A method, apparatus, equipment, and range-extended mining truck for energy management and control.

Abstract

This invention discloses an energy management control method, device, equipment, and range-extended mining truck, comprising: determining the current operating condition of the range-extended mining truck based on the changing trend of its actual state of charge (SOC) and the target SOC; after determining that the range-extended mining truck is in the unloading condition at the top of a slope, controlling the range extender to simultaneously charge the power battery and supply power to the drive motor, while controlling the actual SOC of the power battery to be maintained within a preset target SOC range at the top of the slope; after determining that the range-extended mining truck is in the loading condition at the bottom of a slope, controlling the power battery to dominate the power supply, while controlling the actual SOC of the power battery to be maintained within a preset target SOC range at the bottom of the slope; wherein, when the range extender is supplying power, the range extender is controlled to operate within a preset high-efficiency range based on the power generation efficiency curve of the range extender. The energy management control method of this invention can balance system robustness, fuel economy, and power generation efficiency without relying on specific external sensors.

Description

Technical Field

[0001] This invention relates to the field of range-extended mining truck technology, and in particular to a range-extended mining truck energy management and control method, device, equipment, and range-extended mining truck. Background Technology

[0002] Range-extended electric mining trucks are key transportation equipment in mining operations, and their working mode has a distinct cyclical characteristic: fully loaded at the bottom of the pit, then heavily loaded and climbed uphill to the top of the pit, unloaded empty at the top, and finally unloaded and returned to the bottom of the pit. In this cyclical operation, intelligent management of vehicle energy is crucial for ensuring operational reliability and reducing fuel consumption.

[0003] Existing technologies have attempted to plan the State of Charge (SOC) of range-extended mining trucks: based on the SOC at the starting and ending points, the total driving distance, and real-time gradient, the SOC change rate is calculated and a target SOC value is determined, thereby controlling the range extender's power generation. However, this existing technology has the following significant drawbacks: insufficient robustness and over-reliance on sensors: its SOC planning strategy heavily relies on real-time data from high-precision gradient and load sensors. In the harsh and complex working conditions of mines, these sensors are susceptible to interference, malfunction, or drift. Once sensor signals fail or become inaccurate, it will directly lead to a decline in the performance of the SOC planning strategy or even complete failure, affecting the normal operation of the vehicle. Inadequate economic considerations and neglect of power generation efficiency: when adjusting the range extender's power generation, this solution mainly relies on feedback correction based on the simple deviation between the current SOC and the preset target SOC. Although this method can achieve a basic energy balance target, it does not incorporate the range extender's own efficient operating range into the control logic, failing to ensure that the range extender always operates in the optimal fuel economy zone, thus sacrificing the overall energy efficiency of the system and increasing operating costs.

[0004] Therefore, there is an urgent need for an energy management method for range-extended mining trucks that does not rely on specific external sensors and can balance system robustness, fuel economy, and power generation efficiency. Summary of the Invention

[0005] This invention provides a method, apparatus, equipment, and extended-range mining truck energy management control method, which can balance system robustness, fuel economy, and power generation efficiency without relying on specific external sensors.

[0006] In a first aspect, embodiments of the present invention provide an energy management and control method for range-extended mining trucks, comprising: Based on the changing trend of the actual state of charge of the extended-range mining truck and the target state of charge, the current operating condition of the extended-range mining truck is determined; the current operating condition includes: fully loaded climbing condition, unloading condition at the top of the slope, unloaded descent condition, and loading condition at the bottom of the slope; the target state of charge includes the target state of charge at the top of the slope and the target state of charge at the bottom of the slope, wherein the target state of charge at the top of the slope is less than the target state of charge at the bottom of the slope. After determining that the extended-range mining truck is in the unloading condition at the top of the slope, the range extender is controlled to simultaneously charge the power battery and supply power to the drive motor, while the actual state of charge of the power battery is controlled to be maintained within the preset target state of charge range at the top of the slope. After determining that the range-extended mining truck is in the loading condition at the bottom of the slope, the power battery is controlled to provide the main power supply, while the actual state of charge of the power battery is controlled to be maintained within the preset target state of charge range at the bottom of the slope. When the range extender is supplying power, it is controlled to operate within a preset high-efficiency range based on the power generation efficiency curve of the range extender.

[0007] Optionally, determining the current operating condition of the extended-range mining truck based on the actual state of charge (SBC) trend and the target SBC includes: When the actual state of charge is detected to be continuously decreasing and below the target state of charge at the bottom of the slope, it is determined that the range-extended mining truck is in the full-load climbing condition. When the actual state of charge is detected to no longer decrease but to begin to increase, it is determined that the range-extended mining truck is in the unloading condition at the top of the slope. When the actual state of charge is detected to be continuously increasing and exceeding the target state of charge at the top of the slope, it is determined that the range-extended mining truck is in the unloaded downhill condition. When the actual state of charge is detected to no longer increase and begins to decrease, it is determined that the range-extended mining truck is in the loading condition at the bottom of the slope.

