consuming electricity, whether the supercapacitor is charging or discharging, whether the slewing motor is consuming or feeding back electrical energy, and the energy flow direction of the output component object, and may also include the ambient temperature of the hybrid power system, etc., which are only examples.

[0028] Step S202: Based on the operating parameters and the energy flow direction of the corresponding components, determine the state-of-charge protection threshold and the control strategy for charging and discharging power of the supercapacitor, or determine the charging and discharging power control strategy of the supercapacitor.

[0029] This invention allows for the pre-setting of a state-of-charge (SOC) protection threshold for the vibrating supercapacitor based on different operating parameters and the energy flow direction of corresponding components. For example, when the energy flow direction is regenerative charging by a rotary motor and the ambient temperature is greater than 45°C, an upper limit threshold for the SOC of the supercapacitor can be set to reduce the charging upper limit at high temperatures and prevent overcharging. Alternatively, when the energy flow direction is continuous discharge of the supercapacitor and the load power demand is greater than the rated power, a lower limit threshold for the SOC of the supercapacitor can be set to increase the lower limit during high-load discharge and prevent deep discharge. If the ambient temperature is too low, a range of SOC protection thresholds for the supercapacitor can be set to narrow the usable range at low temperatures and ensure that the SOC of the supercapacitor remains in the high-efficiency range. This is merely an example.

[0030] This invention can be implemented using thresholds as boundaries and dynamic power adjustment based on operating conditions as the core, with a scenario-specific braking charging and discharging power control strategy. For example, when the supercapacitor's SOC is less than the lower threshold, supercapacitor discharge can be prohibited, allowing only charging; if the supercapacitor's SOC is between the upper and lower thresholds, then for the discharge scenario, the discharge power is the load demand power minus the maximum output power of the generator; when the supercapacitor's SOC is greater than the upper threshold, charging is prohibited, allowing only discharging; alternatively, without needing to activate the SOC protection threshold, only a charging and discharging power strategy can be formulated. When there is a power deficit, the supercapacitor's discharge power is the power deficit, but it must be ensured that the SOC is within a safe range; when there is a power surplus, the charging power equals the power surplus. This is just an example.

[0031] In practical applications, the corresponding state-of-charge protection threshold and charge / discharge power control strategy of the supercapacitor can be determined based on the target operating parameters and energy flow direction of the current hybrid power system, or the charge / discharge power control strategy of the supercapacitor can be determined.

[0032] Step S203: Based on the state-of-charge protection threshold and the control strategy of charging and discharging power of the supercapacitor, or the charging and discharging power control strategy, control the supercapacitor to charge and discharge.

[0033] According to the above-described control strategy for the state of charge protection threshold and the charge / discharge power determined under the target operating conditions, the present invention can send instructions to the charge / discharge control unit of the supercapacitor to precisely control its charge / discharge behavior.

[0034] The supercapacitor charging and discharging control method provided in this embodiment, in response to detecting that the hybrid power system is in a target operating condition, acquires the operating condition parameters of the hybrid power system, and then, based on the operating condition parameters and the energy flow direction of the corresponding components, determines the supercapacitor's state of charge protection threshold and charging / discharging power control strategy, or determines the supercapacitor's charging / discharging power control strategy. Subsequently, based on the supercapacitor's state of charge protection threshold and charging / discharging power control strategy, or the charging / discharging power control strategy, the supercapacitor can be controlled to charge and discharge, thereby dynamically maintaining the supercapacitor's state of charge in the high-efficiency range, keeping its charging and discharging efficiency at a high level, thus significantly improving the supercapacitor's regenerative energy recovery rate and auxiliary drive energy utilization rate, effectively avoiding extreme states of charge of the supercapacitor, reducing its internal losses and aging rate, and extending battery cycle life.

