Control method, controller, vehicle, storage medium, and program product

Abstract

The present disclosure provides a control method, a controller, a vehicle, a storage medium and a program product, and relates to the field of engineering machinery. The control method comprises: identifying a working condition of the vehicle, the working condition comprising a first working condition, a second working condition, a third working condition, a fourth working condition or an idling working condition, the first working condition being that the vehicle is empty, no bucket action is performed and the vehicle is in a driving state, the second working condition being that the vehicle is loaded, no bucket action is performed and the vehicle is in the driving state, the third working condition being that the vehicle performs a first bulldozing operation, and the fourth working condition being that the vehicle performs a second bulldozing operation; identifying a state of a multi-branch battery system of the vehicle, the state comprising a first state and a second state, the first state comprising that battery packs of each branch of the multi-branch battery system are in a normal state, and the second state comprising that at least one battery pack of at least one branch of the multi-branch battery system is in an abnormal state; and based on the working condition of the vehicle and the state of the multi-branch battery system, the driving system and the hydraulic system of the vehicle are controlled in coordination.

Description

Technical Field

[0001] This disclosure relates to the field of engineering machinery, and more particularly to a control method, controller, vehicle, storage medium, and program product. Background Technology

[0002] With the rapid development of new energy construction machinery, especially the urgent need for zero carbon emissions in high-end mining operations, mining construction machinery products are being transformed and upgraded towards pure electric and ultra-large tonnage.

[0003] In related technologies, the coordination and control capabilities between the drive system and hydraulic system of mining machinery are poor, which makes it impossible for vehicles to operate efficiently, safely, and continuously in mining scenarios. Summary of the Invention

[0004] One technical problem this disclosure aims to solve is to provide a control method, controller, vehicle, storage medium, and program product that can improve the vehicle's ability to operate efficiently, safely, and continuously in mining scenarios.

[0005] According to one aspect of this disclosure, a control method is proposed, comprising: identifying the operating conditions of a vehicle, including a first operating condition, a second operating condition, a third operating condition, a fourth operating condition, or an idling operating condition; the first operating condition being that the vehicle is unloaded, without bucket operation, and in a driving state; the second operating condition being that the vehicle is loaded, without bucket operation, and in a driving state; the third operating condition being that the vehicle is performing a first bulldozing operation; and the fourth operating condition being that the vehicle is performing a second bulldozing operation, wherein the working load of the first bulldozing operation is less than the working load of the second bulldozing operation; identifying the state of the vehicle's multi-branch battery system, including a first state and a second state; the first state including that the battery pack of each branch in the multi-branch battery system is in a normal state; and the second state including that the battery pack of at least one branch in the multi-branch battery system is in an abnormal state; and coordinating the control of the vehicle's drive system and hydraulic system based on the vehicle's operating conditions and the state of the multi-branch battery system.

[0006] In some embodiments, the coordinated control of the vehicle's drive system and hydraulic system based on the vehicle's operating conditions and the state of the multi-branch battery system includes at least one of the following: when the multi-branch battery system is in a first state and the vehicle is in a first operating condition, a second operating condition, or an idling operating condition, a speed control mode is used to control the speed of the drive system and the speed of the hydraulic system; when the multi-branch battery system is in a first state and the vehicle is in a third operating condition, a speed control mode is used to control the speed of the drive system and a torque control mode is used to control the torque of the hydraulic system; when the multi-branch battery system is in a first state and the vehicle is in a fourth operating condition, a torque control mode is used to control the torque of the drive system and the torque of the hydraulic system.

[0007] In some embodiments, the coordinated control of the vehicle's drive system and hydraulic system based on the vehicle's operating conditions and the state of the multi-branch battery system further includes at least one of the following: When the vehicle is in a first operating condition, controlling the speed of the drive system to a first speed and controlling the speed of the hydraulic system to an idle speed, wherein the first speed is determined based on a first vehicle speed; when the vehicle is in a second operating condition, controlling the speed of the drive system to a second speed and adding torque feedforward according to the estimated load, controlling the speed of the hydraulic system to an idle speed, wherein the second speed is determined based on the second vehicle speed; when the vehicle is in a third operating condition, controlling the speed of the drive system to a third speed and controlling the torque of the hydraulic system to a first torque, wherein the third speed is determined based on the third vehicle speed and the first torque is determined based on the pressure of the hydraulic system; when the vehicle is in a fourth operating condition, controlling the torque of the drive system to a second torque and controlling the torque of the hydraulic system to a third torque, wherein the second torque is determined based on the first power of the drive system and the reference speed of the drive system corresponding to the fourth operating condition, and the third torque is determined based on the second power of the hydraulic system and the reference speed of the hydraulic system corresponding to the fourth operating condition; when the vehicle is in an idling condition, controlling the speed of the drive system to zero and controlling the speed of the hydraulic system to an idle speed.

[0008] In some embodiments, when it is anticipated that the vehicle will transition from a second operating condition to a fourth operating condition, the torque of the drive system is reduced.

[0009] In some embodiments, when it is anticipated that the vehicle will transition from the second operating condition to the fourth operating condition, a hydraulic pre-charge command is output to the hydraulic system.

[0010] In some embodiments, the coordinated control of the vehicle's drive system and hydraulic system based on the vehicle's operating conditions and the state of the multi-branch battery system further includes: when the vehicle is in a first operating condition, the first power of the drive system is greater than the second power of the hydraulic system, and the difference between the first power and the second power is greater than or equal to a first threshold; when the vehicle is in a second operating condition, the first power of the drive system is greater than the second power of the hydraulic system, and the difference between the first power and the second power is greater than or equal to a second threshold and less than a first threshold; when the vehicle is in a third operating condition, the first power of the drive system is greater than the second power of the hydraulic system, and the difference between the first power and the second power is greater than or equal to a third threshold and less than a second threshold; when the vehicle is in a fourth operating condition, the absolute value of the difference between the first power of the drive system and the second power of the hydraulic system is less than a fourth threshold, and the fourth threshold is less than a third threshold; when the vehicle is in an idling condition, the first power of the drive system is zero, and the second power of the hydraulic system is standby power.

[0011] In some embodiments, the coordinated control of the vehicle's drive system and hydraulic system based on the vehicle's operating conditions and the state of the multi-branch battery system includes: when the multi-branch battery system is in a second state and the vehicle is in a first operating condition, using a torque control mode to control the torque of the drive system and using a speed control module to control the speed of the hydraulic system; when the multi-branch battery system is in a second state and the vehicle is in a second, third, or fourth operating condition, using a torque control mode to control the torque of the drive system and the torque of the hydraulic system, and after controlling the torque of the hydraulic system, using a speed control module to control the speed of the hydraulic system; when the multi-branch battery system is in a second state and the vehicle is in an idling condition, using a speed control mode to control the speed of the drive system and the speed of the hydraulic system.

[0012] In some embodiments, the coordinated control of the vehicle's drive system and hydraulic system based on the vehicle's operating conditions and the state of the multi-branch battery system further includes at least one of the following: When the vehicle is in a first operating condition, controlling the drive system to execute a first safety limit torque and controlling the hydraulic system's rotational speed to a standby speed; when the vehicle is in a second operating condition, controlling the drive system to execute a first safety limit torque and controlling the hydraulic system to execute a second safety limit torque, and controlling the hydraulic system's rotational speed to a standby speed in response to unloading completion; when the vehicle is in a third operating condition, controlling the drive system to execute a first safety limit torque and controlling the hydraulic system to execute a third safety limit torque, and controlling the hydraulic system's rotational speed to a standby speed in response to unloading completion, wherein the third safety limit torque is less than the second safety limit torque; when the vehicle is in a fourth operating condition, controlling the drive system to execute a first safety limit torque and controlling the hydraulic system to execute a fourth safety limit torque, and controlling the hydraulic system's rotational speed to a standby speed in response to unloading completion, wherein the fourth safety limit torque is greater than the second safety limit torque; when the vehicle is in an idling condition, controlling the drive system's rotational speed to zero and controlling the hydraulic system's rotational speed to a standby speed.

[0013] In some embodiments, identifying the vehicle's operating condition includes: acquiring multiple parameters related to the identification of the vehicle's operating condition; filtering each of the multiple parameters to obtain the optimal estimate value corresponding to each parameter; determining the operating condition with the highest matching degree with the multiple parameters based on the optimal estimate value corresponding to each parameter; determining the changing trend of each parameter based on the optimal estimate value corresponding to each parameter; and determining the vehicle's operating condition based on the operating condition with the highest matching degree with the multiple parameters and the changing trend of each parameter.

[0014] In some embodiments, determining the vehicle's operating condition based on the operating condition that best matches multiple parameters and the changing trend of each parameter includes: if the operating condition that best matches multiple parameters matches the changing trend of each parameter, then the operating condition that best matches multiple parameters is taken as the vehicle's operating condition; if the operating condition that best matches multiple parameters does not match the changing trend of each parameter, then the vehicle's operating condition is determined using a dynamic model based on the optimal estimated value corresponding to each parameter.

[0015] In some embodiments, determining the vehicle's operating condition based on the optimal estimate corresponding to each parameter using a dynamic model includes: using the optimal estimate corresponding to each parameter, the vehicle's overall parameters, environmental parameters, and environmental compensation coefficient as input parameters of the dynamic model to predict the vehicle's operating characteristics; and using the minimum deviation between the operating characteristics and the characteristics of the target operating condition as the optimization objective, outputting the target operating condition through rolling optimization.

