Series loader control method and device and series loader

Abstract

The invention provides a control method and device for a series loader and the series loader. The method comprises the steps that first power is determined according to the current gear of the loader and the current charge state of a power battery; second power is determined according to the target pedal opening degree, the current gear and the current charge state; determining third power according to the first power and the second power; obtaining the current power of the working motor to obtain fourth power, obtaining the current power of the walking motor to obtain fifth power, and performing power battery peak power verification on the fourth power and the fifth power according to the third power; and controlling the working motor to operate according to the fourth power and controlling the walking motor to operate according to the fifth power under the condition that the verification is passed. According to the method, the problems that in the prior art, engine power is only related to SOC, due to simultaneous output of a working motor and a walking motor, instantaneous output power of a power battery frequently exceeds a peak value, and the service life of the battery is affected are solved.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery control technology, and more specifically, to a control method, device, computer-readable storage medium, and tandem loader for a tandem loader. Background Technology

[0002] A schematic diagram of a tandem loader is shown below. Figure 1 As shown, it includes a hydraulic pump, an engine, and an ISG motor, battery, drive motor, and gearbox connected in sequence. The engine's power output as a range extender is adjusted solely based on the state of charge (SOC) of the power battery, without taking into account the actual operating conditions of the loader (such as gear position, throttle opening, etc.).

[0003] Under typical operating conditions such as slow operation and rapid loading, the above control method results in drastic fluctuations in wheel-end power demand with high repeatability and short cycle characteristics. Since the range extender power relies solely on SOC feedback for delayed adjustment, its initial output power is severely mismatched with the real-time operating conditions. It takes a long time to reach power balance, during which a large power gap is borne by the power battery, which can easily lead to short-term power over-limit.

[0004] Furthermore, since the power requests of the walking motor and the working motor are independent of the peak power limit of the power battery, when both enter the high power output state at the same time, the total power demand of the system often far exceeds the safe charging and discharging capacity of the power battery, frequently triggering over-power conditions, accelerating battery aging, and significantly reducing its cycle life.

[0005] In summary, the existing technology causes the range extender's power decision to be out of sync with the loader's operating conditions, resulting in frequent instantaneous overload of the power battery during typical operating cycles, which increases the risk of battery thermal runaway and capacity decay. Summary of the Invention

[0006] The main objective of this application is to provide a control method, device, computer-readable storage medium, and tandem loader for a tandem loader, so as to at least solve the problem in the prior art that the engine power is only related to the SOC, and the simultaneous output of the working motor and the travel motor can easily lead to frequent instantaneous power output of the power battery exceeding the peak value, thus affecting the battery life.

[0007] To achieve the above objectives, according to one aspect of this application, a control method for a series loader is provided, comprising: determining the initial required output power of a range extender based on the current gear of the loader and the current state of charge of the power battery, to obtain a first power; determining the actual required output power of the range extender under the current operating condition based on the target pedal opening, the current gear, and the current state of charge, to obtain a second power; determining the actual output power of the range extender based on the first power and the second power, to obtain a third power; acquiring the current power of the working motor to obtain a fourth power; acquiring the current power of the travel motor to obtain a fifth power; verifying the peak power of the power battery based on the third power and the fourth power; and, if the verification is successful, controlling the working motor to operate according to the fourth power and controlling the travel motor to operate according to the fifth power.

[0008] Optionally, determining the required output power of the range extender under the current operating conditions based on the target pedal opening and the current gear, and obtaining the second power, includes: obtaining the average opening of the accelerator pedal within a preset period to obtain the target pedal opening; querying a first mapping relationship based on the target pedal opening and the current gear to obtain the target power level, where the first mapping relationship is the mapping relationship between the accelerator pedal opening, the gear, and the power level, and the power level is used to constrain the range of required output power of the range extender; and querying a second mapping relationship based on the target power level and the current state of charge to obtain the second power, where the second mapping relationship is the mapping relationship between the power level, the state of charge, and the actual required output power.

[0009] Optionally, determining the actual output power of the range extender based on the first power and the second power to obtain the third power includes: obtaining the cumulative running time of the loader; if the cumulative running time is greater than or equal to a preset period, determining the second power as the actual output power of the range extender to obtain the third power; if the cumulative running time is less than the preset period, determining the first power as the actual output power of the range extender to obtain the third power.

[0010] Optionally, the peak power of the power battery is verified based on the third power, the fourth power, and the fifth power, including: calculating the sum of the fourth power and the fifth power to obtain the sixth power; calculating the difference between the sixth power and the third power to obtain the power deviation; if the absolute value of the power deviation is less than or equal to a preset threshold, the peak power verification of the power battery is determined to be passed; if the absolute value of the power deviation is greater than the preset threshold, the peak power verification of the power battery is determined to be failed.

[0011] Optionally, after verifying the peak power of the power battery based on the third power for the fourth and fifth power, the method further includes: if the sixth power is less than the third power and the peak power verification of the power battery fails, controlling the working motor to run according to the fourth power; calculating the sum of the preset threshold and the fourth power to obtain the seventh power; calculating the difference between the third power and the seventh power to obtain the eighth power; and controlling the walking motor to run according to the eighth power.

[0012] Optionally, after verifying the peak power of the power battery based on the third power for the fourth and fifth power, the method further includes: if the sixth power is greater than the third power and the peak power verification of the power battery fails, controlling the working motor to run according to the fourth power; calculating the sum of the preset threshold and the third power to obtain the ninth power; calculating the difference between the ninth power and the fourth power to obtain the tenth power; and controlling the walking motor to run according to the tenth power.

[0013] Optionally, the initial required output power of the range extender is determined based on the current gear of the loader and the current state of charge of the power battery to obtain the first power, including: querying a third mapping relationship based on the current gear and the current state of charge to obtain the first power, wherein the third mapping relationship is the mapping relationship between gear, state of charge and initial required output power.