[0035] This embodiment provides a method for controlling the charging and discharging of a supercapacitor, applied to a hybrid power system. The hybrid power system includes at least a supercapacitor, a generator motor, and a rotary motor. Figure 3 This is a flowchart of a supercapacitor charging and discharging control method according to an embodiment of the present invention, as shown below. Figure 3 As shown, the process includes the following steps: Step S301: In response to detecting that the hybrid power system is in the target operating condition, acquire the operating condition parameters of the hybrid power system. These operating condition parameters include at least one of the following: the output power of the generator motor, the load demand power, the demand or output power of the rotary motor, and the energy flow direction of the corresponding components in the generator motor, supercapacitor, and rotary motor. For details, please refer to [link to relevant documentation]. Figure 1 Step S101 of the illustrated embodiment will not be described again here.

[0036] Step S302: Based on the operating parameters and the energy flow direction of the corresponding components, determine the state-of-charge protection threshold and the control strategy for charging and discharging power of the supercapacitor, or determine the charging and discharging power control strategy of the supercapacitor.

[0037] Specifically, when the target operating condition is a light-load condition, the generator motor is in a charging state and charges the supercapacitor. The above step S302 includes: Step S3021: Determine the first state-of-charge protection threshold of the supercapacitor under light load conditions.

[0038] The first state-of-charge protection threshold is a threshold obtained by testing the operating parameters under light load conditions and the charging test data of the supercapacitor.

[0039] Step S3022: Monitor the current state of charge of the supercapacitor. When the current state of charge is less than the first state of charge protection threshold, charge the supercapacitor based on the current charging power.

[0040] Step S3023: When the current state of charge is not less than the first state of charge threshold, control the charging power to gradually decrease to zero.

[0041] The charging power decrease process includes decreasing at a first rate and then decreasing at a second rate, where the first rate is greater than the second rate.

[0042] Under light-load conditions, the generator motor of a hybrid excavator is in generator mode, charging the supercapacitor. However, if the charging process causes the supercapacitor's State of Charge (SOC) value to frequently exceed the maximum charge level, it will accelerate the aging of the supercapacitor, increase the risk of thermal runaway, and affect the safety of the hybrid power system. Therefore, during the supercapacitor charging state, a first state of charge protection threshold for the supercapacitor under light-load conditions can be determined, i.e., an overcharge protection activation point can be set. (See [reference]). Figure 4 As shown, a certain amount of SOC space is reserved in advance so that the charging power is gradually reduced to zero when the protection start point is reached, and the SOC value of the supercapacitor is less than 100%, thus achieving the effect of protecting the supercapacitor and the safety of the hybrid power system. Specifically, the method to determine the first state of charge protection threshold can be to carry out charging test environment under light load conditions, and conduct charging tests based on different supercapacitor charging test data (including different state of charge protection thresholds). After the test is completed, the test results under each supercapacitor test data (including but not limited to charging efficiency, energy utilization rate, charging safety, etc.) can be determined. Then, the threshold group with no safety abnormalities and meeting the charging requirements can be screened out and determined as the optimal state of charge protection threshold. In subsequent practical applications, the first state of charge protection threshold of the supercapacitor can be determined under light load conditions. This is only an example.

[0043] This invention embodiment pre-tests were conducted based on different types of charging power degradation to determine the impact of setting the overcharge protection start point on the State of Charge (SOC) while keeping the supercapacitor charging power constant. Figure 5 As shown, curve Ⅲ meets the requirements after the overcharge protection activation point, while curves Ⅰ and Ⅱ do not meet the requirements because the SOC ≥ 100 when the charging power drops to 0. Compared with this standard, curve ③ has the best effect, that is, the charging power decreases at the first rate and then at the second rate. The first rate is greater than the second rate, which can make the charging speed decrease rapidly and the SOC value change the least. This achieves the optimal control effect of rapid risk avoidance and smooth start and end, which is most beneficial to the protection of supercapacitors.

[0044] In practical applications, the supercapacitor charging power remains constant while the SOC value rises steadily. The current state of charge of the supercapacitor can be monitored in real time. When the current state of charge of the supercapacitor is less than the first state of charge protection threshold, the supercapacitor can be charged according to the current charging power. When the current state of charge is not less than the first state of charge threshold, the charging power can be controlled to gradually decrease, so that the charging power of the supercapacitor is reduced to 0 before the SOC reaches 100%.