[0016] In some embodiments, the multiple parameters include at least two of the following: the rotational speed of the drive system, the torque of the drive system, the vehicle speed, the pressure of the hydraulic system, and the displacement of the handle.

[0017] In some embodiments, the optimal estimate for each parameter is obtained based on the Kalman filter algorithm; the operating condition with the highest matching degree with multiple parameters is determined based on the fuzzy recognition algorithm; and the vehicle's operating condition is determined based on the model predictive control algorithm, wherein the model parameters of the fuzzy recognition algorithm and the model predictive control algorithm are adjusted based on the parameters after coordinated control.

[0018] According to a second aspect of this disclosure, a controller is also proposed, comprising: a working condition identification module configured to identify the working condition of a vehicle, the working condition including a first working condition, a second working condition, a third working condition, a fourth working condition, or an idling working condition, wherein the first working condition is that the vehicle is unloaded, has no bucket operation, and is in a driving state; the second working condition is that the vehicle is loaded, has no bucket operation, and is in a driving state; the third working condition is that the vehicle is performing a first bulldozing operation; and the fourth working condition is that the vehicle is performing a second bulldozing operation, wherein the working load of the first bulldozing operation is less than the working load of the second bulldozing operation; a state identification module configured to identify the state of the vehicle's multi-branch battery system, the state including a first state and a second state, wherein the first state includes that the battery pack of each branch in the multi-branch battery system is in a normal state, and the second state includes that the battery pack of at least one branch in the multi-branch battery system is in an abnormal state; and a cooperative control module configured to perform cooperative control of the vehicle's drive system and hydraulic system based on the vehicle's working condition and the state of the multi-branch battery system.

[0019] According to a third aspect of this disclosure, a controller is also proposed, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute the control method as described above based on instructions stored in the memory.

[0020] According to a fourth aspect of this disclosure, a vehicle is also provided, including the controller described above; a multi-branch battery system, wherein the battery pack of each branch in the multi-branch battery system is electrically connected to the controller via a battery management system; an electrical platform including a plurality of first DC-DC converters, a power distribution unit, and a plurality of DC-AC converters, wherein the battery pack of each branch is electrically connected to the power distribution unit via one of the plurality of first DC-DC converters; a drive system electrically connected to the power distribution unit via one or more of the plurality of DC-AC converters; and a hydraulic system electrically connected to the power distribution unit via one or more of the plurality of DC-AC converters.

[0021] In some embodiments, the drive system includes a first drive motor, a second drive motor, a third drive motor, and a fourth drive motor, each drive motor corresponding to a wheel-side reducer, and each drive motor being electrically connected to the power distribution unit via a DC-AC converter; and / or the hydraulic system includes a hydraulic motor for determining the working pump and the steering pump, and being electrically connected to the power distribution unit via a DC-AC converter.

[0022] In some embodiments, the electrical platform further includes a second DC-DC converter and a third DC-DC converter, and the vehicle further includes: a thermal management system electrically connected to a power distribution unit via the second DC-DC converter; and a battery electrically connected to the second DC-DC converter via the third DC-DC converter.

[0023] According to a fifth aspect of this disclosure, a computer-readable storage medium is also provided, on which computer program instructions are stored, which, when executed by a processor, implement the control method as described above.

[0024] According to a sixth aspect of this disclosure, a computer program product is also provided, comprising a computer program or instructions that, when executed by a processor, implement the control method described above.

[0025] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0026] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the specification, serve to explain the principles of this disclosure.

[0027] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0028] Figure 1This is a flowchart illustrating some embodiments of the control method disclosed herein;

[0029] Figure 2 This is a flowchart illustrating some embodiments of the present disclosure for identifying the operating conditions of a vehicle;

[0030] Figure 3 This is a flowchart illustrating some other embodiments of the control method of this disclosure;

[0031] Figure 4 Block diagrams of some embodiments of the controller of this disclosure;

[0032] Figure 5 Block diagrams of some embodiments of the electronic devices disclosed herein;

[0033] Figure 6 Block diagrams of some embodiments of the vehicle disclosed herein;

[0034] Figure 7 Block diagrams for some other embodiments of the vehicle disclosed herein. Detailed Implementation

[0035] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0036] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0037] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0038] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0039] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0040] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0041] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0042] Mining machinery includes wheeled bulldozers and wheeled loaders. Existing wheeled bulldozers are primarily diesel-powered, resulting in significant carbon emissions and noise pollution. While some models employ a hybrid architecture combining a generator set and electric drive, they still cannot achieve completely zero carbon emissions. Furthermore, pure electric bulldozers are scarce in the industry, with most being small to medium-tonnage tracked vehicles. Their drive logic and architecture cannot provide technical reference for ultra-large tonnage pure electric wheeled bulldozers.

[0043] In related technologies, the power distribution of vehicle drive systems and operating systems lacks coordinated control logic, which easily leads to insufficient power or energy redundancy, failing to meet the power coordination requirements of bulldozing and driving actions. This disclosure provides a dual-mode battery power coordination control strategy considering operating conditions, enabling coordinated control of the drive system and hydraulic system under different operating conditions. The solution of this disclosure will be described below with reference to specific embodiments.

[0044] like Figure 1 As shown, Figure 1 This is a flowchart illustrating some embodiments of the control method disclosed herein, which includes steps S11-S13.

[0045] In step S11, the vehicle's operating condition is identified. The operating conditions include the first operating condition, the second operating condition, the third operating condition, the fourth operating condition, or the idling operating condition. The first operating condition is that the vehicle is unloaded, has no bucket operation, and is in a driving state. The second operating condition is that the vehicle is loaded, has no bucket operation, and is in a driving state. The third operating condition is that the vehicle is performing the first bulldozing operation. The fourth operating condition is that the vehicle is performing the second bulldozing operation. The working load of the first bulldozing operation is less than the working load of the second bulldozing operation.

[0046] In some embodiments, the vehicle is a wheeled vehicle, such as an electric wheeled vehicle, specifically, for example, an ultra-large tonnage pure electric wheeled vehicle. Electric wheeled vehicles include electric wheeled bulldozers or electric wheeled loaders, etc. The following description uses a wheeled bulldozer as an example to illustrate the solutions disclosed herein.

[0047] The first working condition is when the vehicle is unloaded, the bucket is not moving, and the vehicle is in motion. For example, the unloaded driving condition means that the bulldozer has no material, the blade is unloaded, and the bucket is not moving; the vehicle is only moving within the site or adjusting its position.

[0048] The second working condition is when the vehicle is loaded, without bucket operation, and in motion. For example, the heavy-load driving condition means that the bulldozer blade is fully loaded with material, but it is not bulldozing or cutting, and there is no bucket operation; it is only transferring material.

[0049] The third working condition is when the vehicle performs the first bulldozing operation, and the fourth working condition is when the vehicle performs the second bulldozing operation. The third working condition, for example, is a light-load bulldozing condition, where the bulldozer performs light bulldozing operations such as clearing surface soil and loose materials in the mine, with relatively gentle bucket movements. The fourth working condition, for example, is a heavy-load bulldozing condition, where the bulldozer performs heavy-load bulldozing operations such as clearing hard soil layers and rock piles, with vigorous bucket movements. The density of the material bulldozer is transporting in the third working condition is less than the density of the material bulldozer is transporting in the fourth working condition; that is, the working load of the bulldozer in the third working condition is less than the working load of the bulldozer in the fourth working condition.

[0050] Idle operation is the idle standby operation, where the bulldozer is stationary and the bucket is not moving during work breaks or while waiting.

[0051] In related technologies, the classification of working conditions for wheeled bulldozers is relatively simple, such as only dividing them into bulldozing operations and unloaded driving. However, in this embodiment, based on the actual operational cycle characteristics of wheeled bulldozers in mining scenarios, the working conditions are divided into five categories. This more refined classification facilitates subsequent adjustments to drive and hydraulic outputs based on the working conditions, improving operational efficiency, reducing fuel consumption and wear, extending machine lifespan, ensuring safety, and optimizing operation and maintenance costs. This step provides a clear, stable, and quantifiable basis for determining working conditions and a target control benchmark for the coordinated control of the drive and hydraulic systems, facilitating precise mapping of power demands and dynamic matching of coordinated strategies.

[0052] In step S12, the state of the vehicle's multi-branch battery system is identified. The state includes a first state and a second state. The first state includes that the battery pack of each branch in the multi-branch battery system is in a normal state. The second state includes that the battery pack of at least one branch in the multi-branch battery system is in an abnormal state.

[0053] For example, the battery system of a wheeled bulldozer includes a normal mode and an abnormal mode. Normal mode refers to a multi-branch battery system where no battery branch is faulty. Abnormal mode refers to a situation where at least one branch of the battery has failed, or the battery capacity is insufficient.

[0054] In this embodiment, because a multi-branch battery system is used, when one or more branch batteries fail, the faulty branch can be automatically disconnected and the other branches can be balanced to ensure that the battery system can still supply power to the outside world and avoid the vehicle from being powerless and breaking down.

[0055] In step S13, the vehicle's drive system and hydraulic system are controlled in a coordinated manner based on the vehicle's operating conditions and the status of the multi-branch battery system.

[0056] For example, in normal mode, power is prioritized, while in abnormal mode, emergency safety is the primary objective. In both battery modes, the drive system and hydraulic system are coordinated and controlled according to the current operating conditions.

