A composite power supply full-distributed servo pump-controlled electric excavator and a control method thereof

Abstract

The application discloses a full-distributed servo pump-controlled electric excavator with composite power supply and a control method thereof, which comprises a power source assembly, an actuator driving assembly, a slewing driving assembly, a control and electrical accessory assembly, a walking electric driving assembly and an actuator loop assembly. The full-distributed servo pump-controlled electric excavator with composite power supply and the control method thereof provided by the application break the centralized hydraulic transmission configuration with low energy efficiency of the existing electric excavator by independently driving all actuators of the excavator in a distributed manner, and reduce the energy consumption of the whole electric excavator by combining the electrical energy recovery of the actuator pump control configuration of the boom potential energy and the slewing braking kinetic energy, so that the endurance, the battery installed capacity and the installed cost are reduced.

Description

Technical Field

[0001] This invention relates to a fully distributed servo pump-controlled electric excavator with composite power supply and its control method, belonging to the field of electric excavator technology. Background Technology

[0002] Electrification has become an inevitable trend in the excavator industry. Most current electric excavators use electric motors to replace traditional internal combustion engines to drive hydraulic pumps to achieve power output. Although this can reduce the energy consumption of the prime mover and reduce emissions to some extent, the centralized hydraulic system still results in low energy transmission efficiency. The energy efficiency of the hydraulic system is only about 35%, and it cannot recover the recoverable energy generated by each actuator during operation. In addition, the centralized hydraulic transmission system is highly complex, making maintenance and troubleshooting difficult.

[0003] Therefore, the overall energy efficiency of electric excavators is still at a low level, making it difficult to meet the demand for high power and high efficiency. This greatly limits the excavator's operating performance and range, severely hindering the green electrification transformation of excavators. Summary of the Invention

[0004] Objective: To overcome the shortcomings of existing technologies, this invention provides a fully distributed servo pump-controlled electric excavator with composite power supply and its control method. By using distributed independent drive, boom potential energy recovery and slewing braking kinetic energy recovery, the overall transmission efficiency of the machine is improved, the overall energy consumption is reduced, and the endurance of the electric excavator is significantly enhanced.

[0005] Technical solution: To solve the above technical problems, the technical solution adopted by the present invention is as follows:

[0006] In a first aspect, a fully distributed servo pump-controlled electric excavator with composite power supply includes: a power source assembly, an actuator drive assembly, a slewing drive assembly, a control and electrical accessory assembly, a travel electric drive assembly, and an actuator circuit assembly.

[0007] The power source assembly is used to provide grid power or battery power to the actuator drive assembly, the slewing drive assembly, the control and electrical accessory assembly and the travel electric drive assembly during the operation of the excavator, and to recover energy when the excavator is in power generation mode.

[0008] The actuator drive assembly is used to output the rotational speed corresponding to the control command sent by the control and electrical accessory assembly, so as to drive the pump and cylinder of the actuator circuit assembly to move, so that the excavator keeps digging.

[0009] The slewing drive assembly is used to output the rotation speed corresponding to the control command sent by the control and electrical accessory assembly, so as to drive the motor of the slewing drive assembly to move, so that the excavator is in a slewing state.

[0010] The travel drive assembly is used to output the rotational speed corresponding to the control command sent by the control and electrical accessory assembly, so as to drive the motor of the travel drive assembly to move, so that the excavator keeps traveling.

[0011] Optionally, the power source assembly includes: a power battery, a battery thermal management unit, a battery management unit, an on-board charger, and a dual-power high-voltage management unit.

[0012] The output terminal of the power battery is electrically connected to the input terminal of the battery management unit. The battery management unit is electrically connected to the battery thermal management unit and the on-board charger. The battery thermal management unit is connected to the power battery through a battery cooling circuit. The output terminal of the battery management unit is electrically connected to the input terminal of the dual-power high-voltage management unit. The output terminal of the dual-power high-voltage management unit is electrically connected to the power terminals of the actuator drive assembly, the rotary drive assembly, the walking electric drive assembly, and the control and electrical accessory assembly. The on-board charger and the dual-power high-voltage management unit are used for electrical connection to the power grid.

[0013] Optionally, the actuator drive assembly includes: a boom cylinder, a stick cylinder, and a bucket cylinder.