[0014] According to another aspect of this application, a control device for a tandem loader is provided. The device includes: a first determining unit, configured to determine the initial required output power of the range extender based on the current gear of the loader and the current state of charge of the power battery, to obtain a first power; a second determining unit, configured to determine the actual required output power of the range extender under the current operating conditions based on the target pedal opening, the current gear, and the current state of charge, to obtain a second power; a third determining unit, configured to determine the actual output power of the range extender based on the first power and the second power, to obtain a third power; an acquiring unit, configured to acquire the current power of the working motor to obtain a fourth power, acquire the current power of the travel motor to obtain a fifth power, and verify the peak power of the power battery based on the third power; and a first control unit, configured to control the working motor to operate according to the fourth power and control the travel motor to operate according to the fifth power if the verification is successful.

[0015] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform any of the methods described.

[0016] According to another aspect of this application, a tandem loader is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including methods for performing any one of the methods described.

[0017] Applying the technical solution of this application, in the control method of the above-mentioned tandem loader, firstly, the initial required output power of the range extender is determined according to the current gear of the loader and the current state of charge of the power battery, to obtain the first power; then, the actual required output power of the range extender under the current working condition is determined according to the target pedal opening, the current gear, and the current state of charge, to obtain the second power; then, the actual output power of the range extender is determined according to the first power and the second power, to obtain the third power; then, the current power of the working motor is obtained to obtain the fourth power, and the current power of the travel motor is obtained to obtain the fifth power; the peak power of the power battery is verified based on the third power against the fourth power and the fifth power; finally, if the verification is successful, the working motor is controlled to operate according to the fourth power and the travel motor is controlled to operate according to the fifth power. This application determines the initial required output power of the range extender based on the current gear of the loader and the current state of charge of the power battery. It further calculates the actual required output power of the range extender under the current operating conditions by combining the target pedal opening, current gear, and current state of charge. This achieves dynamic coupling between the range extender's power demand and the loader's real-time operating conditions. By co-calculating the initial required power and the actual required power, a more accurate actual output power of the range extender is obtained, enabling the range extender to respond promptly to operational intentions and load changes, avoiding power output lag. Simultaneously, based on this actual output power, the peak power of the power battery is verified for the current power demand of the work motor and travel motor. This ensures that, with the range extender providing power, the power battery will not exceed its limits due to instantaneous power accumulation. This solves the problem in existing technologies where engine power is only related to the state of charge (SOC), which can easily lead to frequent instantaneous power battery output exceeding the peak value due to simultaneous output from the work motor and travel motor, thus affecting battery life. Attached Figure Description

[0018] Figure 1 A schematic diagram of a tandem loader provided in an embodiment according to this application is shown;

[0019] Figure 2 A hardware structure block diagram of a mobile terminal for a control method of a tandem loader provided in an embodiment of this application is shown;

[0020] Figure 3 A flowchart illustrating a control method for a tandem loader according to an embodiment of this application is shown.

[0021] Figure 4 A flowchart illustrating the algorithm of a control method for a tandem loader according to another embodiment of this application is shown.

[0022] Figure 5 A structural block diagram of a control device for a tandem loader according to an embodiment of this application is shown. Detailed Implementation

[0023] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0024] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application 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 for the embodiments of this application 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.

[0026] As described in the background section, in the prior art, the power decision of the range extender is disconnected from the working conditions of the loader, which leads to frequent instantaneous overload of the power battery in typical operating cycles, increasing the risk of battery thermal runaway and capacity decay. In order to solve the problem that in the prior art, the engine power is only related to the SOC, and the simultaneous output of the working motor and the travel motor can easily lead to frequent instantaneous power output of the power battery exceeding the peak value, affecting the battery life, the embodiments of this application provide a control method, device, computer-readable storage medium and series loader for a tandem loader.

[0027] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0028] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 2 This is a hardware structure block diagram of a mobile terminal for a control method of a tandem loader according to an embodiment of the present invention. Figure 2 As shown, a mobile terminal may include one or more ( Figure 2 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 2 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 2 The more or fewer components shown, or having the same Figure 2 The different configurations shown.

[0029] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the control method of the tandem loader in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0030] This embodiment provides a control method for a tandem loader that runs on a mobile terminal, computer terminal, or similar computing device. 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. Also, 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.

[0031] Figure 3 This is a flowchart of a control method for a tandem loader according to an embodiment of this application. Figure 3 As shown, the method includes the following steps:

[0032] Step S201: Determine the initial required output power of the range extender based on the current gear of the loader and the current state of charge of the power battery to obtain the first power.

[0033] Specifically, by combining the driver's selected gear information and the real-time state of charge of the power battery as input conditions, the required baseline power output value of the range extender when the system starts or the operating condition is switched is calculated or queried, which is the aforementioned initial required output power.

[0034] It is understandable that the above values ​​do not take into account sudden dynamic conditions during operation, such as throttle opening and motor load, and are only used as theoretical estimates under static conditions to provide a reference value for subsequent power adjustment.

[0035] Step S202: Determine the actual required output power of the range extender under the current operating conditions based on the target pedal opening, current gear, and current state of charge, and obtain the second power.

[0036] Specifically, by combining the target pedal opening, the current gear, and the current state of charge, the power value that the range extender should output under the current dynamic operating conditions is calculated through a preset mapping logic. This is the actual required output power mentioned above. This value is used to further correct the initial output power mentioned above.

[0037] It is understandable that the pedal opening directly reflects the driver's immediate demand for the power output of the entire machine, the current gear represents the overall operating mode and transmission characteristics of the vehicle, and the state of charge of the power battery reflects the current available energy state.

[0038] Step S203: Determine the actual output power of the range extender based on the first power and the second power to obtain the third power;

[0039] Specifically, the accurate actual output power of the range extender is obtained by co-calculating the initial power demand with the actual power demand.

[0040] Step S204: Obtain the current power of the working motor to obtain the fourth power; obtain the current power of the walking motor to obtain the fifth power; verify the peak power of the power battery based on the third power and the fourth and fifth power.

[0041] Specifically, the power consumed or output by the working motor is collected in real time to obtain the fourth power mentioned above. Similarly, the power output or consumed by the walking motor is collected in real time to obtain the fifth power mentioned above. Both the fourth and fifth powers are used to reflect the instantaneous operating status of the corresponding motors. Furthermore, using the third power as a reference benchmark, it is determined whether the sum of the fourth and fifth powers is within the peak power range that the power battery can withstand, so as to ensure that when the working motor and the walking motor work simultaneously, the power battery will not exceed the set maximum power input or output limit.