[0008] Optionally, after determining the current operating condition of the extended-range mining truck based on its actual state of charge and target state of charge, the method further includes: After determining that the range-extended mining truck is in full-load climbing condition, the power battery and the range extender are controlled to jointly supply power to the drive motor, so that the drive motor outputs full power.

[0009] Optionally, after determining that the range-extended mining truck is in a full-load climbing condition, controlling the power battery and the range extender to jointly supply power to the drive motor, so that the drive motor outputs full power, includes: After determining that the range-extended mining truck is in a full-load climbing condition, based on the following formula, with the principle of minimizing total fuel consumption, the power generation of the range extender is optimized, and the drive motor is powered according to the optimized power generation of the range extender, so that the drive motor outputs full power; wherein, the goal of optimizing the power generation of the range extender is to make the total fuel consumption of the current working condition lower than the total fuel consumption of the previous working condition. ; ; ; ; ; ; in, This refers to the fuel consumption for generating electricity by the range extender. It is the energy output by the range extender. This is the current power generation efficiency of the range extender. The range extender's power output is t; t is the operating time during the previous operation in the current working condition. This is the converted fuel consumption of the power battery. It is the energy output by the power battery. It is the average power generation efficiency of the range extender during the unloading process at the top of the slope. It refers to the power of the power battery; It is the total fuel consumption; This is the current power generation efficiency of the power battery.

[0010] Optionally, after determining that the range-extended mining truck is in the unloading condition at the top of the slope, controlling the range extender to simultaneously charge the power battery and supply power to the drive motor, while controlling the actual state of charge of the power battery to be maintained within the preset target state of charge range at the top of the slope, includes: After determining that the range-extended mining truck is in the unloading condition at the top of the slope, the fuel consumption of the previous operation under the current condition is collected. Based on the following formula, with the principle of minimizing total fuel consumption, the power generation of the range extender is optimized. According to the optimized power generation of the range extender and the power of the power battery, the range extender is controlled to simultaneously replenish the power battery and supply power to the drive motor, while maintaining the actual state of charge of the power battery within the preset target state of charge range at the top of the slope. The goal of optimizing the power generation of the range extender is to make the fuel consumption of the current operation condition lower than the fuel consumption of the previous operation under the current condition. ; ; ; ; ; in, This refers to the fuel consumption for generating electricity by the range extender. It is the energy output by the range extender. This is the current power generation efficiency of the range extender. The range extender's power output is t; t is the operating time during the previous operation in the current working condition. This is the converted fuel consumption of the power battery. It is the energy output by the power battery. It refers to the power of the power battery; That is the total fuel consumption.

[0011] Optionally, after determining the current operating condition of the extended-range mining truck based on its actual state of charge and target state of charge, the method further includes: after determining that the extended-range mining truck is in the unloaded downhill operating condition, controlling the range extender to stop, the drive motor outputs negative torque to assist the vehicle's braking, and distributing the drive motor's braking torque according to the vehicle's braking requirements; wherein, the braking power generation of the drive motor is less than or equal to the peak charging power of the power battery.

[0012] Optionally, after determining that the range-extended mining truck is in the loading condition at the bottom of the slope, controlling the power battery to dominate the power supply, and simultaneously controlling the actual state of charge of the power battery to be maintained within the preset target state of charge range at the bottom of the slope, includes: After determining that the range-extended mining truck is in the loading condition at the bottom of the slope, based on the following formula, the power generation of the range extender is optimized with the principle of minimizing total fuel consumption. The power battery is then controlled to provide the main power supply according to the optimized power generation of the range extender and the power battery, while the actual state of charge of the power battery is maintained within the preset target state of charge range at the bottom of the slope. The goal of optimizing the power generation of the range extender is to make the fuel consumption of the current operating condition lower than the fuel consumption of the previous operating condition. ; ; ; ; ; in, This refers to the fuel consumption for generating electricity by the range extender. It is the energy output by the range extender. This is the current power generation efficiency of the range extender. The range extender's power output is t; t is the operating time during the previous operation in the current working condition. This is the converted fuel consumption of the power battery. It is the energy output by the power battery. It refers to the power of the power battery; That is the total fuel consumption.