[0014] The bucket cylinder is driven by a bucket pump-motor driver, which in turn drives the bucket pump-motor. The bucket pump-motor control hydraulic oil is controlled via the bucket hydraulic circuit.

[0015] The boom cylinder is driven by a boom pump-motor driver, which in turn drives the boom pump-motor. The boom pump-motor control hydraulic oil is controlled via the boom hydraulic circuit.

[0016] The bucket cylinder is driven by a bucket pump-motor driver, which in turn drives the bucket pump-motor. The bucket pump-motor control hydraulic oil is controlled via the bucket hydraulic circuit.

[0017] Optionally, the rotary drive assembly includes: a rotary motor controller and a rotary motor. The rotary motor is controlled by the rotary motor controller.

[0018] Optionally, the electric drive assembly for travel includes a left travel motor and a right travel motor. The left travel motor is controlled by a left travel motor controller, and the right travel motor is controlled by a right travel motor controller.

[0019] Secondly, a control method for a fully distributed servo-pump-controlled electric excavator with composite power supply specifically includes:

[0020] Step 1: Obtain the status information of the actuator drive component, the rotary drive component, and the walking electric drive component, as well as the status information of the power battery and the status signal of the dual power high voltage management unit.

[0021] Step 2: Determine the grid connection status and the SOC value of the power battery. If the grid connection is stable, enter the cable power supply priority mode.

[0022] Step 3: If in cable power priority mode, press Control the battery charging power.

[0023] Among them, the maximum allowable battery charging power The expression is as follows:

[0024]

[0025] in: Provide real-time power supply to the power grid. This refers to the rated capacity of the power battery.

[0026] Optional, also includes:

[0027] Step 4: Determine the grid connection status and the SOC value of the power battery. If the grid is disconnected, enter the battery power supply priority mode.

[0028] Step 5: In battery-powered priority mode, the power of each actuator is allocated according to dynamic priority scores.

[0029] Where: the dynamic priority score of the i-th executor The expression is as follows:

[0030]

[0031] in: Let be the actuator urgency coefficient of the i-th actuator. Let be the historical power satisfaction rate of the i-th actuator. This indicates the battery's current state of charge.

[0032] Optional, also includes:

[0033] Step 6: Determine the grid connection status and the SOC value of the power battery. If the grid fluctuation exceeds ±10% of the rated voltage, enter the hybrid power supply mode.

[0034] Step 7: In hybrid power supply mode, adjust the power compensation according to the battery requirements. Compensate the battery.

[0035] Among them, the power value that the battery needs to compensate for. The expression is as follows:

[0036]

[0037] in: The rated power supply capacity of the power grid. Provides real-time power supply to the power grid.

[0038] Optional, also includes:

[0039] Step 8: In battery-powered priority mode, calculate the power requirement margin for each actuator. .

[0040] Step 9: When When the margin threshold is met and the duration is ≥ t seconds, power limits are applied to non-safety-critical actuators.

[0041] Among them, the power requirement margin of each actuator The expression is as follows:

[0042]

[0043] in: Let i be the theoretical power requirement of the i-th actuator under its current operating condition. This represents the power actually allocated to the i-th actuator by the system.

[0044] Optionally, the margin threshold is set to 0.3 and t is set to 5.

[0045] Optional, also includes:

[0046] Step 10: A hysteresis comparator is set in the dual-power high-voltage management unit to detect when the rated voltage [90%, 110%] of the grid voltage is continuously within k ms and determine that it is a stable connection. At the same time, a filtering algorithm is used to eliminate instantaneous grid fluctuation interference.

[0047] Beneficial Effects: This invention provides a fully distributed servo pump-controlled electric excavator with composite power supply and its control method. By distributing and independently driving all actuators of the excavator, and combining the potential energy of the boom and the kinetic energy of the swing braking with an electric energy recovery actuator pump control configuration, it breaks away from the low-energy-efficiency centralized hydraulic transmission configuration of existing electric excavators, reducing the overall energy consumption of the electric excavator, thereby improving range, reducing battery capacity, and reducing installation costs. Compared with the prior art, the advantages of this invention are:

[0048] 1. This invention uses a power battery and the power grid to provide energy to the whole machine. The dual power supply high voltage management unit realizes the switching and distribution of power, and at the same time performs pre-charge control and high voltage safety management to ensure the safe and reliable operation of the high voltage power source.