[0042] Step S205: If the verification is successful, control the working motor to run according to the fourth power and control the walking motor to run according to the fifth power.

[0043] Specifically, the working motor is regulated and controlled according to the fourth power control command, and the traveling motor is regulated and controlled according to the fifth power control command, so as to realize the coordinated operation of the working motor and the traveling motor under their respective control strategies.

[0044] In this embodiment, firstly, the initial required output power of the range extender is determined based on the current gear of the loader and the current state of charge of the power battery, resulting in a first power. Then, the actual required output power of the range extender under the current operating conditions is determined based on the target pedal opening, the current gear, and the current state of charge, resulting in a second power. Next, the actual output power of the range extender is determined based on the first and second power, resulting in a third power. Then, the current power of the working motor is obtained, resulting in a fourth power, and the current power of the travel motor is obtained, resulting in a fifth power. The peak power of the power battery is verified based on the third power against the fourth and fifth power. Finally, if the verification is successful, the working motor is controlled to operate according to the fourth power and the travel motor is controlled to operate according to the fifth power. This application determines the initial required output power of the range extender based on the current gear of the loader and the current state of charge of the power battery. It further calculates the actual required output power of the range extender under the current operating conditions by combining the target pedal opening, current gear, and current state of charge. This achieves dynamic coupling between the range extender's power demand and the loader's real-time operating conditions. By co-calculating the initial required power and the actual required power, a more accurate actual output power of the range extender is obtained, enabling the range extender to respond promptly to operational intentions and load changes, avoiding power output lag. Simultaneously, based on this actual output power, the peak power of the power battery is verified for the current power demand of the work motor and travel motor. This ensures that, with the range extender providing power, the power battery will not exceed its limits due to instantaneous power accumulation. This solves the problem in existing technologies where engine power is only related to the state of charge (SOC), which can easily lead to frequent instantaneous power battery output exceeding the peak value due to simultaneous output from the work motor and travel motor, thus affecting battery life.

[0045] In order to determine the actual required output power of the range extender under current operating conditions, in one optional implementation, step S202 includes:

[0046] Step S2021: Obtain the average opening of the accelerator pedal within a preset period to obtain the target pedal opening;

[0047] Specifically, the driver's throttle demand is recorded in real time, and the average throttle pedal opening within the t0 cycle is calculated in real time to obtain the target pedal opening.

[0048] Step S2022: Based on the target pedal opening and the current gear, query the first mapping relationship to obtain the target power gear. The first mapping relationship is the mapping relationship between the accelerator pedal opening, the gear and the power gear. The power gear is used to constrain the required output power range of the range extender.

[0049] Specifically, based on the target pedal opening and the current gear selected by the driver, the target power gear PwrGr is obtained by querying the calibrated power demand gear map.

[0050] Step S2023: Query the second mapping relationship based on the target power level and the current state of charge to obtain the second power. The second mapping relationship is the mapping relationship between the power level, the state of charge and the actual required output power.

[0051] Specifically, based on the target power level and the current state of charge of the power battery, the second power Pwr is obtained by analogy based on the calibrated range extender power demand map.

[0052] In the above embodiments, the average opening of the accelerator pedal within a preset period is obtained as the target pedal opening. The preset power level mapping relationship is queried in combination with the current gear to determine the power level that matches the operating conditions. Then, the range extender power demand mapping relationship is queried based on the power level and the current state of charge of the power battery, thereby outputting the range extender power target value that fits the actual operating requirements. Compared with the prior art, the method of this application does not only rely on SOC or fixed logic, but also integrates the dynamic collaborative judgment of operating intention and energy state, which ensures the accuracy of the prediction of the actual power demand of the range extender.

[0053] In order to determine the actual output power of the range extender, in one optional implementation, step S203 above includes:

[0054] Step S2031: Obtain the cumulative running time of the loader;

[0055] Specifically, obtain the cumulative running time T of the aforementioned loader.

[0056] In step S2032, if the cumulative running time is greater than or equal to the preset cycle, the second power is determined as the actual output power of the range extender, and the third power is obtained.

[0057] Specifically, if T≥t0, then the second power Pwr is determined as the actual output power of the range extender, and the third power is obtained.

[0058] In step S2033, if the cumulative running time is less than the preset cycle, the first power is determined as the actual output power of the range extender, and the third power is obtained.

[0059] Specifically, if T < t0, then the initial power required by the output range extender is the third power Pwr0 mentioned above.

[0060] Through the above embodiments, the range extender output power is adopted at the initial stage of system startup using a conservative strategy based on the state of charge to alleviate the instantaneous load on the power battery. After the system stabilizes, the power demand is switched to a dynamic power demand that combines gear position and throttle response. This achieves the transition of the range extender power from the initial setting to a control strategy that closely matches the operating conditions, reducing the risk of power surges due to unstable system operation during the startup phase, which could lead to the peak power of the power battery exceeding the limit.

[0061] To prevent the power battery from exceeding its operating limits due to the superposition of instantaneous power, in one optional embodiment, step S204 includes:

[0062] Step S2041: Calculate the sum of the fourth power and the fifth power to obtain the sixth power; calculate the difference between the sixth power and the third power to obtain the power deviation.

[0063] Step S2042: If the absolute value of the power deviation is less than or equal to a preset threshold, the peak power verification of the power battery is determined to be passed.

[0064] Step S2043: If the absolute value of the power deviation is greater than a preset threshold, it is determined that the peak power verification of the power battery fails.

[0065] Let the fourth power be WorkPwr, the fifth power be DrvPwr, the preset threshold be BattPwrLimt, and the third power be PwrOut, where PwrOut = Pwr or Pwr0.

[0066] Furthermore, if -BattPwrLimt < WorkPwr + DrvPwr < BattPwrLimt, then the peak power verification of the power battery is deemed to have passed; conversely, if WorkPwr + DrvPwr < -BattPwrLimt or BattPwrLimt < WorkPwr + DrvPwr, then the peak power verification of the power battery is deemed to have failed.