[0013] Secondly, embodiments of the present invention also provide an energy management and control device for range-extended mining trucks, comprising: The current operating condition determination module is used to determine the current operating condition of the extended-range mining truck based on the changing trend of its actual state of charge and the target state of charge. The current operating conditions include: fully loaded climbing condition, unloading condition at the top of the slope, unloaded descent condition, and loading condition at the bottom of the slope. The target state of charge includes the target state of charge at the top of the slope and the target state of charge at the bottom of the slope, wherein the target state of charge at the top of the slope is less than the target state of charge at the bottom of the slope. The energy management control module is used to control the range extender to simultaneously replenish the power battery and supply power to the drive motor after determining that the range extender is in the unloading condition at the top of the slope, while controlling the actual state of charge of the power battery to be maintained within the preset target state of charge range at the top of the slope. The energy management control module is also used to control the power battery to provide power after determining that the range-extended mining truck is in the loading condition at the bottom of the slope, and at the same time control the actual state of charge of the power battery to be maintained within the preset target state of charge range at the bottom of the slope. When the range extender is supplying power, it is controlled to operate within a preset high-efficiency range based on the power generation efficiency curve of the range extender.

[0014] Thirdly, embodiments of the present invention also provide an energy management and control device for extended-range mining trucks, the energy management and control device for extended-range mining trucks comprising: At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the range-extended mining truck energy management control method described in the first aspect.

[0015] Fourthly, embodiments of the present invention also provide a range-extended mining truck, including the range-extended mining truck energy management and control device described in the third aspect.

[0016] This invention provides a method, device, equipment, and extended-range mining truck energy management and control system. Based on the actual state of charge (SBC) trend and target SBC of the extended-range mining truck, the current operating condition of the truck is determined, and the energy management and control method is switched accordingly. This adapts to frequent uphill and downhill driving, loading and unloading scenarios during cyclical operations, demonstrating strong adaptability to various operating conditions. When the range extender is supplying power, the system controls its operation within a preset high-efficiency range based on the range extender's power generation efficiency curve. This dynamically matches the range extender's high-efficiency range with the charging and discharging needs of the power battery, reducing ineffective energy loss and significantly lowering fuel consumption. During unloading at the top of a slope, the system maintains the actual SBC of the power battery within a preset target SBC range. During loading at the bottom of a slope, the system maintains the actual SBC of the power battery within a preset target SBC range, avoiding deep charging and discharging of the power battery, thus reducing cyclic stress and extending battery life. Without relying on specific external sensors, the system balances system robustness, fuel economy, and power generation efficiency.

[0017] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart of an energy management and control method for range-extended mining trucks provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the working conditions of an extended-range mining truck in a mine pit, provided by an embodiment of the present invention; Figure 3 This is a schematic diagram of an actual state of charge under an ideal condition, provided by an embodiment of the present invention; Figure 4 This is a schematic diagram of an energy management area provided in an embodiment of the present invention; Figure 5 This is a flowchart of another range-extended mining truck energy management and control method provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of an extended-range mining truck energy management and control device provided in an embodiment of the present invention; Figure 7This is a schematic diagram of the structure of an extended-range mining truck energy management and control device provided in an embodiment of the present invention. Detailed Implementation

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

[0021] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0022] Figure 1 This is a flowchart illustrating an energy management and control method for range-extended mining trucks provided in an embodiment of the present invention. This embodiment is applicable to the operation of range-extended mining trucks in mines. The method can be executed by a range-extended mining truck energy management and control device, which can be implemented in hardware and / or software. (Reference) Figure 1 The method includes the following steps: S110. Determine the current operating conditions of the extended-range mining truck based on the changing trend of its actual state of charge and the target state of charge.

[0023] Figure 2 This is a schematic diagram illustrating the operating conditions of an extended-range mining truck in a mine pit, as provided in an embodiment of the present invention. (Refer to...) Figure 2 It can be seen that, considering the cyclical operation characteristics of extended-range mining trucks—fully loaded climbing, unloading at the top of the slope, unloaded descending, and loading at the bottom—the current operating conditions include: fully loaded climbing, unloading at the top of the slope, unloaded descending, and loading at the bottom of the slope. The target state of charge includes the target state of charge at the top of the slope and the target state of charge at the bottom of the slope, with the target state of charge at the top of the slope being less than that at the bottom of the slope.

[0024] This invention identifies operating conditions based on the changing trend of the actual state of charge and the target state of charge, thereby enabling economical power generation according to the target state of charge at different operating stages.

[0025] It is understandable that the target state of charge at the top of the slope and the target state of charge at the bottom of the slope can be freely set according to the actual situation, but the target state of charge at the top of the slope must be less than the target state of charge at the bottom of the slope. For example, the target state of charge at the top of the slope can be 50%, and the target state of charge at the bottom of the slope can be 80%.

[0026] S121. After determining that the range-extended mining truck is in the unloading condition at the top of the slope, control the range extender to simultaneously replenish the power battery and supply power to the drive motor, while controlling the actual state of charge of the power battery to be maintained within the preset target state of charge range at the top of the slope.