[0045] When the current state of charge of the supercapacitor reaches the state of charge protection threshold, the present invention controls the charging power to continuously decrease, so that the charging power of the supercapacitor drops to 0 before the current state of charge reaches 100%, effectively avoiding extreme state of charge of the supercapacitor, reducing internal losses and aging rate. Furthermore, since the supercapacitor more effectively bears the power surge, the charge and discharge rate of the power battery is reduced, which also helps to extend the battery cycle life.

[0046] In one optional implementation, when the target operating condition is a rotary braking condition, the rotary motor charges the supercapacitor. Based on the operating condition parameters and the energy flow direction of the corresponding components, the control strategy for the supercapacitor's state of charge protection threshold and charging / discharging power can be determined through the following steps: In response to the detection of a rotary motor braking signal, based on a pre-calibrated rotary motor speed curve and rotary motor speed, the braking duration of the rotary motor is predicted, and the speed curve is associated with the rotary motor speed and braking time; based on a pre-calibrated charging power curve and the supercapacitor's charging power, the integral of the supercapacitor over the braking duration is calculated to determine a reserved state of charge increment value, and the charging power curve is associated with the braking time and charging power; the difference between the upper limit of the supercapacitor's state of charge and the reserved state of charge increment value is calculated to obtain a second state of charge protection threshold for the supercapacitor; the current state of charge of the supercapacitor is obtained; when the current state of charge is less than the second state of charge protection threshold, the supercapacitor is charged based on the charging power curve.

[0047] In the swing braking mode of a hybrid excavator, the supercapacitor recharges itself by recovering the braking energy of the swing motor. It can predict short-term power demand trends and reserve a certain amount of state-of-charge space in advance to recover braking energy. In the swing braking mode, such as... Figure 6 As shown, braking energy is transferred from the rotary motor through the rotary motor controller, and then through the power distribution unit (PDU) to the supercapacitor. During the rotary braking process, the relationship between the supercapacitor's state of charge (SOC) and the rotary motor's speed is as follows: Figure 7As shown, from the start of braking to the end of braking, the speed of the rotary motor gradually decreases to 0. During this process, the SOC value of the supercapacitor will rise by a certain distance, namely ΔSOC. If the space of ΔSOC is not reserved in advance, braking will start when the supercapacitor is close to full charge, which will cause the supercapacitor to overvoltage, increase the risk of thermal runaway, and affect system safety. For example, if a hybrid excavator has already fully charged the supercapacitor under light load conditions, that is, the SOC value has become 100, if rotary braking is suddenly started at this time, the supercapacitor will be overvoltaged. Frequent operation of this will cause the supercapacitor to overheat, increase the risk of thermal runaway, and shorten the service life of the supercapacitor.

[0048] In this embodiment of the invention, two sets of core curves can be pre-calibrated during the rotary motor commissioning stage of the system, including the pre-calibrated rotary motor speed curve and the pre-calibrated charging power curve. The rotary motor speed curve is related to the rotary motor braking time and speed. During rotary motor braking, the speed gradually decreases with the braking time until it drops to 0, at which point the braking ends. It can be obtained by collecting data from multiple rotary motor braking tests and fitting the data. The charging power curve is related to the braking time and the charging power of the supercapacitor. During rotary motor braking, the charging power decreases as the braking speed decreases. It can be obtained by fitting the data through testing.