[0067] Through the above embodiments, by calculating the power deviation between the combined power of the dual motors and the output power of the range extender and comparing it with a preset threshold, the power output of the power battery is judged to be reasonable based on whether the deviation is within the allowable range. It can be understood that when the deviation is within the allowable range, the system power distribution is confirmed to be reasonable, and when it exceeds the threshold, the power regulation mechanism is triggered, thereby achieving precise control of the instantaneous load of the power battery while meeting the actual working conditions as much as possible.

[0068] To process the instantaneous power superposition of the battery, in one optional embodiment, after verifying the peak power of the power battery based on the third power and the fourth and fifth power, the above method further includes:

[0069] Step S301: If the sixth power is less than the third power and the peak power verification of the power battery fails, control the working motor to run according to the fourth power.

[0070] Specifically, if WorkPwr+DrvPwr<-BattPwrLimt, then the actual output power of the working motor is determined to be WorkPwrOut = WorkPwr, meaning that the power demand of the working motor is prioritized.

[0071] Step S302: Calculate the sum of the preset threshold and the fourth power to obtain the seventh power; calculate the difference between the third power and the seventh power to obtain the eighth power.

[0072] Step S303: Control the walking motor according to the eighth power control.

[0073] Specifically, since WorkPwr+DrvPwr<-BattPwrLimt, it can be understood that the actual output power of the power battery is insufficient to meet the simultaneous output requirements of the working motor and the walking motor. Therefore, it is necessary to further constrain the power of the walking motor, that is, calculate the actual output power of the walking motor DrvPwrOut= -BattPwrLimt-WorkPwr+PwrOut, and control the walking motor to operate according to the corrected actual output power of the walking motor.

[0074] Through the above embodiments, when the output power of the range extender is insufficient to meet the total power requirements of the working motor and the walking motor, the working motor is given priority to operate at the original required power. At the same time, the power limit threshold of the walking motor is determined by calculation. Thus, without exceeding the safe operating boundary of the power battery, the operation of the working function is given priority, while the walking drive power is dynamically reduced to alleviate the instantaneous power pressure of the system and prevent the power battery from being overloaded due to power exceeding the limit.

[0075] To process the instantaneous power superposition of the battery, in one optional embodiment, after verifying the peak power of the power battery based on the third power and the fourth and fifth power, the above method further includes:

[0076] Step S401: If the sixth power is greater than the third power and the peak power verification of the power battery fails, control the working motor to run according to the fourth power.

[0077] Specifically, if BattPwrLimt < WorkPwr + DrvPwr, then the actual output power of the working motor is determined to be WorkPwrOut = WorkPwr, which satisfies the driver's output requirements for the working motor.

[0078] Step S402: Calculate the sum of the preset threshold and the third power to obtain the ninth power; calculate the difference between the ninth power and the fourth power to obtain the tenth power.

[0079] Step S403: Control the walking motor according to the tenth power control.

[0080] Specifically, based on BattPwrLimt < WorkPwr + DrvPwr, it can be understood that the actual output power of the power battery exceeds the simultaneous output demand of the working motor and the walking motor. Therefore, the output power of the walking motor can be further supplemented to accelerate the process. That is, the actual output power of the walking motor DrvPwrOut = BattPwrLimt - WorkPwr + PwrOut is calculated, and the walking motor is controlled to operate according to the corrected actual output power of the walking motor.

[0081] In order to determine the initial required output power of the range extender, in one optional implementation, step S201 above includes:

[0082] Step S2011: Query the third mapping relationship based on the current gear and the current state of charge to obtain the first power. The third mapping relationship is the mapping relationship between gear, state of charge and initial required output power.

[0083] Specifically, hybrid vehicles divide the driver's needs into multiple gears based on performance requirements. Therefore, the initial required power of the range extender, Pwr0, can be obtained by querying the preset base power map based on the driver's initial selected gear, i.e., the current gear, combined with the current state of charge of the power battery, i.e., the current state of charge.

[0084] Through the above embodiments, by establishing a joint mapping relationship between gear position and state of charge to initial power demand, the power reference of the range extender can be determined based on the gear position controlled by the driver and the state of charge of the power battery at the initial stage of system startup or operating condition switching, avoiding the power response lag caused by slow adjustment based on SOC in the prior art.

[0085] To enable those skilled in the art to better understand the technical solution of this application, the implementation process of the control method for the tandem loader of this application will be described in detail below with reference to specific embodiments.

[0086] This embodiment relates to a specific control method for a tandem loader, such as... Figure 4 As shown, it includes the following steps:

[0087] Step S1: Obtain the state of charge (SOC) and current gear of the power battery to query the base power map (input is SOC and gear, output is the initial power demand Pwr0 of the range extender).

[0088] Step S2: Obtain the current gear and the average accelerator pedal opening during cycle t0 to query the power demand gear map (input is the current unit and average opening, output is the power gear PwrGr).

[0089] Step S3: Further query the range extender power demand map (input is SOC and power level, output is the actual power demand Pwr of the range extender) using the power level and the state of charge of the power battery as input.

[0090] Step S4: Read the cumulative working time T of the loader under the current working conditions. If the cumulative working time is less than the preset period t0, Pwr0 is determined as PwrOut; otherwise, Pwr is determined as PwrOut.

[0091] Step S5: Obtain the real-time power requirement of the walking motor DrvPwr, the real-time power requirement of the working motor WorkPwr, and the peak power limit of the power battery BattPwrLimt;

[0092] Step S7: If -BattPwrLimt < WorkPwr + DrvPwr < BattPwrLimt, determine the actual output power of the working motor WorkPwrOut = WorkPwr, and the actual output power of the traveling motor DrvPwrOut = DrvPwr.

[0093] Step S8: If WorkPwr + DrvPwr < -BattPwrLimt, determine the actual output power of the working motor WorkPwrOut = WorkPwr, and the actual output power of the traveling motor DrvPwrOut = -BattPwrLimt - WorkPwr + PwrOut.