[0057] In this embodiment, based on the current working conditions and the status of multiple battery branches as the basis for mode judgment, a collaborative control strategy for the drive system and hydraulic system under dual battery modes that considers the working conditions is proposed to ensure that ultra-large tonnage pure electric wheeled vehicles can operate efficiently, safely and continuously in mining scenarios.

[0058] In some embodiments of this disclosure, the coordinated control of the vehicle's drive system and hydraulic system based on the vehicle's operating conditions and the state of the multi-branch battery system includes at least one of the following: when the multi-branch battery system is in a first state and the vehicle is in a first operating condition, a second operating condition, or an idling operating condition, a speed control mode is used to control the speed of the drive system and the speed of the hydraulic system; when the multi-branch battery system is in a first state and the vehicle is in a third operating condition, a speed control mode is used to control the speed of the drive system and a torque control mode is used to control the torque of the hydraulic system; when the multi-branch battery system is in a first state and the vehicle is in a fourth operating condition, a torque control mode is used to control the torque of the drive system and the torque of the hydraulic system.

[0059] For example, when the bulldozer's battery system is functioning normally and it is operating under no-load, heavy-load, or idling conditions, both the drive motor and hydraulic motor use speed control modes. This achieves dual stability in both travel speed and hydraulic flow, enhancing the machine's resistance to load disturbances, improving operational smoothness and control precision, and facilitating stable coordinated operation of both systems.

[0060] For example, when the bulldozer's battery system is functioning normally and it is operating under light load, the drive motor uses speed control mode, while the hydraulic motor uses torque control mode. This ensures stable travel speed and smooth operation, while also providing controllable hydraulic pressure, overload protection, and energy savings. The combination of these two features achieves decoupled control of speed and load, improving the overall smoothness, reliability, and collaborative control performance of the machine.

[0061] For example, when the bulldozer's battery system is functioning normally and it is under heavy-load pushing conditions, both the drive motor and hydraulic motor switch to torque control mode. This allows for precise control of traction force and hydraulic load torque, facilitating dynamic distribution and deep collaborative control of the overall machine's power, thereby improving heavy-load adaptability, power response speed, and system energy efficiency.

[0062] In the above embodiments, the battery system is in a normal state, and the drive system and hydraulic system adopt corresponding control modes based on the operating conditions. That is, under the main driving conditions such as no-load driving, heavy-load driving, and idling, the speed control mode is adopted; under the heavy-load pushing condition, the torque control mode is adopted; under the light-load pushing condition, the drive motor adopts the speed control mode and the hydraulic motor adopts the torque control mode, which can improve energy consumption efficiency and significantly reduce the driver's operating intensity and skill threshold.

[0063] In some other embodiments of this disclosure, the coordinated control of the vehicle's drive system and hydraulic system based on the vehicle's operating conditions and the state of the multi-branch battery system further includes at least one of the following: When the vehicle is in a first operating condition, the speed of the drive system is controlled to a first speed, and the speed of the hydraulic system is controlled to an idle speed, wherein the first speed is determined based on a first vehicle speed; when the vehicle is in a second operating condition, the speed of the drive system is controlled to a second speed, and torque feedforward is added according to the estimated load, and the speed of the hydraulic system is controlled to an idle speed, wherein the second speed is determined based on the second vehicle speed; when the vehicle is in a third operating condition, the speed of the drive system is controlled to a third speed, and the torque of the hydraulic system is controlled to a first torque, wherein the third speed is determined based on the third vehicle speed, and the first torque is determined based on the pressure of the hydraulic system; when the vehicle is in a fourth operating condition, the torque of the drive system is controlled to a second torque, and the torque of the hydraulic system is controlled to a third torque, wherein the second torque is determined based on the first power of the drive system and the reference speed of the drive system corresponding to the fourth operating condition, and the third torque is determined based on the second power of the hydraulic system and the reference speed of the hydraulic system corresponding to the fourth operating condition; when the vehicle is in an idling condition, the speed of the drive system is controlled to be zero, and the speed of the hydraulic system is controlled to be an idle speed.

[0064] For example, if the bulldozer's battery system is normal and it is in an unloaded driving condition, the vehicle controller calculates the target speed based on the target vehicle speed, and the motor controller automatically adjusts the torque to maintain that speed. In this embodiment, the target vehicle speed is the target speed under unloaded driving conditions, which can be determined according to the actual operating scenario. The hydraulic motor only maintains the minimum standby speed.

[0065] For example, if the bulldozer's battery system is normal and it is under heavy load, the vehicle controller calculates the target rotational speed based on the target vehicle speed and adds torque feedforward based on load forecasting to improve response speed. That is, it uses load forecasting to predict future resistance increases and performs torque compensation in advance. In this embodiment, the target vehicle speed is the target speed under heavy load conditions, which can be determined according to the actual operating scenario. For example, the target vehicle speed under heavy load conditions can be lower than the target vehicle speed under unload conditions. The hydraulic motor only maintains the minimum standby speed.

[0066] For example, if the bulldozer's battery system is functioning normally and it is operating under light load, the vehicle controller calculates the target rotational speed based on the target vehicle speed, and the torque is dynamically calculated based on the drive power and the current rotational speed. The target torque of the hydraulic motor is achieved through closed-loop pressure regulation of the hydraulic pump pipeline, i.e., closed-loop regulation based on the bulldozing load pressure, to achieve constant pressure or constant power bulldozing. For instance, the required power of the hydraulic system can be calculated based on the hydraulic system pressure, flow rate, and efficiency. This power supplies the hydraulic motor, and the target torque is calculated using the motor speed and the motor speed-torque-power formula. The hydraulic system pressure and flow rate can be calculated based on the blade speed.

[0067] For example, if the bulldozer's battery system is normal and it is under heavy-load pushing conditions, the vehicle controller calculates the target torque of the drive motor based on the power of the drive system and the reference speed of the working condition, and calculates the target torque of the hydraulic motor based on the power of the hydraulic system and the reference speed of the working condition, so as to achieve full-power bulldozing.

[0068] For example, if the bulldozer's battery system is normal and it is in idle standby mode, the drive motor's target speed is 0, the torque limit is 0, and the drive system is completely stopped. The hydraulic motor only maintains the minimum standby speed.

[0069] In the above embodiments, differentiated power distribution strategies for the drive system and hydraulic system are implemented for different working conditions, thereby improving the accuracy of strategy control.

[0070] In some embodiments, when a transition from the second to the fourth operating condition is anticipated, the torque of the drive system is reduced. For example, if a transition from a heavy-load driving condition to a heavy-load pushing condition is anticipated, the torque of the drive system is reduced, i.e., the power of the drive motor is reduced, reserving a certain amount of redundant power to allow for power transfer for hydraulic pre-charging. In this embodiment, the flexible transfer of drive power and hydraulic power is achieved through torque limiting fine-tuning, which can eliminate the impact phenomenon of power stalling in traditional bulldozers and improve operational smoothness.

[0071] In some embodiments, when a transition from the second to the fourth operating condition is anticipated, a hydraulic pre-charge command is output to the hydraulic system. This hydraulic pre-charge command is used to establish base oil pressure in advance, eliminate gaps, and shorten response time. In this embodiment, the hydraulic motor is directly driven to build pressure a certain time in advance, achieving a zero-delay shovel lifting response with pressure built up before shovel lifting, reducing the occurrence of pressure build-up.

[0072] In some other embodiments of this disclosure, the coordinated control of the vehicle's drive system and hydraulic system based on the vehicle's operating conditions and the state of the multi-branch battery system further includes: when the vehicle is in a first operating condition, the first power of the drive system is greater than the second power of the hydraulic system, and the difference between the first power and the second power is greater than or equal to a first threshold; when the vehicle is in a second operating condition, the first power of the drive system is greater than the second power of the hydraulic system, and the difference between the first power and the second power is greater than or equal to a second threshold and less than a first threshold; when the vehicle is in a third operating condition, the first power of the drive system is greater than the second power of the hydraulic system, and the difference between the first power and the second power is greater than or equal to a third threshold and less than a second threshold; when the vehicle is in a fourth operating condition, the absolute value of the difference between the first power of the drive system and the second power of the hydraulic system is less than a fourth threshold, and the fourth threshold is less than a third threshold; when the vehicle is in an idling condition, the first power of the drive system is zero, and the second power of the hydraulic system is standby power.

[0073] Those skilled in the art should understand that the first threshold, the second threshold, and the third threshold can be set according to the actual situation.

[0074] For example, when the bulldozer's battery system is normal and it is operating under no-load conditions, the power allocation of the drive system is much higher than that of the hydraulic system, thus ensuring drive priority. When the bulldozer's battery system is normal and it is operating under heavy load conditions, the power allocation of the drive system is significantly higher than that of the hydraulic system. When the bulldozer's battery system is normal and it is operating under light load conditions, the power allocation of the drive system is higher than that of the hydraulic system. When the bulldozer's battery system is normal and it is operating under heavy load conditions, the power of the drive system and the hydraulic system are roughly equal. When the bulldozer's battery system is normal and it is idling, the power allocation of the drive system is 0, and the hydraulic system power is at its minimum standby power.

[0075] In this embodiment, different power ratios are allocated to the drive system and hydraulic system for different working conditions, reducing power conflicts and mutual interference between the two systems, reducing multi-system coupling disturbances, improving operation smoothness, accuracy and efficiency, and enhancing heavy load adaptability and system reliability.