[0049] In practical applications, the operating status of the rotary motor can be monitored in real time. When the operator triggers the rotary motor braking signal (such as the operating handle returning to its original position or the brake button being triggered), the current speed of the rotary motor at the moment of braking triggering can be collected. Then, based on the pre-calibrated rotary motor speed curve, the braking duration corresponding to the current speed dropping to 0 can be queried. Then, based on the pre-calibrated charging power curve, the relationship between the braking duration and the charging power over time can be obtained, and the integral of the charging energy of the supercapacitor during the braking duration can be calculated and determined as the reserved state of charge increment value. Then, the difference between the upper limit of the supercapacitor's state of charge and the reserved state of charge increment value can be obtained to obtain the second state of charge protection threshold of the supercapacitor for recovering rotary braking energy. The SOC control logic of the rotary braking process is described in [reference needed]. Figure 8 As shown, the current state of charge of the supercapacitor can then be obtained. When the current state of charge is less than the second state of charge protection threshold, the supercapacitor is charged based on the charging power curve.

[0050] In response to the braking signal of the rotary motor, this invention can reserve the incremental value of the state of charge in advance based on the instantaneous power demand, and then determine the second state of charge protection threshold. It can reserve the SOC space in advance to recover braking energy. Through prediction and active management, the power output / absorption capacity of the supercapacitor is more matched with the real-time operating conditions, reducing the transient load changes of the engine, making the engine work more stable and the operation smoother.

[0051] In one alternative implementation, if the current state of charge is greater than the second state of charge protection threshold, the rotary motor is controlled to stop charging the supercapacitor.

[0052] In this embodiment of the invention, after determining the second state of charge protection threshold based on the above steps, if it is detected that the current state of charge is greater than the second state of charge protection threshold, the rotary motor can be controlled to stop charging the supercapacitor, thereby avoiding the continuous input of braking feedback energy into the supercapacitor which is already close to full charge, and eliminating the risk of overcharging from the source.

[0053] In one optional implementation, when the target operating condition is a heavy-load condition and the load power demand is greater than the output power of the generator motor, the generator motor provides energy to the load, and the supercapacitor provides energy to the load and the rotary motor. The control strategy for the supercapacitor's state-of-charge protection threshold and charging / discharging power can be determined based on the operating condition parameters and the energy flow direction of the corresponding components through the following steps: calculating the state of charge required for the rotary motor to rotate to a preset angle, where the preset angle corresponds to the angle required for the rotary motor to rotate to its normal operating position; calculating the difference between the current state of charge of the supercapacitor and the required state of charge, and determining this difference as the third state of charge protection threshold; when the current state of charge is greater than the third state of charge protection threshold, controlling the supercapacitor to provide energy to the load and the rotary motor based on a preset discharge power until the current state of charge reaches the state of charge protection threshold; and when the current state of charge reaches the state of charge protection threshold, controlling the supercapacitor to provide energy to the rotary motor.

[0054] When a hybrid excavator is under heavy load and the power demand of the load exceeds the output power of the generator motor, such as Figure 9 As shown, the generator motor is in an electric state, working together with the engine to provide energy to the working device. The supercapacitor continuously discharges, simultaneously providing energy to the load and the rotary motor. Therefore, the SOC value of the supercapacitor continuously decreases. Assuming that the supercapacitor is allowed to discharge at a constant power under this heavy load condition, the SOC value will continuously decrease to 0, resulting in the inability to continue providing any energy to the rotary motor. Figure 10 As shown, since the slewing motor's energy source is solely the supercapacitor, it cannot continue rotating, preventing the hybrid excavator from performing slewing operations and impacting the smoothness and efficiency of its operation. For instance, when the hybrid excavator is continuously excavating hard rock, the load power demand is high, and both the engine and the supercapacitor work together to power the load, causing the supercapacitor's SOC to continuously decrease and its charge to continuously diminish. If a certain amount of charge is not reserved in time to supply the slewing requirement, the remaining charge after excavating the rock will be insufficient for the hybrid excavator to slew to the appropriate position, affecting the smoothness of the work and the driver's driving experience.