[0094] Step S9: If BattPwrLimt < WorkPwr + DrvPwr, determine the actual output power of the working motor WorkPwrOut = WorkPwr, and the actual output power of the traveling motor DrvPwrOut = BattPwrLimt - WorkPwr + PwrOut.

[0095] Step S10: Control according to the output WorkPwrOut and DrvPwrOut.

[0096] 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, and 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.

[0097] This application also provides a control device for a tandem loader. It should be noted that the control device for the tandem loader in this application can be used to execute the control method for a tandem loader provided in this application. This device 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 performs 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.

[0098] The control device for the tandem loader provided in the embodiments of this application is described below.

[0099] Figure 5 This is a structural block diagram of the control device for a tandem loader according to an embodiment of this application. Figure 5 As shown, the device includes:

[0100] The first determining unit 10 is used to determine the initial required output power of the range extender based on the current gear of the loader and the current state of charge of the power battery, and obtain the first power.

[0101] Specifically, by combining the driver's selected gear information and the real-time state of charge of the power battery as input conditions, the required baseline power output value of the range extender when the system starts or the operating condition is switched is calculated or queried, which is the aforementioned initial required output power.

[0102] It is understandable that the above values ​​do not take into account sudden dynamic conditions during operation, such as throttle opening and motor load, and are only used as theoretical estimates under static conditions to provide a reference value for subsequent power adjustment.

[0103] The second determining unit 20 is used to determine the actual required output power of the range extender under the current operating conditions based on the target pedal opening, the current gear and the current state of charge, and to obtain the second power.

[0104] Specifically, by combining the target pedal opening, the current gear, and the current state of charge, the power value that the range extender should output under the current dynamic operating conditions is calculated through a preset mapping logic. This is the actual required output power mentioned above. This value is used to further correct the initial output power mentioned above.

[0105] It is understandable that the pedal opening directly reflects the driver's immediate demand for the power output of the entire machine, the current gear represents the overall operating mode and transmission characteristics of the vehicle, and the state of charge of the power battery reflects the current available energy state.

[0106] The third determining unit 30 is used to determine the actual output power of the range extender based on the first power and the second power, and obtain the third power.

[0107] Specifically, the accurate actual output power of the range extender is obtained by co-calculating the initial power demand with the actual power demand.

[0108] The acquisition unit 40 is used to acquire the current power of the working motor to obtain the fourth power, acquire the current power of the walking motor to obtain the fifth power, and verify the peak power of the power battery based on the third power and the fourth and fifth power.

[0109] Specifically, the power consumed or output by the working motor is collected in real time to obtain the fourth power mentioned above. Similarly, the power output or consumed by the walking motor is collected in real time to obtain the fifth power mentioned above. Both the fourth and fifth powers are used to reflect the instantaneous operating status of the corresponding motors. Furthermore, using the third power as a reference benchmark, it is determined whether the sum of the fourth and fifth powers is within the peak power range that the power battery can withstand, so as to ensure that when the working motor and the walking motor work simultaneously, the power battery will not exceed the set maximum power input or output limit.

[0110] The first control unit 50 is used to control the operation of the working motor according to the fourth power and the operation of the walking motor according to the fifth power, provided that the verification is passed.

[0111] Specifically, the working motor is regulated and controlled according to the fourth power control command, and the traveling motor is regulated and controlled according to the fifth power control command, so as to realize the coordinated operation of the working motor and the traveling motor under their respective control strategies.

[0112] In this embodiment, the first determining unit determines the initial required output power of the range extender based on the current gear of the loader and the current state of charge of the power battery, thus obtaining the first power; the second determining unit determines the actual required output power of the range extender under the current operating conditions based on the target pedal opening, the current gear, and the current state of charge, thus obtaining the second power; the third determining unit determines the actual output power of the range extender based on the first and second power, thus obtaining the third power; the acquiring unit acquires the current power of the working motor, thus obtaining the fourth power, and acquires the current power of the travel motor, thus obtaining the fifth power, and verifies the peak power of the power battery based on the third power; if the verification is successful, the first control unit controls the working motor to operate according to the fourth power and controls the travel motor to operate according to the fifth power. This application determines the initial required output power of the range extender based on the current gear of the loader and the current state of charge of the power battery. It further calculates the actual required output power of the range extender under the current operating conditions by combining the target pedal opening, current gear, and current state of charge. This achieves dynamic coupling between the range extender's power demand and the loader's real-time operating conditions. By co-calculating the initial required power and the actual required power, a more accurate actual output power of the range extender is obtained, enabling the range extender to respond promptly to operational intentions and load changes, avoiding power output lag. Simultaneously, based on this actual output power, the peak power of the power battery is verified for the current power demand of the work motor and travel motor. This ensures that, with the range extender providing power, the power battery will not exceed its limits due to instantaneous power accumulation. This solves the problem in existing technologies where engine power is only related to the state of charge (SOC), which can easily lead to frequent instantaneous power battery output exceeding the peak value due to simultaneous output from the work motor and travel motor, thus affecting battery life.

[0113] In order to determine the actual required output power of the range extender under current operating conditions, in one optional implementation, the second determining unit includes:

[0114] The first acquisition module is used to acquire the average opening of the accelerator pedal within a preset period and obtain the target pedal opening.

[0115] Specifically, the driver's throttle demand is recorded in real time, and the average throttle pedal opening within the t0 cycle is calculated in real time to obtain the target pedal opening.

[0116] The first query module is used to query the first mapping relationship based on the target pedal opening and the current gear to obtain the target power gear. The first mapping relationship is the mapping relationship between the accelerator pedal opening, the gear and the power gear. The power gear is used to constrain the range extensioner's required output power range.

[0117] Specifically, based on the target pedal opening and the current gear selected by the driver, the target power gear PwrGr is obtained by querying the calibrated power demand gear map.

[0118] The second query module is used to query the second mapping relationship based on the target power level and the current state of charge to obtain the second power. The second mapping relationship is the mapping relationship between the power level, the state of charge and the actual required output power.

[0119] Specifically, based on the target power level and the current state of charge of the power battery, the second power Pwr is obtained by analogy based on the calibrated range extender power demand map.