[0076] In some other embodiments of this disclosure, the coordinated control of the vehicle's drive system and hydraulic system based on the vehicle's operating conditions and the state of the multi-branch battery system includes: when the multi-branch battery system is in a second state and the vehicle is in a first operating condition, using a torque control mode to control the torque of the drive system and using a speed control module to control the speed of the hydraulic system; when the multi-branch battery system is in a second state and the vehicle is in a second, third, or fourth operating condition, using a torque control mode to control the torque of the drive system and using a torque control mode to control the torque of the hydraulic system, and after controlling the torque of the hydraulic system, using a speed control module to control the speed of the hydraulic system; when the multi-branch battery system is in a second state and the vehicle is in an idling condition, using a speed control mode to control the speed of the drive system and the speed of the hydraulic system.

[0077] For example, if a bulldozer's battery system malfunctions and it is operating under no-load conditions, the drive motor will use torque control mode, while the hydraulic motor will use speed control mode. The drive motor's torque mode can strictly limit the output torque, avoid current surges, and protect the battery and drive system. The hydraulic motor's speed control mode can maintain stable hydraulic flow and ensure basic operating functions. The combination of these two modes improves driving safety, system stability, and limp-out capability under fault conditions.

[0078] For example, if a bulldozer's battery system malfunctions and it is operating under heavy load, light load, or heavy load conditions, the drive motor will operate in torque control mode, and the hydraulic motor will switch to torque control mode to execute a forced unloading command. After unloading, the hydraulic motor will switch back to speed control mode, thus returning to unloaded operation. Using torque control on the drive motor limits output current and protects the battery; the hydraulic motor first switches to torque mode to achieve forced and safe unloading, quickly reducing the overall machine load. After unloading, it switches back to speed control mode to restore the smoothness of hydraulic operation. This strategy effectively ensures system safety, vehicle stability, and limp-away capability in fault conditions.

[0079] For example, if the bulldozer's battery system malfunctions and it is in an idling standby state, both the drive motor and the hydraulic motor will be in speed control mode.

[0080] In the above embodiments, when the battery system is in an abnormal state, the drive system and hydraulic system adopt corresponding control modes based on the operating conditions, with the primary goal of ensuring emergency safety and operational continuity, and can guarantee the emergency evacuation and safety of equipment under battery fault switching mode.

[0081] In some embodiments, the coordinated control of the vehicle's drive system and hydraulic system based on the vehicle's operating conditions and the state of the multi-branch battery system further includes at least one of the following: When the vehicle is in a first operating condition, controlling the drive system to execute a first safety limit torque and controlling the hydraulic system's rotational speed to a standby speed; when the vehicle is in a second operating condition, controlling the drive system to execute a first safety limit torque and controlling the hydraulic system to execute a second safety limit torque, and controlling the hydraulic system's rotational speed to a standby speed in response to unloading completion; when the vehicle is in a third operating condition, controlling the drive system to execute a first safety limit torque and controlling the hydraulic system to execute a third safety limit torque, and controlling the hydraulic system's rotational speed to a standby speed in response to unloading completion, wherein the third safety limit torque is less than the second safety limit torque; when the vehicle is in a fourth operating condition, controlling the drive system to execute a first safety limit torque and controlling the hydraulic system to execute a fourth safety limit torque, and controlling the hydraulic system's rotational speed to a standby speed in response to unloading completion, wherein the fourth safety limit torque is greater than the second safety limit torque; when the vehicle is in an idling condition, controlling the drive system's rotational speed to zero and controlling the hydraulic system's rotational speed to a standby speed.

[0082] For example, if the bulldozer's battery system malfunctions and it is operating under no-load conditions, the drive motor will apply a safety-limited torque, with its speed fluctuating freely according to the load. The hydraulic motor will maintain a minimum standby speed, meaning it will only maintain the hydraulic power required for basic functions such as steering and braking, forcibly prohibiting bulldozing.

[0083] For example, if the bulldozer's battery system malfunctions and it is operating under heavy load, light load, or heavy-load pushing conditions, the drive motor and hydraulic motor will both apply a safety-limited torque, maintaining the minimum pressure required for blade lifting. This instantly reduces unnecessary hydraulic bulldozing power and executes a forced unloading command. After unloading, the hydraulic motor maintains its minimum standby speed, and the vehicle automatically switches to unloaded driving conditions.

[0084] For example, if the bulldozer's battery system malfunctions and it is in an idling standby state, the drive motor's target speed is 0, and the hydraulic motor maintains the minimum standby speed.

[0085] In the above embodiments, when the battery system is in an abnormal state, the primary goal is to ensure emergency safety and operational continuity. Different control strategies are adopted for different operating conditions. In the abnormal battery system mode, all operating conditions are forcibly switched to torque control with additional safety limits. Heavy-load pushing is forcibly prohibited, and after the bulldozer is forcibly unloaded, it is forcibly switched to an unloaded driving state. This can ensure the emergency evacuation and safety of equipment in the battery fault switching mode.

[0086] In the aforementioned control method, operating condition identification provides operating condition tags and switching signals for the power allocation strategy. The power allocation strategy transforms operating condition requirements into actual control commands, and the actual operating parameters after execution can be fed back to the operating condition identification algorithm in real time, thus forming a complete closed loop of perception, decision-making, execution, and feedback. In related technologies, the classification of bulldozer operating conditions in mining scenarios is relatively simple, with insufficient accuracy and anti-interference capabilities. It cannot achieve automatic switching in advance under heavy load conditions, lacks load prediction and dynamic adjustment mechanisms, and cannot cope with the complex and ever-changing working environment of mines, affecting operational efficiency and easily causing equipment damage. The operating condition identification method of this disclosure will be further described below with reference to specific embodiments.

[0087] like Figure 2 As shown, Figure 2 This is a flowchart illustrating some embodiments of the present disclosure for identifying the operating conditions of a vehicle, including steps S21-S25.

[0088] In step S21, various parameters related to vehicle operating condition identification are acquired.

[0089] The vehicle controller collects various parameters related to operating condition identification, including at least two of the following: drive system speed, drive system torque, vehicle speed, hydraulic system pressure, and handle displacement.

[0090] For example, the speed of the drive motor under no-load driving conditions is greater than its speed under light-load pushing conditions, its speed under light-load pushing conditions is greater than its speed under heavy-load driving conditions, its speed under heavy-load driving conditions is greater than its speed under heavy-load driving conditions, and its speed under idling conditions is 0. The torque of the drive motor under no-load driving conditions is less than its torque under light-load pushing conditions, its torque under light-load pushing conditions is less than its torque under heavy-load driving conditions, its torque under heavy-load driving conditions is less than its torque under heavy-load pushing conditions, and its torque under idling conditions is 0. The vehicle speed under unloaded driving conditions is higher than that under heavy-load driving conditions and light-load pushing conditions. The vehicle speed under heavy-load driving conditions and light-load pushing conditions are similar. The vehicle speed under heavy-load driving conditions and light-load pushing conditions is higher than that under heavy-load pushing conditions. The vehicle speed under idling standby conditions is 0. The hydraulic system pressure under unloaded driving conditions is 0. The hydraulic system pressure under heavy-load driving conditions is stable. The hydraulic system pressure under heavy-load pushing conditions is higher than that under light-load pushing conditions. The hydraulic system pressure under light-load pushing conditions is higher than that under heavy-load driving conditions. The bucket handle displacement corresponding to light-load driving conditions and heavy-load conditions is 0. The bucket handle displacement corresponding to heavy-load pushing conditions is greater than that corresponding to light-load pushing conditions.

[0091] In step S22, each of the multiple parameters is filtered to obtain the optimal estimate for each parameter.

[0092] Due to the presence of strong electromagnetic interference and high-frequency vibrations in mining environments, it is necessary to filter each parameter.

[0093] In some embodiments, Kalman filtering is used to perform anti-interference preprocessing on various parameters collected by the vehicle controller. For example, historical data from the most recent predetermined time is cached for trend prediction, with the predetermined time being, for example, 1 second. Based on the optimal estimate from the previous moment and combined with the system's motion characteristics, the current state value is predicted. Then, the predicted value is corrected using the measured value at the current moment to obtain the optimal estimate for the current moment.

[0094] By using Kalman filtering, the optimal estimate for each parameter is obtained, eliminating the interference of environmental factors on the data, and can be used for subsequent working condition prediction and identification, thereby improving the accuracy of the prediction.

[0095] In other embodiments, extended Kalman filtering can also be used to obtain the optimal estimate for each parameter.

[0096] In step S23, based on the optimal estimate corresponding to each parameter, the working condition with the highest matching degree with multiple parameters is determined.

[0097] In some embodiments, a pattern recognition algorithm is used to determine the operating condition that best matches multiple parameters. The pattern recognition algorithm then outputs the matching degree between the current state and each of the five custom operating conditions; for example, the matching degree between the current state and the five operating conditions is output based on a preset rule.

[0098] For example, based on pattern recognition algorithms, processing Kalman filter output data involves processing the optimal estimate for each parameter. The pattern recognition process mainly consists of three steps: parameter fuzzification, fuzzy inference, and defuzzification. The parameter fuzzification step includes dividing each acquired parameter signal into 3-5 fuzzy subsets, using triangular or trapezoidal membership functions as mapping rules, with vertex parameters calibrated offline using measured load spectra in mines and fine-tuned through self-learning during operation. The fuzzy inference step involves the algorithm incorporating multiple rules to cover five operating conditions. The activation level of each rule is determined by the minimum membership level of each condition. If multiple rules point to the same operating condition, the overall confidence level for that condition is the maximum activation level of each rule. The defuzzification step involves using the centroid method to convert the fuzzy output into a precise operating condition matching degree.