[0055] In this embodiment of the invention, the current rotation angle of the rotary motor can be detected in real time by an angle sensor. Then, the difference between the current rotation angle and the normal operating position angle (rotating to a suitable position) is calculated. The state of charge required for the preset rotation angle is then calculated. The difference between the current state of charge of the supercapacitor and the required state of charge is calculated, and the difference can be determined as the third state of charge protection threshold (the lower limit). During the discharge process, when the current state of charge is greater than the third state of charge protection threshold, the supercapacitor can be controlled to provide energy to the load and the rotary motor based on a preset discharge power until the current state of charge reaches the state of charge protection threshold. When the current state of charge reaches the state of charge protection threshold, the supercapacitor is controlled to provide energy to the rotary motor to ensure that a certain amount of power is reserved for the rotation.

[0056] The layered discharge strategy of setting a third state of charge protection threshold in this invention can reasonably allocate the supercapacitor energy, ensuring both normal load operation and meeting the core requirements of the rotary motor, thus guaranteeing the smoothness and efficiency of the excavator's operation.

[0057] In one optional implementation, when the target operating condition is a heavy-load condition and the load power demand is less than the output power of the generator motor, the generator motor provides energy to the load and the supercapacitor, and the supercapacitor provides energy to the rotary motor. The charging and discharging power control strategy of the supercapacitor can be determined based on the operating condition parameters and the energy flow direction of the corresponding components through the following steps: obtaining the power demand of the rotary motor; controlling the discharge power of the supercapacitor to be equal to the power demand of the rotary motor; and controlling the output power of the generator motor to be equal to the sum of the discharge power of the supercapacitor and the load power demand.

[0058] Hybrid excavators, under heavy load conditions where the load power requirement is less than the engine power, and while continuously rotating, such as... Figure 11 As shown, while the engine provides energy to the working device, it also charges the supercapacitor via a generator motor. At this time, the generator motor is generating electricity, and the supercapacitor provides energy solely to the rotary motor. The required power of the rotary motor can be obtained, and the discharge power of the supercapacitor can be controlled to equal the required power of the rotary motor, as shown below. Figure 12 As shown, the output power of the generator motor (equivalent to the power output of the engine) is equal to the discharge power of the supercapacitor plus the power demanded by the load. Figure 12 As shown, this ensures that the SOC value of the supercapacitor remains unchanged. Figure 13 As shown, this helps maintain the SOC value of the supercapacitor within the high-efficiency range, achieving energy saving and high efficiency. For the state-of-charge control logic under continuous slewing conditions in hybrid excavators, please refer to [link to relevant documentation]. Figure 14As shown; for example, during the energy-saving test of a hybrid excavator, there will be heavy load and continuous rotation conditions. The fuel consumption of the hybrid excavator under this condition is measured. At this time, the discharge power of the supercapacitor is equal to the rotation power of the rotary motor, which can ensure the smooth operation and energy saving of the hybrid excavator under this condition.

[0059] This invention sets the discharge power of the supercapacitor to be equal to the power demand of the rotary motor, and the output power of the generator motor to be equal to the sum of the discharge power of the supercapacitor and the power demand of the load. This ensures that the SOC of the supercapacitor is dynamically maintained in the high-efficiency range, so that its charging and discharging efficiency is always kept at a high level. This significantly improves the recovery rate of regenerative energy and the utilization rate of auxiliary drive energy, and the overall fuel consumption or power consumption can be reduced by about 5%-15% (depending on the specific working conditions).

[0060] Step S303: Based on the supercapacitor's state-of-charge protection threshold and a control strategy for charging and discharging power, or a charging and discharging power control strategy, control the supercapacitor to charge and discharge. For details, please refer to [link to relevant documentation]. Figure 1 Step S103 of the illustrated embodiment will not be described again here.

[0061] This embodiment also provides a working machine, such as Figure 15 As shown, the working machine includes a controller 1501, which includes a memory and a processor. The memory and the processor are interconnected. The memory stores computer instructions, and the processor executes these computer instructions to perform the aforementioned supercapacitor charging and discharging control method. The type of working machine is not limited, as long as it includes a hybrid power system. Specifically, the working machine can be an excavator.