[0120] In the above embodiments, the average opening of the accelerator pedal within a preset period is obtained as the target pedal opening. The preset power level mapping relationship is queried in combination with the current gear to determine the power level that matches the operating conditions. Then, the range extender power demand mapping relationship is queried based on the power level and the current state of charge of the power battery, thereby outputting the range extender power target value that fits the actual operating requirements. Compared with the prior art, the method of this application does not only rely on SOC or fixed logic, but also integrates the dynamic collaborative judgment of operating intention and energy state, which ensures the accuracy of the prediction of the actual power demand of the range extender.

[0121] In an optional implementation, to determine the actual output power of the range extender, the third determining unit includes:

[0122] The second acquisition module is used to acquire the cumulative running time of the loader;

[0123] Specifically, obtain the cumulative running time T of the aforementioned loader.

[0124] The first determining module is used to determine the second power as the actual output power of the range extender when the cumulative running time is greater than or equal to the preset period, and obtain the third power;

[0125] Specifically, if T≥t0, then the second power Pwr is determined as the actual output power of the range extender, and the third power is obtained.

[0126] The second determining module is used to determine the first power as the actual output power of the range extender when the cumulative running time is less than a preset period, and to obtain the third power.

[0127] Specifically, if T < t0, then the initial power required by the output range extender is the third power Pwr0 mentioned above.

[0128] Through the above embodiments, the range extender output power is adopted at the initial stage of system startup using a conservative strategy based on the state of charge to alleviate the instantaneous load on the power battery. After the system stabilizes, the power demand is switched to a dynamic power demand that combines gear position and throttle response. This achieves the transition of the range extender power from the initial setting to a control strategy that closely matches the operating conditions, reducing the risk of power surges due to unstable system operation during the startup phase, which could lead to the peak power of the power battery exceeding the limit.

[0129] To prevent the power battery from operating beyond its limits due to the superposition of instantaneous power, in one optional embodiment, the aforementioned acquisition unit includes:

[0130] The first calculation module is used to calculate the sum of the fourth power and the fifth power to obtain the sixth power, and to calculate the difference between the sixth power and the third power to obtain the power deviation.

[0131] The third determining module is used to determine whether the peak power verification of the power battery has passed if the absolute value of the power deviation is less than or equal to a preset threshold.

[0132] The fourth determination module is used to determine that the peak power verification of the power battery fails when the absolute value of the power deviation is greater than a preset threshold.

[0133] Let the fourth power be WorkPwr, the fifth power be DrvPwr, the preset threshold be BattPwrLimt, and the third power be PwrOut, where PwrOut = Pwr or Pwr0.

[0134] Furthermore, if -BattPwrLimt < WorkPwr + DrvPwr < BattPwrLimt, then the peak power verification of the power battery is deemed to have passed; conversely, if WorkPwr + DrvPwr < -BattPwrLimt or BattPwrLimt < WorkPwr + DrvPwr, then the peak power verification of the power battery is deemed to have failed.

[0135] Through the above embodiments, by calculating the power deviation between the combined power of the dual motors and the output power of the range extender and comparing it with a preset threshold, the power output of the power battery is judged to be reasonable based on whether the deviation is within the allowable range. It can be understood that when the deviation is within the allowable range, the system power distribution is confirmed to be reasonable, and when it exceeds the threshold, the power regulation mechanism is triggered, thereby achieving precise control of the instantaneous load of the power battery while meeting the actual working conditions as much as possible.

[0136] In order to process the superposition of instantaneous battery power, in one optional embodiment, the above-mentioned device further includes:

[0137] The second control unit is used to control the working motor to operate according to the fourth power after verifying the peak power of the power battery based on the third power and the fourth power and the fifth power based on the third power, when the sixth power is less than the third power and the peak power verification of the power battery fails.

[0138] Specifically, if WorkPwr+DrvPwr<-BattPwrLimt, then the actual output power of the working motor is determined to be WorkPwrOut=WorkPwr, that is, the power demand of the working motor is prioritized.

[0139] The first calculation unit is used to calculate the sum of the preset threshold and the fourth power to obtain the seventh power, and to calculate the difference between the third power and the seventh power to obtain the eighth power;

[0140] The third control unit is used to control the operation of the walking motor according to the eighth power control.

[0141] Specifically, since WorkPwr+DrvPwr<-BattPwrLimt, it can be understood that the actual output power of the power battery is insufficient to meet the simultaneous output requirements of the working motor and the walking motor. Therefore, it is necessary to further constrain the power of the walking motor, that is, calculate the actual output power of the walking motor DrvPwrOut= -BattPwrLimt-WorkPwr+PwrOut, and control the walking motor to operate according to the corrected actual output power of the walking motor.

[0142] Through the above embodiments, when the output power of the range extender is insufficient to meet the total power requirements of the working motor and the walking motor, the working motor is given priority to operate at the original required power. At the same time, the power limit threshold of the walking motor is determined by calculation. Thus, without exceeding the safe operating boundary of the power battery, the operation of the working function is given priority, while the walking drive power is dynamically reduced to alleviate the instantaneous power pressure of the system and prevent the power battery from being overloaded due to power exceeding the limit.

[0143] In order to process the superposition of instantaneous battery power, in one optional embodiment, the above-mentioned device further includes:

[0144] The fourth control unit is used to control the working motor to operate according to the fourth power after verifying the peak power of the power battery based on the third power and the fourth power and the fifth power based on the third power, in the case where the sixth power is greater than the third power and the peak power verification of the power battery fails.

[0145] Specifically, if BattPwrLimt < WorkPwr + DrvPwr, then the actual output power of the working motor is determined to be WorkPwrOut = WorkPwr, which satisfies the driver's output requirements for the working motor.

[0146] The second calculation unit is used to calculate the sum of the preset threshold and the third power to obtain the ninth power, and to calculate the difference between the ninth power and the fourth power to obtain the tenth power;

[0147] The fifth control unit is used to control the operation of the walking motor according to the tenth power control.