[0099] In some embodiments, neural networks or support vector machines can be used to replace fuzzy recognition to achieve prediction of operating conditions.

[0100] In step S24, the changing trend of each parameter is determined based on the optimal estimate corresponding to each parameter.

[0101] In some embodiments, load prediction is used to determine the changing trend of each parameter. The load prediction algorithm uses linear fitting and error correction to predict the changing trend of the parameters.

[0102] For example, the load prediction process includes three steps: linear fitting, trend extrapolation, and error correction. The linear fitting step involves using the least squares method to fit an optimal straight line to the historical data of a predetermined time period (e.g., 1 second) to reflect the changing trend of the parameter. The trend extrapolation step involves using the fitted optimal straight line to predict the value of the parameter over a future period. The error correction step involves introducing an error correction coefficient. The prediction is corrected by using the deviation between the current true value and the fitted value, thus outputting the trend data of each corrected parameter. The vehicle state can be identified through the trend data.

[0103] By using load prediction to determine the changing trend of each type of parameter, it can be used to compensate for the lag of "post-judgment" in fuzzy recognition and assist in decision-making for heavy-load conditions.

[0104] In step S25, the vehicle's operating condition is determined based on the operating condition that best matches multiple parameters and the changing trend of each parameter.

[0105] In this embodiment, five types of working conditions in mining scenarios are classified and a three-layer collaborative recognition algorithm is used to ensure rapid and accurate identification of working conditions.

[0106] In some embodiments, if the operating condition with the highest matching degree with multiple parameters matches the changing trend of each parameter, the operating condition with the highest matching degree with multiple parameters is taken as the operating condition of the vehicle; if the operating condition with the highest matching degree with multiple parameters does not match the changing trend of each parameter, the operating condition of the vehicle is determined using a dynamic model based on the optimal estimated value corresponding to each parameter.

[0107] For example, an improved MPC (Model Predictive Control) algorithm can be used for operating condition identification arbitration and operating condition switching decisions. This can be achieved by fusing the matching degree of fuzzy identification with the trend signal of load prediction, and then using a dynamic model to re-verify the operating condition to determine the current operating condition category.

[0108] If the working condition matching degree output by the fuzzy recognition is consistent with the load prediction trend, the algorithm directly outputs the working condition category. If the working condition matching degree output by the fuzzy recognition conflicts with the load prediction trend, the algorithm activates the dynamic model deduction, uses the stable and feasible result of the dynamic model deduction as the output result, and performs subsequent working condition judgment operations.

[0109] In this embodiment, through multi-source information fusion and MPC arbitration, for example, Kalman filtering anti-interference preprocessing, fuzzy recognition of initial working condition judgment, and parallel processing of load prediction trend, the improved MPC arbitrator completes the dynamic model inversion and multi-source information fusion, and uniquely adjudicates the current working condition, thus completing the closed loop from state perception to working condition decision-making, and providing a decision basis for subsequent energy allocation.

[0110] In some embodiments, determining the vehicle's operating condition based on the optimal estimate corresponding to each parameter using a dynamic model includes: using the optimal estimate corresponding to each parameter, the vehicle's overall parameters, environmental parameters, and environmental compensation coefficient as input parameters of the dynamic model to predict the vehicle's operating characteristics; and using the minimum deviation between the operating characteristics and the characteristics of the target operating condition as the optimization objective, outputting the target operating condition through rolling optimization.

[0111] For example, a state-space model is first constructed, which incorporates a simplified vehicle dynamics model to predict future state changes. An environmental compensation coefficient λ, related to altitude, temperature, and dust concentration, is introduced into the model. Then, rolling optimization is performed, minimizing the deviation between the state trajectory and the target operating condition characteristics. A constrained optimization problem is solved every 0.01 seconds to obtain the optimal control sequence for the short term, but only its trend is considered; no command is output. Finally, feedback correction is applied, adjusting the model state based on the deviation between the current actual state and the model's prediction, making the starting point for the next prediction more accurate. This model can predict the vehicle's operating state, such as motor torque, speed, and operating condition category.

[0112] In some embodiments, pure model predictive control is used instead of improved MPC, or a deep learning end-to-end condition classification scheme is used.

[0113] In some embodiments, it is determined whether the conditions for switching from heavy-load driving mode to heavy-load pushing mode are met. If the conditions are met, a switching trigger signal is output to automatically switch the driving mode from heavy-load driving mode to heavy-load pushing mode, and a hydraulic pre-charging command is output in advance.

[0114] Under heavy-load driving conditions, the hydraulic system locks in place and the blade does not require operation. However, when transitioning to heavy-load hauling conditions, the increased resistance forces the bulldozer to gradually slow down, necessitating the hydraulic system to drive the bucket, raise it, and reduce the load. In this embodiment, when the bulldozer meets the conditions for switching from heavy-load driving to heavy-load hauling, a hydraulic pre-charge command is output. This pre-establishes basic oil pressure, eliminates gaps, shortens response time, eliminates the impact phenomenon of power stalling common in traditional bulldozers, and improves operational smoothness.

[0115] In some embodiments, the model parameters of the fuzzy recognition algorithm and the model predictive control algorithm are adjusted based on the parameters after collaborative control.

[0116] For example, the operating parameters after collaborative control are fed back to the operating condition identification module in real time for online fine-tuning of the fuzzy membership function and dynamic optimization of the MPC weight matrix. For instance, the deviation between the predicted values ​​of the calculation model and the actual collected values ​​is used to adaptively adjust the membership function, inference rules, and threshold parameters of the fuzzy recognition algorithm online, and simultaneously correct the prediction model, weight matrix, and constraint parameters of the model predictive control, achieving online iterative optimization of recognition accuracy and control performance, and improving the system's adaptability and robustness.

[0117] In related technologies, the power distribution of drive systems and hydraulic systems lacks coordination logic with battery systems and operating conditions, which can easily lead to insufficient power or redundant energy consumption. Below, we will discuss... Figure 3 Taking an example, the control method of this disclosure will be explained. Figure 3The following is a flowchart illustrating another embodiment of the control method of this disclosure, which includes steps S31-S313.

[0118] In step S31, the vehicle controller collects data.

[0119] In step S32, anti-interference processing is performed by Kalman filtering, and then steps S33 and S34 are executed in parallel.

[0120] In step S33, the working condition matching degree is output through fuzzy recognition.

[0121] In step S34, the future predicted values ​​of each parameter are output through load prediction.

[0122] In step S35, the improved MPC algorithm is used to identify the operating condition and make a decision on the switching of the operating condition.

[0123] The improved MPC algorithm integrates the results of steps S33 and S34 to achieve accurate determination and switching of the final operating condition.

[0124] In step 36, determine whether the conditions for switching to heavy-load mode are met. If yes, and the conditions for switching from heavy-load driving mode to heavy-load pushing mode are met, then execute step S37. If the conditions for switching from heavy-load pushing mode to heavy-load driving mode are met, then execute step S38. If the conditions for switching to heavy-load mode are not met, then execute step S310.

[0125] In step S37, a hydraulic pre-charge command is output.

[0126] In step S38, a working condition switching signal is output, followed by the execution of steps S310 and S311.

[0127] In step S39, the current operating condition is maintained.

[0128] In step S310, the current operating condition is output.

[0129] For five core working conditions in mining operations, the system relies on anti-interference algorithms to achieve accurate and real-time identification of working conditions, enabling automatic switching to heavy-load pushing mode and outputting hydraulic pre-charging commands in advance when driving under heavy load.

[0130] In step S311, based on the current operating conditions and the status of the multi-branch battery system, the drive system and hydraulic system are controlled in a coordinated manner.

[0131] Prior to step S311, a closed loop from state perception to working condition decision-making was achieved. However, it did not involve the specific allocation and execution of energy. To truly achieve efficient, safe, and continuous operation of ultra-large tonnage pure electric wheeled bulldozers in mining scenarios, the working condition identification results must be transformed into coordinated control commands for the drive system and hydraulic system. This step, by considering a dual-mode battery power coordinated control strategy for different working conditions, enables adaptive switching of drive / hydraulic motor control modes under different working conditions, optimizes fault emergency management strategies, and ensures safe and continuous emergency operations. This not only improves the energy utilization rate in normal battery mode and significantly reduces the driver's operational intensity and skill threshold, but also ensures the emergency evacuation and safety of equipment in battery fault switching mode.

[0132] In step S312, the real-time running results are fed back.

[0133] In step S313, the parameters of the pattern recognition model and MPC model are updated, and then step S31 is executed.

[0134] The above embodiments realize a closed-loop self-optimization architecture for the entire chain of working condition identification and power system control strategy. For bulldozer operating conditions in mining scenarios, the algorithm for accurate identification and switching of working conditions can effectively eliminate environmental interference in mining scenarios and improve the accuracy of working condition identification. At the same time, it can automatically switch to heavy-load pushing mode when driving under heavy load and output hydraulic pre-charge command in advance to reduce the impact of power stalling. Based on the battery branch fault status, the power control strategy is divided into normal mode and abnormal mode. In both modes, differentiated drive / hydraulic power allocation principles and motor control mode selection rules are formulated according to the current working conditions, forming a complete technical closed loop of perception, decision-making, execution, feedback and optimization.