[0062] This embodiment also provides a charging and discharging control device for a supercapacitor, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0063] This embodiment provides a charging and discharging control device for a supercapacitor, applied to a hybrid power system. The hybrid power system includes at least a supercapacitor, a generator motor, and a rotary motor. Figure 16As shown, it includes: a working condition parameter acquisition module 1601, used to acquire the working condition parameters of the hybrid power system in response to detecting that the hybrid power system is in a target working condition. The working condition parameters include at least one of the output power of the generator motor, the load demand power, the demand or output power of the rotary motor, and the energy flow direction of the corresponding components in the generator motor, supercapacitor, and rotary motor; a strategy determination module 1602, used to determine the state-of-charge protection threshold and the control strategy for charging and discharging power of the supercapacitor based on the working condition parameters and the energy flow direction of the corresponding components, or to determine the charging and discharging power control strategy of the supercapacitor; and a charging and discharging control module 1603, used to control the supercapacitor to charge and discharge based on the state-of-charge protection threshold and the charging and discharging power control strategy, or the charging and discharging power control strategy.

[0064] In some optional implementations, when the target operating condition is a light-load condition, the generator motor is in a charging state and charges the supercapacitor. The strategy determination module 1602 includes: a first threshold determination unit, used to determine a first state-of-charge protection threshold for the supercapacitor under light-load conditions, the first state-of-charge protection threshold being a threshold obtained by testing the operating parameters under light-load conditions and the charging test data of the supercapacitor; a state-of-charge monitoring unit, used to monitor the current state of charge of the supercapacitor, and when the current state of charge is less than the first state-of-charge protection threshold, to charge the supercapacitor based on the current charging power; and a power control unit, used to control the charging power to gradually decrease to zero when the current state of charge is not less than the first state-of-charge threshold, the charging power decreasing process including decreasing at a first rate and then decreasing at a second rate, the first rate being greater than the second rate.

[0065] In some optional implementations, when the target operating condition is a rotary braking condition, the rotary motor charges the supercapacitor. The strategy determination module 1602 includes: a braking duration determination unit, used to predict the braking duration of the rotary motor based on a pre-calibrated rotary motor speed curve and the rotary motor speed in response to the detection of a rotary motor braking signal; the speed curve is associated with the rotary motor speed and the braking time; an incremental value calculation unit, used to calculate the integral of the supercapacitor within the braking duration based on a pre-calibrated charging power curve and the supercapacitor's charging power, and determine the reserved state of charge increment value; the charging power curve is associated with the braking time and the charging power; a second threshold calculation unit, used to subtract the reserved state of charge increment value from the current state of charge of the supercapacitor to obtain a second state of charge protection threshold for the supercapacitor; a state of charge acquisition unit, used to acquire the current state of charge of the supercapacitor; and a charging control unit, used to charge the supercapacitor based on the charging power curve when the current state of charge is less than the second state of charge protection threshold.

[0066] In some optional embodiments, the supercapacitor's charge and discharge control device further includes a charging control module, used to control the rotary motor to stop charging the supercapacitor if the current state of charge is greater than a second state of charge protection threshold.

[0067] In some optional implementations, when the target operating condition is a heavy-load condition and the load power demand is greater than the output power of the generator motor, the generator motor provides energy to the load, and the supercapacitor provides energy to the load and the rotary motor. The strategy determination module 1602 includes: a state of charge calculation unit, used to calculate the state of charge required for the rotary motor to rotate to a preset angle, the preset angle corresponding to the angle required for the rotary motor to rotate to the normal operating position; a third protection threshold calculation unit, used to calculate the difference between the current state of charge of the supercapacitor and the required state of charge, and determine the difference as the third state of charge protection threshold; a discharge control unit, used to control the supercapacitor to provide energy to the load and the rotary motor based on a preset discharge power when the current state of charge is greater than the third state of charge protection threshold, until the current state of charge reaches the state of charge protection threshold; and a discharge control unit, used to control the supercapacitor to provide energy to the rotary motor when the current state of charge reaches the state of charge protection threshold.