[0148] Specifically, based on BattPwrLimt < WorkPwr + DrvPwr, it can be understood that the actual output power of the power battery exceeds the simultaneous output demand of the working motor and the walking motor. Therefore, the output power of the walking motor can be further supplemented to accelerate the process. That is, the actual output power of the walking motor DrvPwrOut = BattPwrLimt - WorkPwr + PwrOut is calculated, and the walking motor is controlled to operate according to the corrected actual output power of the walking motor.

[0149] To determine the initial required output power of the range extender, in one optional implementation, the first determining unit includes:

[0150] The third query module is used to query the third mapping relationship based on the current gear and the current state of charge to obtain the first power. The third mapping relationship is the mapping relationship between gear, state of charge and initial required output power.

[0151] Specifically, hybrid vehicles divide the driver's needs into multiple gears based on performance requirements. Therefore, the initial required power of the range extender, Pwr0, can be obtained by querying the preset base power map based on the driver's initial selected gear, i.e., the current gear, combined with the current state of charge of the power battery, i.e., the current state of charge.

[0152] The control device for the aforementioned tandem loader includes a processor and a memory. The first determining unit, second determining unit, third determining unit, acquisition unit, and first control unit are all stored as program units in the memory. The processor executes these program units stored in the memory to achieve the corresponding functions. All of the above modules reside in the same processor; alternatively, the modules may be located in different processors in any combination.

[0153] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and adjusting kernel parameters can prevent the power battery from frequently exceeding its limits.

[0154] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0155] This invention provides a computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the control method for the tandem loader.

[0156] Specifically, the control methods for tandem loaders include:

[0157] Step S201: Determine the initial required output power of the range extender based on the current gear of the loader and the current state of charge of the power battery to obtain the first power.

[0158] Step S202: Determine the actual required output power of the range extender under the current operating conditions based on the target pedal opening, current gear, and current state of charge, and obtain the second power.

[0159] Step S203: Determine the actual output power of the range extender based on the first power and the second power to obtain the third power;

[0160] Step S204: Obtain the current power of the working motor to obtain the fourth power; obtain the current power of the walking motor to obtain the fifth power; verify the peak power of the power battery based on the third power and the fourth and fifth power.

[0161] Step S205: If the verification is successful, control the working motor to run according to the fourth power and control the walking motor to run according to the fifth power.

[0162] This invention provides a processor for running a program, wherein the program executes the control method for the tandem loader.

[0163] Specifically, the control methods for tandem loaders include:

[0164] Step S201: Determine the initial required output power of the range extender based on the current gear of the loader and the current state of charge of the power battery to obtain the first power.

[0165] Step S202: Determine the actual required output power of the range extender under the current operating conditions based on the target pedal opening, current gear, and current state of charge, and obtain the second power.

[0166] Step S203: Determine the actual output power of the range extender based on the first power and the second power to obtain the third power;

[0167] Step S204: Obtain the current power of the working motor to obtain the fourth power; obtain the current power of the walking motor to obtain the fifth power; verify the peak power of the power battery based on the third power and the fourth and fifth power.

[0168] Step S205: If the verification is successful, control the working motor to run according to the fourth power and control the walking motor to run according to the fifth power.

[0169] This invention provides a tandem loader, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps:

[0170] Step S201: Determine the initial required output power of the range extender based on the current gear of the loader and the current state of charge of the power battery to obtain the first power.

[0171] Step S202: Determine the actual required output power of the range extender under the current operating conditions based on the target pedal opening, current gear, and current state of charge, and obtain the second power.

[0172] Step S203: Determine the actual output power of the range extender based on the first power and the second power to obtain the third power;

[0173] Step S204: Obtain the current power of the working motor to obtain the fourth power; obtain the current power of the walking motor to obtain the fifth power; verify the peak power of the power battery based on the third power and the fourth and fifth power.

[0174] Step S205: If the verification is successful, control the working motor to run according to the fourth power and control the walking motor to run according to the fifth power.

[0175] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps:

[0176] Step S201: Determine the initial required output power of the range extender based on the current gear of the loader and the current state of charge of the power battery to obtain the first power.

[0177] Step S202: Determine the actual required output power of the range extender under the current operating conditions based on the target pedal opening, current gear, and current state of charge, and obtain the second power.

[0178] Step S203: Determine the actual output power of the range extender based on the first power and the second power to obtain the third power;

[0179] Step S204: Obtain the current power of the working motor to obtain the fourth power; obtain the current power of the walking motor to obtain the fifth power; verify the peak power of the power battery based on the third power and the fourth and fifth power.

[0180] Step S205: If the verification is successful, control the working motor to run according to the fourth power and control the walking motor to run according to the fifth power.

[0181] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0182] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0183] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0184] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0185] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0186] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0187] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0188] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0189] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0190] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0191] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0192] 1) The control method of the tandem loader of this application firstly determines the initial required output power of the range extender based on the current gear of the loader and the current state of charge of the power battery, thus obtaining the first power; then, it determines the actual required output power of the range extender under the current working condition based on the target pedal opening, the current gear, and the current state of charge, thus obtaining the second power; then, it determines the actual output power of the range extender based on the first power and the second power, thus obtaining the third power; then, it obtains the current power of the working motor to obtain the fourth power, and obtains the current power of the travel motor to obtain the fifth power; and verifies the peak power of the power battery based on the third power and the fourth and fifth powers; finally, if the verification is successful, it controls the working motor to run according to the fourth power and controls the travel motor to run according to the fifth power. This application determines the initial required output power of the range extender based on the current gear of the loader and the current state of charge of the power battery. It further calculates the actual required output power of the range extender under the current operating conditions by combining the target pedal opening, current gear, and current state of charge. This achieves dynamic coupling between the range extender's power demand and the loader's real-time operating conditions. By co-calculating the initial required power and the actual required power, a more accurate actual output power of the range extender is obtained, enabling the range extender to respond promptly to operational intentions and load changes, avoiding power output lag. Simultaneously, based on this actual output power, the peak power of the power battery is verified for the current power demand of the work motor and travel motor. This ensures that, with the range extender providing power, the power battery will not exceed its limits due to instantaneous power accumulation. This solves the problem in existing technologies where engine power is only related to the state of charge (SOC), which can easily lead to frequent instantaneous power battery output exceeding the peak value due to simultaneous output from the work motor and travel motor, thus affecting battery life.