[0135] Figure 4 The diagram shows some embodiments of the controller disclosed herein, which includes a working condition identification module 41, a status identification module 42, and a cooperative control module 43.

[0136] The working condition identification module 41 is configured to identify the working condition of the vehicle, which includes a first working condition, a second working condition, a third working condition, a fourth working condition, or an idling working condition. The first working condition is that the vehicle is unloaded, has no bucket operation, and is in a driving state. The second working condition is that the vehicle is loaded, has no bucket operation, and is in a driving state. The third working condition is that the vehicle is performing a first bulldozing operation. The fourth working condition is that the vehicle is performing a second bulldozing operation. The working load of the first bulldozing operation is less than the working load of the second bulldozing operation.

[0137] In some embodiments, the operating condition identification module 41 is configured to acquire multiple parameters related to the vehicle's operating condition identification; perform filtering processing on each of the multiple parameters to obtain the optimal estimate value corresponding to each parameter; determine the operating condition with the highest matching degree with the multiple parameters based on the optimal estimate value corresponding to each parameter; determine the changing trend of each parameter based on the optimal estimate value corresponding to each parameter; and determine the vehicle's operating condition based on the operating condition with the highest matching degree with the multiple parameters and the changing trend of each parameter.

[0138] In some embodiments, the operating condition identification module 41 is configured to, when the operating condition with the highest matching degree with multiple parameters matches the changing trend of each parameter, take the operating condition with the highest matching degree with multiple parameters as the operating condition of the vehicle; when the operating condition with the highest matching degree with multiple parameters does not match the changing trend of each parameter, determine the operating condition of the vehicle based on the optimal estimated value corresponding to each parameter and using a dynamic model.

[0139] In some embodiments, the working condition identification module 41 is configured to use the optimal estimated value corresponding to each parameter, the vehicle's overall parameters, environmental parameters, and environmental compensation coefficient as input parameters of the dynamic model to predict the vehicle's working characteristics; with the minimum deviation between the working characteristics and the characteristics of the target working condition as the optimization objective, the target working condition is output through rolling optimization.

[0140] In some embodiments, the multiple parameters include at least two of the following: the rotational speed of the drive system, the torque of the drive system, the vehicle speed, the pressure of the hydraulic system, and the displacement of the handle.

[0141] In some embodiments, the operating condition identification module 41 is configured to filter each parameter based on the Kalman filter algorithm to obtain the optimal estimate value corresponding to each parameter; determine the operating condition with the highest matching degree with multiple parameters based on the fuzzy recognition algorithm; and determine the vehicle's operating condition based on the model predictive control algorithm, wherein the model parameters of the fuzzy recognition algorithm and the model predictive control algorithm are adjusted based on the parameters after coordinated control.

[0142] The status recognition module 42 is configured to recognize the status of the vehicle's multi-branch battery system. The status includes a first status and a second status. The first status includes that the battery pack of each branch in the multi-branch battery system is in a normal state, and the second status includes that the battery pack of at least one branch in the multi-branch battery system is in an abnormal state.

[0143] The collaborative control module 43 is configured to collaboratively control the vehicle's drive system and hydraulic system based on the vehicle's operating conditions and the status of the multi-branch battery system.

[0144] In some embodiments, the cooperative control module 43 is configured to control the speed of the drive system and the speed of the hydraulic system using a speed control mode when the multi-branch battery system is in a first state and the vehicle is in a first operating condition, a second operating condition, or an idling operating condition; to control the speed of the drive system using a speed control mode and the torque of the hydraulic system using a torque control mode when the multi-branch battery system is in a first state and the vehicle is in a third operating condition; and to control the torque of the drive system and the torque of the hydraulic system using a torque control mode when the multi-branch battery system is in a first state and the vehicle is in a fourth operating condition.

[0145] In some embodiments, the cooperative control module 43 is configured to: When the vehicle is in a first operating condition, control the speed of the drive system to a first speed and control the speed of the hydraulic system to an idle speed, wherein the first speed is determined based on a first vehicle speed; When the vehicle is in a second operating condition, control the speed of the drive system to a second speed and add torque feedforward according to the estimated load, and control the speed of the hydraulic system to an idle speed, wherein the second speed is determined based on the second vehicle speed; When the vehicle is in a third operating condition, control the speed of the drive system to a third speed and control the torque of the hydraulic system to a first torque, wherein the third speed is determined based on the third vehicle speed and the first torque is determined based on the pressure of the hydraulic system; When the vehicle is in a fourth operating condition, control the torque of the drive system to a second torque and control the torque of the hydraulic system to a third torque, wherein the second torque is determined based on the first power of the drive system and the reference speed of the drive system corresponding to the fourth operating condition, and the third torque is determined based on the second power of the hydraulic system and the reference speed of the hydraulic system corresponding to the fourth operating condition; When the vehicle is in an idling condition, control the speed of the drive system to zero and control the speed of the hydraulic system to an idle speed.

[0146] In some embodiments, the cooperative control module 43 is configured to reduce the torque of the drive system when it is anticipated that the vehicle will transition from a second operating condition to a fourth operating condition.

[0147] In some embodiments, the cooperative control module 43 is configured to output a hydraulic pre-charge command to the hydraulic system when it is predicted that the vehicle will switch from the second operating condition to the fourth operating condition.

[0148] In some embodiments, the cooperative control module 43 is configured such that, when the vehicle is in a first operating condition, the first power of the drive system is greater than the second power of the hydraulic system, and the difference between the first power and the second power is greater than or equal to a first threshold; when the vehicle is in a second operating condition, the first power of the drive system is greater than the second power of the hydraulic system, and the difference between the first power and the second power is greater than or equal to a second threshold and less than a first threshold; when the vehicle is in a third operating condition, the first power of the drive system is greater than the second power of the hydraulic system, and the difference between the first power and the second power is greater than or equal to a third threshold and less than a second threshold; when the vehicle is in a fourth operating condition, the absolute value of the difference between the first power of the drive system and the second power of the hydraulic system is less than a fourth threshold, and the fourth threshold is less than a third threshold; and when the vehicle is in an idling condition, the first power of the drive system is zero, and the second power of the hydraulic system is standby power.

[0149] In some embodiments, the cooperative control module 43 is configured to control the torque of the drive system and the speed of the hydraulic system using a torque control mode when the multi-branch battery system is in a second state and the vehicle is in a first operating condition; when the multi-branch battery system is in a second state and the vehicle is in a second, third, or fourth operating condition, it uses a torque control mode to control the torque of the drive system and the torque of the hydraulic system, and after controlling the torque of the hydraulic system, it uses a speed control module to control the speed of the hydraulic system; when the multi-branch battery system is in a second state and the vehicle is in an idling condition, it uses a speed control mode to control the speed of the drive system and the speed of the hydraulic system.

[0150] In some embodiments, the cooperative control module 43 is configured to: When the vehicle is in a first operating condition, control the drive system to execute a first safety limit torque and control the speed of the hydraulic system to be at standby speed; when the vehicle is in a second operating condition, control the drive system to execute a first safety limit torque and control the hydraulic system to execute a second safety limit torque, and control the speed of the hydraulic system to be at standby speed in response to unloading completion; when the vehicle is in a third operating condition, control the drive system to execute a first safety limit torque and control the hydraulic system to execute a third safety limit torque, and control the speed of the hydraulic system to be at standby speed in response to unloading completion, wherein the third safety limit torque is less than the second safety limit torque; when the vehicle is in a fourth operating condition, control the drive system to execute a first safety limit torque and control the hydraulic system to execute a fourth safety limit torque, and control the speed of the hydraulic system to be at standby speed in response to unloading completion, wherein the fourth safety limit torque is greater than the second safety limit torque; and when the vehicle is in an idling condition, control the speed of the drive system to be zero and control the speed of the hydraulic system to be at standby speed.

[0151] In the above embodiments, based on the current working conditions as the decision-making basis and the status of multiple battery branches as the mode judgment basis, a collaborative control strategy for the drive system and hydraulic system under dual battery modes considering the working conditions is proposed to ensure that ultra-large tonnage pure electric wheeled vehicles can operate efficiently, safely and continuously in mining scenarios.

[0152] It should be noted that the above modules are logical modules divided according to their specific functions, and are not used to restrict the specific implementation method. For example, they can be implemented in software, hardware, or a combination of software and hardware. In actual implementation, the above modules can be implemented as independent physical entities, or they can be implemented by a single entity (e.g., a processor (CPU or DSP, etc.), integrated circuit, etc.).

[0153] Controllers can also be presented as electronic devices, such as Figure 5 As shown, Figure 5 This is a block diagram of some embodiments of the electronic device disclosed herein. The electronic device 5 includes a memory 51 and a processor 52. The memory 51 may be a disk, flash memory, or any other non-volatile storage medium. The memory is used to store instructions as described in the above embodiments. The processor 52 is coupled to the memory 51 and may be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 52 is used to execute the instructions stored in the memory.

[0154] In some embodiments, the processor 52 is coupled to the memory 51 via a BUS bus 53. The electronic device 5 can also be connected to an external storage device 55 via a storage interface 54 to access external data, and can also be connected to a network or another computer system (not shown) via a network interface 56. Further details are omitted here.