[0049] 2. During operation, the electric excavator is mainly powered by the power grid, and the power battery can be used as an energy storage unit.

[0050] 3. This invention uses three electric pumps to drive the boom, stick, and bucket in a distributed and independent manner, and uses a slewing electric drive system to drive the upper vehicle's slewing and a travel electric drive system to drive the left and right travel systems. Attached Figure Description

[0051] Figure 1 This is a schematic diagram of the structure of a fully distributed servo pump-controlled electric excavator with composite power supply, according to an example of the present invention.

[0052] Reference numerals: 1-Power battery; 2-Battery thermal management unit; 3-Battery management unit; 4-On-board charger; 5-Dual power high-voltage management unit; 6-Boom pump-motor driver; 7-Boom pump-motor; 8-Boom pump-motor; 9-Boom hydraulic circuit; 10-Boom cylinder; 11-Stick pump-motor driver; 12-Stick pump-motor; 13-Stick pump-motor; 14-Stick hydraulic circuit; 15-Stick cylinder; 16-Bucket pump-motor 17-Bucket pump motor; 18-Bucket pump motor; 19-Bucket hydraulic circuit; 20-Bucket cylinder; 21-Slewing motor controller; 22-Slewing motor; 23-Left travel motor controller; 24-Left travel motor; 25-Right travel motor controller; 26-Right travel motor; 27-Electric air conditioning compressor; 28-PTC; 29-DCDC; 30-Lead-acid battery; 31-Electric water pump; 32-Electric radiator; 33-Machine controller. Detailed Implementation

[0053] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0054] The present invention will be further described below with reference to specific embodiments.

[0055] Example 1:

[0056] This embodiment describes a fully distributed servo-pump-controlled electric excavator with composite power supply, such as... Figure 1 As shown, it includes: a power source assembly, an actuator drive assembly, a rotary drive assembly, a control and electrical accessory assembly, a travel electric drive assembly, and an actuator circuit assembly.

[0057] The power source assembly includes: a power battery 1, a battery thermal management unit 2, a battery management unit 3, an on-board charger 4, and a dual-power high-voltage management unit 5.

[0058] The output terminal of the power battery 1 is electrically connected to the input terminal of the battery management unit 3. The battery management unit 3 is electrically connected to the battery thermal management unit 2 and the on-board charger 4. The battery thermal management unit 2 is connected to the power battery 1 through a battery cooling circuit. The output terminal of the battery management unit 3 is electrically connected to the input terminal of the dual-power high-voltage management unit 5. The output terminal of the dual-power high-voltage management unit 5 is electrically connected to the power terminals of the actuator drive assembly, the rotary drive assembly, the travel electric drive assembly, and the control and electrical accessory assembly. The on-board charger 4 and the dual-power high-voltage management unit 5 are used for electrical connection to the power grid. The output terminal of the control and electrical accessory assembly is electrically connected to the input terminals of the actuator drive assembly, the rotary drive assembly, and the travel electric drive assembly. The output terminal of the actuator drive assembly is connected to the input terminal of the actuator circuit assembly.

[0059] The power source component is configured to provide grid power or battery power to the actuator drive component, the slewing drive component, the control and electrical accessory component and the travel electric drive component during the operation of the excavator, and to recover energy when the excavator is in power generation mode.

[0060] The actuator drive assembly is configured to output a rotational speed corresponding to the control command sent by the control and electrical accessory assembly, so as to drive the pump and cylinder of the actuator circuit assembly to move, thereby keeping the excavator in digging state.

[0061] The slewing drive assembly is configured to output a rotational speed corresponding to the control command sent by the control and electrical accessory assembly, so as to drive the motor of the slewing drive assembly to move, thereby putting the excavator in a slewing state.

[0062] The travel drive assembly is configured to output a rotational speed corresponding to the control command sent by the control and electrical accessory assembly, so as to drive the motor of the travel drive assembly to move, thereby keeping the excavator in a traveling state.