[0193] 2) The control device for the tandem loader of this application comprises: a first determining unit determining the initial required output power of the range extender based on the current gear of the loader and the current state of charge of the power battery, thus obtaining a first power; a second determining unit determining the actual required output power of the range extender under the current operating conditions based on the target pedal opening, the current gear, and the current state of charge, thus obtaining a second power; a third determining unit determining the actual output power of the range extender based on the first and second power, thus obtaining a third power; an acquiring unit acquiring the current power of the working motor, thus obtaining a fourth power, and acquiring the current power of the travel motor, thus obtaining a fifth power, and verifying the peak power of the power battery based on the third power; and a first control unit controlling the working motor to operate according to the fourth power and controlling the travel motor to operate according to the fifth power if the verification is successful. This application determines the initial required output power of the range extender based on the current gear of the loader and the current state of charge of the power battery. It further calculates the actual required output power of the range extender under the current operating conditions by combining the target pedal opening, current gear, and current state of charge. This achieves dynamic coupling between the range extender's power demand and the loader's real-time operating conditions. By co-calculating the initial required power and the actual required power, a more accurate actual output power of the range extender is obtained, enabling the range extender to respond promptly to operational intentions and load changes, avoiding power output lag. Simultaneously, based on this actual output power, the peak power of the power battery is verified for the current power demand of the work motor and travel motor. This ensures that, with the range extender providing power, the power battery will not exceed its limits due to instantaneous power accumulation. This solves the problem in existing technologies where engine power is only related to the state of charge (SOC), which can easily lead to frequent instantaneous power battery output exceeding the peak value due to simultaneous output from the work motor and travel motor, thus affecting battery life.

[0194] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A control method for a tandem loader, characterized in that, include: The initial required output power of the range extender is determined based on the current gear of the loader and the current state of charge of the power battery, thus obtaining the first power. The actual required output power of the range extender under the current operating conditions is determined based on the target pedal opening, the current gear, and the current state of charge, thus obtaining the second power. The actual output power of the range extender is determined based on the first power and the second power, and a third power is obtained. Obtain the current power of the working motor to obtain the fourth power, obtain the current power of the walking motor to obtain the fifth power, and verify the peak power of the power battery based on the third power and the fourth and fifth power. If the verification is successful, the working motor is controlled to run according to the fourth power and the walking motor is controlled to run according to the fifth power.

2. The method according to claim 1, characterized in that, Based on the target pedal opening and the current gear, the required output power of the range extender under the current operating conditions is determined, resulting in a second power, including: The average opening of the accelerator pedal within a preset period is obtained to obtain the target pedal opening. The target power level is obtained by querying the first mapping relationship based on the target pedal opening and the current gear. The first mapping relationship is the mapping relationship between the accelerator pedal opening, the gear and the power level. The power level is used to constrain the required output power range of the range extender. The second power is obtained by querying the second mapping relationship based on the target power level and the current state of charge. The second mapping relationship is the mapping relationship between the power level, the state of charge and the actual required output power.

3. The method according to claim 1, characterized in that, The actual output power of the range extender is determined based on the first power and the second power, and a third power is obtained, including: Obtain the cumulative runtime of the loader; When the cumulative running time is greater than or equal to a preset period, the second power is determined as the actual output power of the range extender, and the third power is obtained; If the cumulative running time is less than the preset period, the first power is determined as the actual output power of the range extender, and the third power is obtained.

4. The method according to claim 1, characterized in that, Verification of the peak power of the power battery based on the third power, the fourth power, and the fifth power includes: The sum of the fourth power and the fifth power is calculated to obtain the sixth power. The difference between the sixth power and the third power is calculated to obtain the power deviation. If the absolute value of the power deviation is less than or equal to a preset threshold, the peak power verification of the power battery is deemed successful. If the absolute value of the power deviation is greater than the preset threshold, the peak power verification of the power battery is determined to be unsuccessful.

5. The method according to claim 4, characterized in that, After verifying the peak power of the power battery based on the third power, the method further includes: If the sixth power is less than the third power and the peak power verification of the power battery fails, the working motor is controlled to operate according to the fourth power. The sum of the preset threshold and the fourth power is calculated to obtain the seventh power, and the difference between the third power and the seventh power is calculated to obtain the eighth power; The walking motor is operated according to the eighth power control.

6. The method according to claim 4, characterized in that, After verifying the peak power of the power battery based on the third power, the method further includes: If the sixth power is greater than the third power and the peak power verification of the power battery fails, the working motor is controlled to operate according to the fourth power. The sum of the preset threshold and the third power is calculated to obtain the ninth power, and the difference between the ninth power and the fourth power is calculated to obtain the tenth power; The walking motor is operated according to the tenth power control.

7. The method according to claim 1, characterized in that, The initial required output power of the range extender is determined based on the current gear of the loader and the current state of charge of the power battery, resulting in the first power, including: The first power is obtained by querying the third mapping relationship based on the current gear position and the current state of charge. The third mapping relationship is the mapping relationship between gear position, state of charge and initial required output power.

8. A control device for a tandem loader, characterized in that, The device includes: The first determining unit is used to determine the initial required output power of the range extender based on the current gear of the loader and the current state of charge of the power battery, and obtain the first power. The second determining unit is used to determine the actual required output power of the range extender under the current operating conditions based on the target pedal opening, the current gear and the current state of charge, and to obtain the second power. The third determining unit is used to determine the actual output power of the range extender based on the first power and the second power, and obtain the third power. The acquisition unit is used to acquire the current power of the working motor to obtain the fourth power, acquire the current power of the walking motor to obtain the fifth power, and verify the peak power of the power battery based on the third power and the fourth and fifth power. The first control unit is configured to control the working motor to operate according to the fourth power and the walking motor to operate according to the fifth power, provided that the verification is successful.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1 to 7.

10. A tandem loader, characterized in that, include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising methods for performing any one of claims 1 to 7.

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