[0027] Figure 3 This is a schematic diagram of an ideal actual state of charge provided by an embodiment of the present invention, for reference. Figure 3 As can be seen, during the power preservation stage at the top of the slope (unloading condition at the top of the slope), when the method provided in this embodiment of the invention is used to control the actual state of charge to remain within the preset target state of charge at the top of the slope, the trend of the actual state of charge change can be observed.

[0028] Specifically, the target state of charge at the top of the slope is within a preset range, which is greater than or equal to a first preset value and less than or equal to a second preset value, where the second preset value is greater than the first preset value. When the actual state of charge is lower than the first preset value, the range extender starts charging the drive motor; when it is higher than the second preset value, the range extender stops charging the drive motor. For example, the target state of charge at the top of the slope could be 50%, and the preset range could be 45% to 55%. Charging begins when the state of charge is below 45% and stops when it is above 55%.

[0029] Understandably, when the target state of charge (SOC1) at the top of the slope is 50%, the strategy is to set a power hysteresis loop to avoid unstable control caused by fluctuations in demand. For example, if the target state of charge at the top of the slope is preset to be 45%~55%, charging will start when it is below 45% and stop when it is above 55%. In this way, the actual state of charge during unloading at the top of the slope can be maintained between 45% and 55%, and the average value is the target state of charge (SOC1) at the top of the slope.

[0030] S122. After determining that the range-extended mining truck is in the loading condition at the bottom of the slope, control the power battery to provide the main power supply, and at the same time control the actual state of charge of the power battery to be maintained within the preset target state of charge range at the bottom of the slope.

[0031] refer to Figure 3As can be seen, during the bottom power preservation stage (bottom loading condition), when the method provided in this embodiment of the invention is used to control the actual state of charge to remain within the preset target state of charge range at the bottom of the slope, the trend of the actual state of charge change can be observed.

[0032] Specifically, the target state of charge at the bottom of the slope is within a preset range, while the preset target state of charge at the top of the slope is greater than or equal to a third preset value and less than or equal to a fourth preset value, where the fourth preset value is greater than the third preset value, and the third preset value is greater than the second preset value. When the actual state of charge is lower than the third preset value, the range extender starts charging the drive motor; when it is higher than the fourth preset value, the range extender stops charging the drive motor. For example, the target state of charge at the bottom of the slope could be 80%, and the preset range could be 75% to 85%, with charging starting below 75% and stopping above 85%.

[0033] Understandably, when the target state of charge (SOC2) at the bottom of the slope is 80%, the strategy is to set a power hysteresis loop to avoid unstable control caused by fluctuations in demand. For example, if the target state of charge at the bottom of the slope is preset to be 75%~85%, charging will start when it is below 75% and stop when it is above 85%. In this way, the actual state of charge during loading at the bottom of the slope can be maintained between 75% and 85%, and the average value is the target state of charge (SOC2) at the bottom of the slope.

[0034] In this invention, when the range extender is supplying power, the range extender is controlled to operate within a preset high-efficiency range based on the power generation efficiency curve of the range extender.

[0035] It should be noted that, Figure 4 This is a schematic diagram of an energy management area provided in an embodiment of the present invention. The power of the drive motor of the present invention... It consists of two parts: ;in, For the power battery power, This refers to the power output of the range extender. The range extender's power generation efficiency curve is obtained through bench testing. The power generation efficiency of the range extender refers to how many kWh of electricity can be generated from 1L of fuel, measured in kWh / L. Different range extender motors have different power outputs corresponding to different power generation efficiencies. The power generation efficiency curve of the range extender is an inverted parabola, with a maximum power generation efficiency point. There is a corresponding relationship between power output and power generation efficiency. As known from bench testing, for example, a power output of 200kW corresponds to a power generation efficiency of 4kWh / L, and a power output of 100kW corresponds to a power generation efficiency of 3.5kWh / L. Naturally, using a power output of 200kW to charge the battery to the target state of charge is the most fuel-efficient. For example, the preset high-efficiency power output range is 150kW to 300kW, where the power generation efficiency is generally higher than 4kWh / L. Power outputs below or above this range result in low efficiency. When the range extender's power output... Equal to the driving power of the drive motor When, refer to Figure 4 In the power follow line, the power battery is neither charging nor discharging. At this time, the range extender can be controlled to operate in a preset high-efficiency range, which can minimize fuel consumption.