[0063] As a further improvement, the boom cylinder 10 employs a boom pump-motor driver 6 to control the boom pump-motor 7, which in turn drives the boom pump-motor 8. The boom pump-motor 8 controls the hydraulic oil via the boom hydraulic circuit 9 to control the boom cylinder 10. By adopting an independent drive system for the motor and pump motor, the gravitational potential energy of the excavator boom during the lowering process can be effectively recovered. Specifically, during the boom lowering operation, due to gravity, the pump motor operates in reverse, converting the gravitational energy during the lowering process into electrical energy. This energy is then fed back to the power battery through the reverse action of the motor, thereby improving energy utilization. The speed and direction of the boom cylinder are jointly regulated by the output / output flow rate changes of the boom pump-motor 8.

[0064] As a further improvement, the boom cylinder 15 is driven by a boom pump-motor driver 11, which in turn drives a boom pump-motor 12. The boom pump-motor 12 drives a boom pump-motor 13, and the boom pump-motor 13 controls the hydraulic oil via the boom hydraulic circuit 14 to control the boom cylinder 15. By employing an independent drive system for the motor and pump, the speed and direction of the boom cylinder are jointly adjusted by the output / output flow rate changes of the boom pump-motor 13.

[0065] As a further improvement, the bucket cylinder 20 is driven by a bucket pump-motor driver 16, which in turn drives a bucket pump-motor 17. The bucket pump-motor 17 drives a bucket pump-motor 18, and the bucket pump-motor 18 controls the hydraulic oil via the bucket hydraulic circuit 19 to control the bucket cylinder 20. By employing an independent drive system for the motor and pump, the speed and direction of the bucket cylinder are jointly regulated by changes in the output / output flow rate of the bucket pump-motor 18.

[0066] As a further improvement, the traveling mechanism employs a left traveling motor controller 23 to control the left traveling motor 24, and a right traveling motor controller 25 to control the right traveling motor 26. The two motors independently drive the left and right traveling tracks via reducers. Forward, backward, and turning of the tracks are achieved through motor speed and steering control. Steering is achieved by controlling the difference in speed between the left and right motors. Specifically, when facing a left turn, the right traveling motor is accelerated while the left traveling motor is decelerated, creating a speed difference that causes the excavator to turn left. Similarly, when facing a right turn, the left traveling motor is accelerated while the right traveling motor is decelerated, enabling the excavator to turn right. The specific turning speed is determined by control commands sent from the machine control unit, which coordinates with the motor controllers to control the traveling motors.

[0067] As a further improvement, the upper slewing mechanism uses a slewing motor controller 21 to control the slewing motor 22. The slewing motor drives the reducer to rotate the excavator's upper slewing platform, and during slewing braking, the slewing motor provides braking torque, feeding back the slewing braking kinetic energy to the actuator drive assembly and the dual-power high-voltage management unit.

[0068] As a further improvement, the system also includes an electric air conditioning compressor 27, the output of which is connected to the power supply of the electric air conditioning compressor 27. As a further improvement, the system also includes a PTC 28, a DC-DC converter 29, and a lead-acid battery 30, the output of which is connected to the input of the DC-DC converter 29, and the output of the DC-DC converter 29 is connected to the inputs of both the PTC 28 and the lead-acid battery 30.

[0069] As a further improvement, a whole machine controller 33 is also included, wherein the output terminal of the lead-acid battery 30 is connected to the power supply terminal of the whole machine controller 33.

[0070] As a further improvement, it also includes an electric water pump 31 and an electric radiator 32. The output terminal of the lead-acid battery 30 is connected to the power supply terminal of the electric water pump 31 and the electric radiator 32 to provide heat dissipation for the whole machine controller 33 and the lead-acid battery 30.

[0071] Example 2:

[0072] This embodiment introduces a control method for a fully distributed servo pump-controlled electric excavator with composite power supply, specifically including the following steps:

[0073] Step 1: Obtain the status information of the actuator drive component, the rotary drive component, and the walking electric drive component, as well as the status information of the power battery and the status signal of the dual power high voltage management unit.

[0074] Step 2: Determine the grid connection status and the SOC value of the power battery. If the grid connection is stable, enter the cable power supply priority mode (mode A); if the grid is disconnected, enter the battery power supply priority mode (mode B); if the grid fluctuation exceeds ±10% of the rated voltage, enter the hybrid power supply mode (mode C).