[0068] In some optional implementations, when the target operating condition is a heavy-load condition and the load demand power is less than the output power of the generator motor, the generator motor provides energy to the load and the supercapacitor, and the supercapacitor provides energy to the rotary motor. The strategy determination module 1602 includes: a demand power acquisition unit for acquiring the demand power of the rotary motor; a charging power control unit for controlling the discharge power of the supercapacitor to be equal to the demand power of the rotary motor; and a motor power control unit for controlling the output power of the generator motor to be equal to the sum of the discharge power of the supercapacitor and the load demand power.

[0069] The supercapacitor charging and discharging control device provided in this embodiment of the invention can execute the supercapacitor charging and discharging control method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects for executing the method. Further functional descriptions of the above modules and units are the same as in the corresponding embodiments described above, and will not be repeated here.

[0070] Figure 17 This is a schematic diagram of the structure of a controller provided in an embodiment of the present invention.

[0071] The following is a detailed reference. Figure 17The diagram illustrates a structural schematic suitable for implementing a controller in an embodiment of the present invention. The controller may include a processor (e.g., a central processing unit, graphics processing unit, etc.) 1701, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 1702 or a program loaded from memory 1708 into random access memory (RAM) 1703. The RAM 1703 also stores various programs and data required for controller operation. The processor 1701, ROM 1702, and RAM 1703 are interconnected via bus 1704. An input / output (I / O) interface 1705 is also connected to bus 1704.

[0072] Typically, the following devices can be connected to I / O interface 1705: input devices 1706 including, for example, a touchscreen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 1707 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; memory 1708 including, for example, magnetic tape, hard disk, etc.; and communication devices 1709. Communication device 1709 allows the controller to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 17 A controller with various devices is shown, but it should be understood that it is not required to implement or have all of the devices shown, and more or fewer devices may be implemented or have instead.

[0073] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 1709, or installed from a memory 1708, or installed from a ROM 1702. When the computer program is executed by the processor 1701, it performs the functions defined in the supercapacitor charging and discharging control method of the embodiments of the present invention.

[0074] Figure 17 The controller shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0075] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the charging and discharging control method of the supercapacitor shown in the above embodiments is implemented.

[0076] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0077] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A method for controlling the charging and discharging of a supercapacitor, characterized in that, Applied to a hybrid power system, wherein the hybrid power system includes at least a supercapacitor, a generator motor, and a rotary motor, the method includes: In response to detecting that the hybrid power system is in a target operating condition, the operating condition parameters of the hybrid power system are obtained. The operating condition parameters include at least one of the output power of the generator motor, the load demand power, the demand or output power of the rotary motor, and the energy flow direction of the corresponding components in the generator motor, supercapacitor and rotary motor. Based on the operating parameters and the energy flow direction of the corresponding components, determine the state-of-charge protection threshold and the control strategy for charging and discharging power of the supercapacitor, or determine the charging and discharging power control strategy of the supercapacitor. The supercapacitor is controlled to charge and discharge based on the state-of-charge protection threshold and the control strategy for charging and discharging power, or the charging and discharging power control strategy.

2. The method according to claim 1, characterized in that, When the target operating condition is a light-load condition, the generator motor is in a charging state and charges the supercapacitor. Based on the operating condition parameters and the energy flow direction of the corresponding components, the state-of-charge protection threshold and the control strategy for charging and discharging power of the supercapacitor are determined, including: The first state-of-charge protection threshold of the supercapacitor under light load conditions is determined. The first state-of-charge protection threshold is a threshold obtained by testing the operating parameters under light load conditions and the charging test data of the supercapacitor. Monitor the current state of charge of the supercapacitor, and when the current state of charge is less than the first state of charge protection threshold, charge the supercapacitor based on the current charging power; When the current state of charge is not less than a first state of charge threshold, the charging power is controlled to gradually decrease to zero. The process of decreasing the charging power includes decreasing at a first rate and then decreasing at a second rate, wherein the first rate is greater than the second rate.