[0036] This invention determines the current operating condition of the extended-range mining truck based on the changing trend of its actual state of charge (SOC) and the target SOC, and switches the energy management control method accordingly. This adapts to frequent uphill and downhill driving, loading and unloading scenarios during cyclical operations, demonstrating strong adaptability to various operating conditions. When the range extender is supplying power, it controls the range extender to operate within a preset high-efficiency range based on the range extender's power generation efficiency curve. This dynamically matches the range extender's high-efficiency range with the charging and discharging needs of the power battery, reducing ineffective energy loss and significantly lowering fuel consumption. During unloading at the top of a slope, the actual SOC of the power battery is maintained within a preset target SOC range at the top of the slope; during loading at the bottom of a slope, it is maintained within a preset target SOC range at the bottom of the slope. This avoids deep charging and discharging of the power battery, reducing cycle stress and extending battery life. Without relying on specific external sensors, it balances system robustness, fuel economy, and power generation efficiency.

[0037] Optionally, based on the above embodiments, step S110 includes: S111. When the actual state of charge is detected to be continuously decreasing and below the target state of charge at the bottom of the slope, it is determined that the range-extended mining truck is in full-load climbing condition.

[0038] S112. When the actual state of charge is detected to no longer decrease but to begin to increase, it is determined that the range-extended mining truck is in the unloading condition at the top of the slope.

[0039] Understandably, during full-load hill climbing, the range extender and the power battery need to work together to power the drive motor, resulting in a continuous decrease in the actual state of charge of the power battery. For example, continue to refer to... Figure 3 Based on the benchmark that the target state of charge (SOC2) can be maintained at the bottom of the slope, when the target SOC2 is 80%, the actual state of charge at the bottom of the slope is 80%. Since climbing uphill consumes power, the current actual state of charge will remain below 80%, indicating that the extended-range mining truck is in a fully loaded climbing condition. When the actual state of charge drops to 30% and stops decreasing, and then starts to increase, it can be determined that the top of the slope has been reached. This is because after reaching the top of the slope, the drive power decreases, and the range extender's generator can simultaneously replenish the power battery and power the drive motor, causing the actual state of charge to stop decreasing and start to increase.

[0040] S113. When the actual state of charge is detected to be continuously increasing and higher than the target state of charge at the top of the slope, it is determined that the range-extended mining truck is in an unloaded downhill working condition.

[0041] S114. When the actual state of charge is detected to no longer increase and begins to decrease, it is determined that the range-extended mining truck is in the loading condition at the bottom of the slope.

[0042] Understandably, during downhill driving under no-load conditions, the range extender does not need to charge the battery, so its power generation is zero. The drive motor recovers braking energy and supplies it to the battery, thus causing the actual state of charge to continuously increase. For an example, please refer to... Figure 3 Based on the benchmark that the target state of charge (SOC1) can be maintained at the top of the slope, when the target SOC2 is 50%, the actual state of charge at the top of the slope is 50%. If the current actual state of charge remains above 50%, due to regenerative braking during downhill driving, the current actual state of charge will remain above 50%, indicating that the extended-range mining truck is in an unloaded downhill driving condition. When the actual state of charge reaches 90% and stops increasing, and begins to decrease, it can be determined that the bottom of the slope has been reached. This is because after reaching the bottom of the slope, the drive motor no longer regenerates the braking energy generated during downhill driving to charge the power battery, causing the actual state of charge to stop increasing and begin to decrease.

[0043] Figure 5 This is a flowchart of another range-extended mining truck energy management and control method provided by an embodiment of the present invention. Optionally, based on the above embodiment, after step S110, the method further includes: S123. After determining that the range-extended mining truck is in full-load climbing condition, control the power battery and range extender to jointly supply power to the drive motor, so that the drive motor outputs full power.

[0044] Understandably, when the power battery and range extender work together to power the drive motor, controlling the range extender to operate within a preset high-efficiency range can enable the drive motor to output full power, thereby minimizing fuel consumption.

[0045] Optionally, based on the above embodiments, step S123 includes: after determining that the range-extended mining truck is in a full-load climbing condition, based on the following formula, optimizing the power generation of the range extender with the principle of minimizing total fuel consumption, and supplying power to the drive motor according to the optimized power generation of the range extender, so that the drive motor outputs full power; wherein, the goal of optimizing the power generation of the range extender is to make the total fuel consumption of the current working condition lower than the total fuel consumption when the truck was in the current working condition last time; ; ; ; ; ; ; in, It's the fuel consumption for generating electricity from the range extender. It is the energy output by the range extender. This is the current power generation efficiency of the range extender. It is the power generation capacity of the range extender; t is the operating time when it was in the current operating condition last time; This is the equivalent fuel consumption of the power battery. It is the energy output by the power battery. This refers to the average power generation efficiency of the range extender during the unloading process at the top of the slope. It refers to the power of the battery. It is the total fuel consumption; This is the current power generation efficiency of the battery.