[0155] In this embodiment, by storing data instructions in a memory and then processing the instructions by a processor, coordinated control of operating conditions, multi-branch battery modes, drive system, and hydraulic system can be achieved.

[0156] Figure 6 This is a block diagram of some embodiments of the vehicle disclosed herein, which includes a controller 61, a multi-branch battery system 62, an electrical platform 63, a drive system 64, and a hydraulic system 65 as described above.

[0157] The controller 61, for example, is a vehicle controller, which has been described in detail in the above embodiments and will not be elaborated further here. Each battery pack in the multi-branch battery system 62 is electrically connected to the controller via the battery management system 66. For example... Figure 7As shown, the vehicle's power source consists of multiple battery packs 611 connected in parallel. Each battery pack branch is equipped with an independent BMS (Battery Management System), which communicates with the VCU (Vehicle Control Unit) in real time via a CAN (Controller Area Network) bus to achieve independent monitoring of each battery pack branch and rapid fault isolation control.

[0158] In some embodiments, the VCU, in conjunction with the BMS, determines which branches have reached a fault threshold based on the collected battery pack status data of each branch. It immediately executes voltage reduction, disconnection, and fault reporting for the faulty branch, and rapidly implements a voltage balancing strategy for the remaining healthy battery packs to ensure the power source still has sufficient energy to support the vehicle's return to the repair point. When the battery pack voltage or current is unstable, the faulty branch is first reduced in voltage before disconnection. This avoids high-voltage arcing and current surges, and also reduces the impact on other battery packs.

[0159] In this embodiment, the new multi-branch battery system has a unique equalization management mode. When the battery system is fault-free, it operates normally. When one or more branches of the battery system fail, it can quickly detect and disconnect the faulty branch and equalize other branches to ensure that the battery system can still supply power to the outside world and ensure that the wheeled bulldozer can safely return to the maintenance point.

[0160] The electrical platform 63 includes multiple first DC-DC converters 631, a PDU (Power Distribution Unit) 632, and multiple DC-AC converters 633. Each branch's battery pack is electrically connected to the power distribution unit via one of the multiple first DC-DC converters. For example, in a kilovolt high-voltage electrical platform, each battery pack branch independently connects a first DC-DC converter in series to boost the branch's battery pack voltage to over kilovolts. The outputs of all branch's first DC-DC converters are connected in parallel and aggregated to the PDU, which then centrally supplies power to the drive system and hydraulic system.

[0161] The drive system 64 is electrically connected to the power distribution unit via one or more of the multiple DCAC converters. The hydraulic system 65 is electrically connected to the power distribution unit via one or more of the multiple DCAC converters.

[0162] The vehicle disclosed herein features a novel architecture system with a multi-branch high-capacity battery system and a matching kilovolt high-voltage electrical platform. It uses the multi-branch battery system status mode as a carrier, precise identification and automatic switching of working conditions as support, and coordinated control of the drive hydraulic dual system as the core, ultimately achieving the unification of working condition adaptation, power distribution control, battery safety and emergency protection.

[0163] In some embodiments of this disclosure, such as Figure 7 As shown, the drive system 64 includes a first drive motor 641, a second drive motor 642, a third drive motor 643 and a fourth drive motor 644. Each drive motor corresponds to a wheel-side reducer, and each drive motor is electrically connected to the power distribution unit through a DC-AC converter.

[0164] The drive system adopts a distributed wheel-side drive architecture, consisting of four independent drive motors and wheel-side reducers. Each drive motor is equipped with a DC-AC converter, which converts the high-voltage DC power transmitted from the PDU into AC power to drive the vehicle.

[0165] In the above embodiments, the drive motors drive each of the four wheels, resulting in more precise control. In some embodiments, the drive system may also employ two drive motors driving the front / rear axle via a differential, or an integrated drive scheme with wheel-side motors and reducers.

[0166] In some embodiments, the hydraulic system includes a hydraulic motor 651 for determining the working pump and the steering pump, and is electrically connected to a power distribution unit via a DC-AC converter.

[0167] This hydraulic system employs a centralized design, using a DC-AC converter to transform the high-voltage direct current from the PDU into alternating current to drive the working and steering pumps, thereby reducing costs. In some embodiments, the hydraulic system can also be a distributed system, with each motor independently driving its corresponding pump.

[0168] In this embodiment, the drive system and the hydraulic system are decoupled from each other, enabling power distribution and coordinated control between the two systems.

[0169] In other embodiments of this disclosure, the electrical platform 63 further includes a second DC-DC converter 634 and a third DC-DC converter 635, and the vehicle further includes: a thermal management system 67 electrically connected to the power distribution unit via the second DC-DC converter; and a battery 68 electrically connected to the second DC-DC converter via the third DC-DC converter.

[0170] In this embodiment, the kilovolt high voltage from the DC-DC converters of each branch is reduced to the secondary high voltage via the main DC-DC converter to power the thermal management system (TMS), and then powered to the low-voltage battery via the DC-DC converter.

[0171] In the above embodiments, the battery system adopts a multi-branch battery pack parallel architecture, with each branch configured with an independent DC-DC converter and an independent BMS. After being aggregated by the PDU, it supplies power to four independent drive motors and one hydraulic motor. The system voltage level is ≥1000V, forming the hardware characteristics of multi-branch battery power supply, four independent motor drive, and electromechanical-hydraulic decoupling and coordination.

[0172] In related technologies, for ultra-large tonnage pure electric wheeled bulldozers, to ensure continuous operation in mining scenarios, they not only need to be equipped with large-capacity battery systems but also require corresponding emergency control mechanisms. However, existing battery systems are still based on the entire battery pack; once the battery pack is damaged, it directly affects the operation of the entire vehicle. Furthermore, the existing high-voltage electrical architecture of pure electric bulldozers cannot meet the design requirements of large-capacity battery systems and kilovolt high-voltage platforms. In addition, the classification of bulldozer working conditions in mining scenarios in related technologies is relatively simple, with insufficient accuracy in working condition identification and anti-interference capabilities. It cannot achieve automatic switching in advance under heavy-load conditions, affecting work efficiency and easily causing equipment wear and tear. Moreover, the energy management coordination is poor, with a lack of coordination logic between the power distribution of the drive system and the working system, the battery system, and the working conditions, which easily leads to insufficient power or energy redundancy. This disclosure proposes an innovative design for the architecture system of ultra-large tonnage pure electric wheeled bulldozers and innovates the coordination of working condition classification and identification strategies, battery emergency control strategies, and power distribution strategies between the drive system and the working system in mining operation scenarios, in order to fill the technological gap in the field of ultra-large tonnage pure electric wheeled bulldozers.

[0173] In other embodiments, a computer-readable storage medium stores computer program instructions that, when executed by a processor, implement the steps of the methods described above. Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, apparatus, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0174] In some embodiments, a computer program product is protected, comprising a computer program or instructions that, when executed by a processor, implement the methods described above. The computer program product includes a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device, or installed from ROM. When the computer program is executed by a CPU, it performs the functions defined in the methods of embodiments of this disclosure.

[0175] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. 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, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0176] 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.

[0177] 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.

[0178] This concludes the detailed description of the present disclosure. To avoid obscuring the concept of the disclosure, some details known in the art have not been described. Those skilled in the art will fully understand how to implement the technical solutions disclosed herein based on the above description.

[0179] The methods and apparatus of this disclosure may be implemented in many ways. For example, they may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order of steps for the methods is for illustrative purposes only, and the steps of the methods of this disclosure are not limited to the order specifically described above unless otherwise specifically stated. Furthermore, in some embodiments, this disclosure may also be implemented as a program recorded on a recording medium, the program including machine-readable instructions for implementing the methods according to this disclosure. Thus, this disclosure also covers recording media storing programs for performing the methods according to this disclosure.

[0180] While specific embodiments of this disclosure have been described in detail by way of example, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A control method, comprising: The vehicle's operating conditions are identified, including a first operating condition, a second operating condition, a third operating condition, a fourth operating condition, or an idling operating condition. The first operating condition is that the vehicle is unloaded, has no bucket operation, and is in a driving state. The second operating condition is that the vehicle is loaded, has no bucket operation, and is in a driving state. The third operating condition is that the vehicle is performing a first bulldozing operation. The fourth operating condition is that the vehicle is performing a second bulldozing operation. The working load of the first bulldozing operation is less than the working load of the second bulldozing operation. Identify the state of the vehicle's multi-branch battery system, the state including a first state and a second state, the first state including that the battery pack of each branch in the multi-branch battery system is in a normal state, and the second state including that the battery pack of at least one branch in the multi-branch battery system is in an abnormal state. Based on the vehicle's operating conditions and the status of the multi-branch battery system, the vehicle's drive system and hydraulic system are controlled in a coordinated manner.

2. The control method according to claim 1, wherein, Based on the vehicle's operating conditions and the state of the multi-branch battery system, the coordinated control of the vehicle's drive system and hydraulic system includes at least one of the following: When the multi-branch battery system is in the first state, and the vehicle is in the first operating condition, the second operating condition, or the idling operating condition, the speed control mode is used to control the speed of the drive system and the speed of the hydraulic system. When the multi-branch battery system is in the first state and the vehicle is in the third working condition, the speed of the drive system is controlled by a speed control mode and the torque of the hydraulic system is controlled by a torque control mode. When the multi-branch battery system is in the first state and the vehicle is in the fourth operating condition, the torque control mode is used to control the torque of the drive system and the torque of the hydraulic system.