3. The method according to claim 1, characterized in that, When the target operating condition is a slewing braking condition, the slewing motor charges the supercapacitor. The control strategy for determining the state-of-charge protection threshold and charging / discharging power of the supercapacitor based on the operating condition parameters and the energy flow direction of the corresponding components includes: In response to the detection of a rotary motor braking signal, the braking duration of the rotary motor is predicted based on a pre-calibrated rotary motor speed curve and the rotary motor speed, wherein the speed curve is associated with the rotary motor speed and the braking time. Based on the pre-calibrated charging power curve and the charging power of the supercapacitor, the integral of the supercapacitor over the braking time is calculated to determine the reserved state of charge increment value. The charging power curve is associated with the braking time and the charging power. The second state-of-charge protection threshold of the supercapacitor is obtained by subtracting the upper limit of the state of charge of the supercapacitor from the reserved state of charge increment value. Obtain the current state of charge of the supercapacitor; When the current state of charge is less than the second state of charge protection threshold, the supercapacitor is charged based on the charging power curve.

4. The method according to claim 3, characterized in that, The method further includes: If the current state of charge is greater than the second state of charge protection threshold, the rotary motor is controlled to stop charging the supercapacitor.

5. The method according to claim 1, characterized in that, When the target operating condition is a heavy load condition, and the load power demand exceeds the output power of the generator motor, the generator motor provides energy to the load, and the supercapacitor provides energy to the load and the rotary motor. The control strategy for determining the state-of-charge protection threshold and charging / discharging power of the supercapacitor based on the operating condition parameters and the energy flow direction of the corresponding components includes: Calculate the state of charge required for the rotary motor to rotate to a preset angle, where the preset angle corresponds to the angle required for the rotary motor to rotate to its normal operating position. Calculate the difference between the current state of charge of the supercapacitor and the required state of charge, and determine the difference as the third state of charge protection threshold. When the current state of charge is greater than the third state of charge protection threshold, the supercapacitor is controlled to provide energy to the load and rotary motor based on a preset discharge power until the current state of charge reaches the state of charge protection threshold. When the current state of charge reaches the state of charge protection threshold, the supercapacitor is controlled to provide energy to the rotary motor.

6. The method according to claim 1, characterized in that, When the target operating condition is a heavy load condition, and the load power demand is less than the output power of the generator motor, the generator motor provides energy to the load and the supercapacitor, and the supercapacitor provides energy to the rotary motor. Based on the operating condition parameters and the energy flow direction of the corresponding components, a charging and discharging power control strategy for the supercapacitor is determined, including: Obtain the required power of the rotary motor; The discharge power of the supercapacitor is controlled to be equal to the power required by the rotary motor; The output power of the generator motor is equal to the sum of the discharge power of the supercapacitor and the power demanded by the load.

7. A charging and discharging control device for a supercapacitor, characterized in that, Applied to a hybrid power system, the hybrid power system including at least a supercapacitor, a generator motor, and a rotary motor, the device includes: The operating condition parameter acquisition module is used to acquire the operating condition parameters of the hybrid power system in response to detecting that the hybrid power system is in a target operating condition. The operating condition parameters include at least one of the output power of the generator motor, the load demand power, the demand or output power of the rotary motor, and the energy flow direction of the corresponding components in the generator motor, supercapacitor and rotary motor. The strategy determination module is used to determine the state-of-charge protection threshold and the control strategy for charging and discharging power of the supercapacitor based on the operating parameters and the energy flow direction of the corresponding components, or to determine the charging and discharging power control strategy of the supercapacitor. The charge / discharge control module is used to control the supercapacitor to charge and discharge based on the state-of-charge protection threshold and the control strategy of charge / discharge power, or the charge / discharge power control strategy.

8. A type of operating machinery, characterized in that, The operating machinery includes a controller, which includes a memory and a processor. The memory and the processor are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the charging and discharging control method of the supercapacitor as described in any one of claims 1 to 6.

9. The operating machinery according to claim 8, characterized in that, The machine being operated is an excavator.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing a computer to execute the charging and discharging control method of the supercapacitor according to any one of claims 1 to 6.

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