[0046] Understandably, the amount of electricity consumed by the power battery in a fully loaded uphill driving condition needs to be converted into fuel consumption. In this condition, the power battery's power generation efficiency can be equated to the average power generation efficiency of the range extender during unloading at the top of the hill, thus allowing for the calculation of battery capacity reduction. For example, in a fully loaded uphill driving condition, if the battery capacity decreases from 80% at the bottom of the hill to 50% at the top, the 30% loss needs to be converted into fuel consumption. The efficiency is the average power generation efficiency during the power replenishment process at the top of the hill, used to calculate the battery capacity reduction. This is equivalent to how much fuel is needed for the range extender to charge the power battery from 30% to 80% at the top of the hill.

[0047] For details, please refer to [link / reference]. Figure 4 According to the method of this embodiment, when the range-extended mining truck is in full-load climbing condition, the power generation of the range extender is taken on line segment ②BC.

[0048] Optionally, based on the above embodiments, step S121 includes: after determining that the range-extended mining truck is in the unloading condition at the top of the slope, collecting the fuel consumption when it was in the current operating condition last time, optimizing the power generation of the range extender based on the following formula with the principle of minimizing total fuel consumption, and controlling the range extender to simultaneously replenish the power battery and supply power to the drive motor according to the optimized power generation of the power battery and the range extender, while controlling the actual state of charge of the power battery to be maintained within the preset target state of charge range at the top of the slope; wherein, the goal of optimizing the power generation of the range extender is to make the fuel consumption in the current operating condition lower than the fuel consumption when it was in the current operating condition last time; ; ; ; ; ; in, It's the fuel consumption for generating electricity from the range extender. It is the energy output by the range extender. This is the current power generation efficiency of the range extender. It is the power generation capacity of the range extender; t is the operating time when it was in the current operating condition last time; This is the equivalent fuel consumption of the power battery. It is the energy output by the power battery. It refers to the power of the battery. That is the total fuel consumption.

[0049] Understandably, when a range-extended mining truck is unloading at the top of a slope, the calculated fuel consumption of the power battery uses the current power generation efficiency of the range extender. This differs from the fully loaded climbing condition because during the climbing process, both the range extender and the power battery supply power to the drive motor. The range extender can only replenish energy to the power battery at the top of the slope. At the top of the slope, the drive power is less than the power generation power of the range extender, allowing the range extender to simultaneously charge the power battery and power the drive motor. Therefore, the energy replenished to the power battery by the range extender can be used to calculate the fuel consumption of the power battery using the current efficiency of the range extender.

[0050] For details, please refer to [link / reference]. Figure 4 According to the method of this embodiment, when the range extender mining truck is in the unloading condition at the top of the slope, the power generation of the range extender is taken in region ③OAEF.

[0051] Optionally, based on the above embodiments, continue to refer to... Figure 5 After step S110, the method further includes: S124. After determining that the range-extended mining truck is in an unloaded downhill condition, the range extender is stopped, and the drive motor outputs negative torque to assist the vehicle's braking. The braking torque of the drive motor is distributed according to the vehicle's braking requirements. The braking power of the drive motor is less than or equal to the peak charging power of the power battery.

[0052] It's understandable that when the range extender motor is not generating electricity, it's in pure electric mode, and the drive motor's power comes entirely from the discharge power of the battery; the range extender's power generation is zero. For more details, please refer to [link / reference]. Figure 4 According to the method of this embodiment, when it is determined that the range-extended mining truck is in an unloaded downhill condition, the power of the power battery and the power generation of the range extender are taken within line segment ④OG. In this embodiment, after determining that the range-extended mining truck is in an unloaded downhill condition, the range extender is controlled to stop, and the drive motor outputs negative torque to assist the vehicle braking. This can maximize the recovery of downhill braking energy, reduce reliance on mechanical braking, and improve energy economy.

[0053] Optionally, based on the above embodiments, step S122 includes: After determining that the range-extended mining truck is in the loading condition at the bottom of the slope, based on the following formula, the power generation of the range extender is optimized with the principle of minimizing total fuel consumption, and the power battery is controlled to provide the main power supply according to the optimized power generation of the range extender, while the actual state of charge of the power battery is controlled to be maintained within the preset target state of charge range at the bottom of the slope; the goal of optimizing the power generation of the range extender is to make the fuel consumption of the current working condition lower than the fuel consumption of the previous working condition. ; ; ; ; ; in, It's the fuel consumption for generating electricity from the range extender. It is the energy output by the range extender. This is the current power generation efficiency of the range extender. It is the power generation capacity of the range extender; t is the operating time when it was in the current operating condition last time; This is the equivalent fuel consumption of the power battery. It is the energy output by the power battery. It refers to the power of the battery. That is the total fuel consumption.

[0054] For details, please refer to [link / reference]. Figure 4 According to the method of this embodiment, when the range extender mining truck is in the loading condition at the bottom of the slope, the power generation of the range extender is taken in region ①OABCD.