3. The control method according to claim 2, wherein, Based on the vehicle's operating conditions and the state of the multi-branch battery system, the coordinated control of the vehicle's drive system and hydraulic system further includes at least one of the following: When the vehicle is in the first operating condition, the speed of the drive system is controlled to a first speed, and the speed of the hydraulic system is controlled to a standby speed, wherein the first speed is determined based on the first vehicle speed; When the vehicle is in the second operating condition, the speed of the drive system is controlled to the second speed, and torque feedforward is added according to the estimated load, and the speed of the hydraulic system is controlled to the standby speed, wherein the second speed is determined based on the second vehicle speed; When the vehicle is in the third operating condition, the speed of the drive system is controlled to a third speed, and the torque of the hydraulic system is controlled to a first torque, wherein the third speed is determined based on the third vehicle speed, and the first torque is determined based on the pressure of the hydraulic system. When the vehicle is in the fourth operating condition, the torque of the drive system is controlled as a second torque, and the torque of the hydraulic system is controlled as a third torque. The second torque is determined based on the first power of the drive system and the reference speed of the drive system corresponding to the fourth operating condition, and the third torque is determined based on the second power of the hydraulic system and the reference speed of the hydraulic system corresponding to the fourth operating condition. When the vehicle is in the idling condition, the speed of the drive system is controlled to be zero, and the speed of the hydraulic system is controlled to be the standby speed.

4. The control method according to claim 3 further includes: When it is anticipated that the vehicle will transition from the second operating condition to the fourth operating condition, the torque of the drive system is reduced.

5. The control method according to claim 4 further includes: When it is anticipated that the vehicle will switch from the second operating condition to the fourth operating condition, a hydraulic pre-charge command is output to the hydraulic system.

6. The control method according to claim 2, wherein, Based on the vehicle's operating conditions and the status of the multi-branch battery system, the coordinated control of the vehicle's drive system and hydraulic system further includes: When the vehicle is in the first operating condition, the first power of the drive system is greater than the second power of the hydraulic system, and the difference between the first power and the second power is greater than or equal to a first threshold. When the vehicle is in the second operating condition, the first power of the drive system is greater than the second power of the hydraulic system, and the difference between the first power and the second power is greater than or equal to a second threshold and less than the first threshold. When the vehicle is in the third operating condition, the first power of the drive system is greater than the second power of the hydraulic system, and the difference between the first power and the second power is greater than or equal to a third threshold and less than the second threshold. When the vehicle is in the fourth operating condition, the absolute value of the difference between the first power of the drive system and the second power of the hydraulic system is less than a fourth threshold, and the fourth threshold is less than the third threshold. When the vehicle is idling, the first power of the drive system is zero, and the second power of the hydraulic system is the standby power.

7. The control method according to claim 1, wherein, Based on the vehicle's operating conditions and the state of the multi-branch battery system, the coordinated control of the vehicle's drive system and hydraulic system includes: When the multi-branch battery system is in the second state and the vehicle is in the first working condition, the torque of the drive system is controlled by torque control mode, and the speed of the hydraulic system is controlled by speed control module. When the multi-branch battery system is in the second state, and the vehicle is in the second, third, or fourth operating condition, the torque control mode is used to control the torque of the drive system, the torque control mode is used to control the torque of the hydraulic system, and after controlling the torque of the hydraulic system, the speed control module is used to control the speed of the hydraulic system. When the multi-branch battery system is in the second state and the vehicle is in the idling condition, the speed control mode is used to control the speed of the drive system and the speed of the hydraulic system.

8. The control method according to claim 7, wherein, Based on the vehicle's operating conditions and the state of the multi-branch battery system, the coordinated control of the vehicle's drive system and hydraulic system further includes at least one of the following: When the vehicle is in the first operating condition, the drive system is controlled to execute the first safety limit torque, and the speed of the hydraulic system is controlled to the standby speed; When the vehicle is in the second operating condition, the drive system is controlled to execute the first safety limiting torque, the hydraulic system is controlled to execute the second safety limiting torque, and in response to the completion of unloading, the speed of the hydraulic system is controlled to the standby speed. When the vehicle is in the third operating condition, the drive system is controlled to execute the first safety limit torque, the hydraulic system is controlled to execute the third safety limit torque, and in response to the completion of unloading, the speed of the hydraulic system is controlled to the standby speed, wherein the third safety limit torque is less than the second safety limit torque; When the vehicle is in the fourth operating condition, the drive system is controlled to execute the first safety limit torque, the hydraulic system is controlled to execute the fourth safety limit torque, and in response to the completion of unloading, the speed of the hydraulic system is controlled to the standby speed, wherein the fourth safety limit torque is greater than the second safety limit torque; When the vehicle is idling, the speed of the drive system is controlled to be zero, and the speed of the hydraulic system is controlled to be the standby speed.

9. The control method according to any one of claims 1 to 8, wherein, Identifying the vehicle's operating conditions includes: Acquire various parameters related to the vehicle's operating condition identification; Each of the multiple parameters is filtered to obtain the optimal estimate for each parameter. Based on the optimal estimate of each parameter, determine the working condition that best matches the multiple parameters; Based on the optimal estimate corresponding to each parameter, determine the changing trend of each parameter; The operating condition of the vehicle is determined based on the operating condition that best matches the various parameters and the changing trend of each parameter.

10. The control method according to claim 9, wherein, Based on the operating conditions that best match the various parameters and the changing trends of each parameter, the operating conditions of the vehicle are determined to include: If the operating condition that best matches the multiple parameters matches the changing trend of each parameter, then the operating condition that best matches the multiple parameters shall be taken as the operating condition of the vehicle. If the operating condition that best matches the various parameters does not match the changing trend of each parameter, the operating condition of the vehicle is determined using a dynamic model based on the optimal estimate corresponding to each parameter.

11. The control method according to claim 10, wherein, Based on the optimal estimate for each parameter, the operating conditions of the vehicle are determined using a dynamic model, including: The optimal estimated value corresponding to each parameter, the vehicle's overall parameters, environmental parameters, and environmental compensation coefficient are used as input parameters of the dynamic model to predict the vehicle's operating characteristics. The optimization objective is to minimize the deviation between the working characteristics and the characteristics of the target working condition. Through rolling optimization, the target working condition is output.

12. The control method according to claim 9, wherein, The various parameters include at least two of the following: the rotational speed of the drive system, the torque of the drive system, the vehicle speed, the pressure of the hydraulic system, and the displacement of the handle.

13. The control method according to claim 9, wherein, The optimal estimate for each parameter is obtained based on the Kalman filter algorithm. The operating condition that best matches the aforementioned parameters is determined based on a fuzzy recognition algorithm. The operating conditions of the vehicle are determined based on a model predictive control algorithm, wherein, The model parameters of the fuzzy recognition algorithm and the model predictive control algorithm are adjusted based on the parameters after the collaborative control.

14. A controller, comprising: The working condition identification module is configured to identify the working condition of the vehicle, which includes a first working condition, a second working condition, a third working condition, a fourth working condition, or an idling working condition. The first working condition is that the vehicle is unloaded, has no bucket operation, and is in a driving state. The second working condition is that the vehicle is loaded, has no bucket operation, and is in a driving state. The third working condition is that the vehicle is performing a first bulldozing operation. The fourth working condition is that the vehicle is performing a second bulldozing operation. The working load of the first bulldozing operation is less than the working load of the second bulldozing operation. The status recognition module is configured to recognize the status of the vehicle's multi-branch battery system, the status including a first status and a second status, the first status including that the battery pack of each branch in the multi-branch battery system is in a normal state, and the second status including that the battery pack of at least one branch in the multi-branch battery system is in an abnormal state. The collaborative control module is configured to perform collaborative control of the vehicle's drive system and hydraulic system based on the vehicle's operating conditions and the state of the multi-branch battery system.

15. A controller, comprising: Memory; as well as A processor coupled to the memory, the processor being configured to execute the control method as described in any one of claims 1 to 13 based on instructions stored in the memory.

16. A vehicle comprising: The controller as described in claim 14 or 15; A multi-branch battery system, wherein the battery pack of each branch in the multi-branch battery system is electrically connected to the controller through a battery management system; The electrical platform includes multiple first DC-DC converters, a power distribution unit, and multiple DC-AC converters, wherein the battery pack of each branch is electrically connected to the power distribution unit through one of the multiple first DC-DC converters. The drive system is electrically connected to the power distribution unit through one or more of the plurality of DCAC converters. The hydraulic system is electrically connected to the power distribution unit via one or more of the plurality of DCAC converters.

17. The vehicle according to claim 16, wherein, The drive system includes a first drive motor, a second drive motor, a third drive motor, and a fourth drive motor. Each drive motor corresponds to a wheel-side reducer, and each drive motor is electrically connected to the power distribution unit via a DC-AC converter; and / or The hydraulic system includes a hydraulic motor, which is used to determine the working pump and the steering pump, and is electrically connected to the power distribution unit via a DC-AC converter.

18. The vehicle according to claim 16 or 17, wherein, The electrical platform also includes a second DC-DC converter and a third DC-DC converter, and the vehicle also includes: The thermal management system is electrically connected to the power distribution unit via the second DC-DC converter. The battery is electrically connected to the second DC-DC converter via the third DC-DC converter.

19. A computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the control method as described in any one of claims 1 to 13.

20. A computer program product comprising a computer program or instructions that, when executed by a processor, implement the control method according to any one of claims 1 to 13.

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