[0055] It should be noted that during the first cycle of operation, the range extender's power generation is an initial preset value. In the next cycle of operation, the goal of optimizing the range extender's power generation can be set to make the fuel consumption of the current operating condition lower than the fuel consumption of the previous operating condition.

[0056] In summary, this invention determines the current operating condition of the extended-range mining truck based on the changing trend of its actual state of charge (SOC) and the target SOC, and switches the energy management control method accordingly. This allows it to adapt to frequent uphill and downhill driving, loading and unloading scenarios during cyclical operations, demonstrating strong adaptability to various operating conditions. When the range extender is supplying power, it controls the range extender to operate within a preset high-efficiency range based on the range extender's power generation efficiency curve. This dynamically matches the range extender's high-efficiency range with the charging and discharging needs of the power battery, reducing ineffective energy loss and significantly lowering fuel consumption. During unloading at the top of a slope, the actual SOC of the power battery is maintained within a preset target SOC range at the top of the slope; during loading at the bottom of a slope, it is maintained within a preset target SOC range at the bottom of the slope. This avoids deep charging and discharging of the power battery, reducing cyclic stress and extending battery life. Without relying on specific external sensors, it balances system robustness, fuel economy, and power generation efficiency. Furthermore, once the extended-range mining truck is determined to be in an unloaded downhill condition, the range extender is shut down, and the drive motor outputs negative torque to assist vehicle braking. This maximizes the recovery of downhill braking energy, reduces reliance on mechanical braking, and improves energy economy. Iterative optimization of the range extender's power generation based on historical data gradually approaches the optimal energy consumption distribution, achieving continuous improvement. This invention, through refined energy management and dynamic optimization, effectively balances the collaborative efficiency of the power battery and the range extender, making it suitable for heavy-load cyclical operating scenarios such as mining.

[0057] Figure 6 This is a schematic diagram of the structure of an extended-range mining truck energy management and control device provided in an embodiment of the present invention, for reference. Figure 6 The device includes: The current operating condition determination module 610 is used to determine the current operating condition of the extended-range mining truck based on the changing trend of its actual state of charge (SOC) and the target SOC. The current operating conditions include: fully loaded climbing, unloading at the top of the slope, unloaded descent, and loading at the bottom of the slope. The target SOC includes the target SOC at the top of the slope and the target SOC at the bottom of the slope, with the target SOC at the top being less than the target SOC at the bottom. The energy management control module 620, after determining that the extended-range mining truck is in the unloading condition at the top of the slope, controls the range extender to simultaneously replenish the power battery and supply power to the drive motor, while maintaining the actual SOC of the power battery within the preset target SOC range at the top of the slope. The energy management control module 620 is also used to control the power battery to dominate the power supply after determining that the extended-range mining truck is in the loading condition at the bottom of the slope, while maintaining the actual SOC of the power battery within the preset target SOC range at the bottom of the slope. When the range extender is supplying power, it controls the range extender to operate within a preset high-efficiency range based on the range extender's power generation efficiency curve.

[0058] The extended-range mining truck energy management control device provided in this embodiment of the invention is used to execute the extended-range mining truck energy management control method provided in any embodiment of the invention, and therefore has the same beneficial effects. For contents not described in detail in the embodiments of the invention, please refer to the extended-range mining truck energy management control method provided in the above embodiments.

[0059] Figure 7 This is a schematic diagram of the structure of an extended-range mining truck energy management control device provided in an embodiment of the present invention. The extended-range mining truck energy management control device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The extended-range mining truck energy management control device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0060] like Figure 7As shown, the extended-range mining truck energy management control device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer programs stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the extended-range mining truck energy management control device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0061] Multiple components in the extended-range mining truck energy management control device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, optical disk, etc.; and a communication unit 19, such as a network card, modem, wireless transceiver, etc. The communication unit 19 allows the extended-range mining truck energy management control device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0062] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the energy management control method for extended-range mining trucks.

[0063] In some embodiments, the extended-range mining truck energy management control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the extended-range mining truck energy management control device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the extended-range mining truck energy management control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to execute the extended-range mining truck energy management control method by any other suitable means (e.g., by means of firmware).

[0064] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0065] This invention also provides a range-extended mining truck, including the range-extended mining truck energy management and control device provided in the above embodiments.

[0066] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0067] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for energy management and control of range-extended mining trucks, characterized in that, include: Based on the changing trend of the actual state of charge of the extended-range mining truck and the target state of charge, the current operating condition of the extended-range mining truck is determined. The current operating conditions include: fully loaded climbing condition, unloading condition at the top of the slope, unloaded descent condition, and loading condition at the bottom of the slope; the target charge state includes the target charge state at the top of the slope and the target charge state at the bottom of the slope, and the target charge state at the top of the slope is less than the target charge state at the bottom of the slope. After determining that the extended-range mining truck is in the unloading condition at the top of the slope, the range extender is controlled to simultaneously charge the power battery and supply power to the drive motor, while the actual state of charge of the power battery is controlled to be maintained within the preset target state of charge range at the top of the slope. After determining that the range-extended mining truck is in the loading condition at the bottom of the slope, the power battery is controlled to provide the main power supply, while the actual state of charge of the power battery is controlled to be maintained within the preset target state of charge range at the bottom of the slope. When the range extender is powered, it is controlled to operate in a preset high efficiency range based on the power generation efficiency curve of the range extender. The power generation efficiency curve of the range extender is obtained through bench testing. Different power generation of the range extender motor corresponds to different power generation efficiencies. The power generation efficiency curve of the range extender is an inverted parabola. Based on the changing trend of the actual state of charge (SOC) of the extended-range mining truck and the target SOC, the current operating conditions of the extended-range mining truck are determined as follows: When the actual state of charge is detected to be continuously decreasing and below the target state of charge at the bottom of the slope, it is determined that the range-extended mining truck is in the full-load climbing condition. When the actual state of charge is detected to no longer decrease but to begin to increase, it is determined that the range-extended mining truck is in the unloading condition at the top of the slope. When the actual state of charge is detected to be continuously increasing and exceeding the target state of charge at the top of the slope, it is determined that the range-extended mining truck is in the unloaded downhill condition. When the actual state of charge is detected to no longer increase and begins to decrease, it is determined that the range-extended mining truck is in the loading condition at the bottom of the slope.

2. The energy management and control method for extended-range mining trucks according to claim 1, characterized in that, After determining the current operating condition of the extended-range mining truck based on its actual and target state of charge, the process further includes: After determining that the range-extended mining truck is in full-load climbing condition, the power battery and the range extender are controlled to jointly supply power to the drive motor, so that the drive motor outputs full power.

3. The energy management and control method for extended-range mining trucks according to claim 1, characterized in that, After determining the current operating condition of the extended-range mining truck based on its actual and target state of charge, the method further includes: after determining that the extended-range mining truck is in the unloaded downhill condition, controlling the range extender to stop, the drive motor outputs negative torque to assist the vehicle's braking, and distributing the drive motor's braking torque according to the vehicle's braking requirements; wherein, the braking power generation of the drive motor is less than or equal to the peak charging power of the power battery.

4. A range-extended mining truck energy management and control device, characterized in that, include: The current operating condition determination module is used to determine the current operating condition of the extended-range mining truck based on the changing trend of its actual state of charge and the target state of charge. The current operating conditions include: fully loaded climbing condition, unloading condition at the top of the slope, unloaded descent condition, and loading condition at the bottom of the slope. The target state of charge includes the target state of charge at the top of the slope and the target state of charge at the bottom of the slope, wherein the target state of charge at the top of the slope is less than the target state of charge at the bottom of the slope. The energy management control module is used to control the range extender to simultaneously charge the power battery and supply power to the drive motor after determining that the range extender is in the unloading condition at the top of the slope, while controlling the actual state of charge of the power battery to be maintained within the preset target state of charge range at the top of the slope. The energy management control module is also used to control the power battery to provide power after determining that the range-extended mining truck is in the loading condition at the bottom of the slope, and at the same time control the actual state of charge of the power battery to be maintained within the preset target state of charge range at the bottom of the slope. When the range extender is supplying power, the range extender is controlled to operate within a preset high efficiency range based on the power generation efficiency curve of the range extender. The power generation efficiency curve of the range extender was obtained through bench testing. Different power generation motors have different power generation efficiencies. The power generation efficiency curve of the range extender is an inverted parabola. Based on the changing trend of the actual state of charge (SOC) of the extended-range mining truck and the target SOC, the current operating conditions of the extended-range mining truck are determined as follows: When the actual state of charge is detected to be continuously decreasing and below the target state of charge at the bottom of the slope, it is determined that the range-extended mining truck is in the full-load climbing condition. When the actual state of charge is detected to no longer decrease but to begin to increase, it is determined that the range-extended mining truck is in the unloading condition at the top of the slope. When the actual state of charge is detected to be continuously increasing and exceeding the target state of charge at the top of the slope, it is determined that the range-extended mining truck is in the unloaded downhill condition. When the actual state of charge is detected to no longer increase and begins to decrease, it is determined that the range-extended mining truck is in the loading condition at the bottom of the slope.

5. An energy management and control device for range-extended mining trucks, characterized in that, The range-extended mining truck energy management and control equipment includes: At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the range-extended mining truck energy management control method according to any one of claims 1-3.

6. A range-extended mining truck, characterized in that, Includes the range-extended mining truck energy management and control device as described in claim 5.

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