[0075] Step 3: If, in Mode A, the battery charging power is controlled to meet the following requirements:

[0076]

[0077] in: : Maximum permissible battery charging power; Real-time power supply from the power grid; Rated capacity of the power battery.

[0078] Step 4: In Mode B, allocate actuator power according to the dynamic priority function:

[0079]

[0080] in: : The dynamic priority score of the i-th executor; : The urgency coefficient of the i-th actuator; : Historical power satisfaction rate of the i-th actuator; : Current state of charge of the battery.

[0081] Step 5: In Mode C, calculate the battery compensation power:

[0082]

[0083] in: The power value that the battery needs to compensate for; Rated power supply capacity of the power grid; Real-time power supply from the power grid.

[0084] Step 6: Establish a power margin protection mechanism in Mode B, and calculate the power demand margin of each actuator in real time.

[0085]

[0086] in: Power requirement margin for the i-th actuator; The theoretical power requirement of the i-th actuator under current operating conditions; The power actually allocated by the system to the i-th actuator.

[0087] when Power limits are imposed on non-safety-critical actuators when the power is >0.3 and the duration is ≥5 seconds.

[0088]

[0089] Step 7: Provide further control details based on the above control methods. Set up a hysteresis comparator in the dual-power high-voltage management unit.

[0090] Mode switching logic: When the grid voltage is continuously at the rated voltage [90%, 110%] for 100 ms, it is determined to be a stable connection, and at the same time, the Kalman filter algorithm is used to eliminate instantaneous grid fluctuation interference.

[0091] Actuator dynamic power priority calculation, taking boom, stick, and bucket as examples, priority weight allocation table:

[0092]

[0093] System response timing when power margin protection is triggered:

[0094] t=0s: Detected =0.35

[0095] t=3s: Secondary confirmation >0.3

[0096] t=3s: Starting power limit, boom power distribution reduced to 12kW (originally 15kW).

[0097] Example 3:

[0098] This embodiment verifies the effectiveness of the multi-mode switching and dynamic power distribution control method proposed in this invention by building an AMESim simulation platform. The simulation object is a distributed servo pump-controlled electric excavator with cable + battery combined power supply, and the working device includes three actuators: boom, stick, and bucket.

[0099] Comparison control methods:

[0100] Control group 1 (traditional single battery power): powered only by batteries, with no grid connection, and adopts a fixed power distribution strategy.

[0101] Control group 2 (simple dual power supply switching): grid priority, battery switching when grid is disconnected, no hybrid power supply mode, no dynamic priority allocation.

[0102] Experimental group (method of this invention): includes adaptive switching of mode A / B / C, dynamic priority function, power margin protection mechanism, hysteresis comparator + Kalman filter.

[0103] Test conditions: Simulate a typical 10-minute excavation work cycle, including the following stages:

[0104] 0-2min: Stable power supply from the power grid (Mode A)

[0105] 2-3 minutes: Voltage drops to 85% (Trigger Mode C)

[0106] 3-5 minutes: Power grid completely disconnected (Trigger Mode B)

[0107] 5-7 minutes: Power grid restored to 95% (Mode C → Mode A)

[0108] 7-10 min: Compound action (boom + stick + bucket working simultaneously)

[0109]

[0110] Therefore, the core advantages of the control method of this invention are:

[0111] 1. Power supply continuity: Zero operation interruption is achieved through adaptive switching of mode A / B / C + Kalman filter + hysteresis comparator, with a switching time of only 120ms, which is 7 times faster than existing technologies.

[0112] 2. Improved energy efficiency: The overall energy efficiency of the system reaches 71.2%, which is 12.9 percentage points higher than that of simple dual power supply switching, thanks to the power smoothing and recycling path optimization in the hybrid power supply mode.

[0113] 3. Dynamic priority allocation: When the battery SOC is low, the power satisfaction rate of high-urgency actuators remains above 90%, realizing intelligent scheduling of "limited energy to ensure critical actions".

[0114] 4. System stability: The bus voltage fluctuation rate is reduced to 6%, improving the response consistency of each servo pump control unit.

[0115] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A fully distributed servo-controlled pump-operated electric excavator with composite power supply, characterized in that: include: Power source components, actuator drive components, rotary drive components, control and electrical accessory components, electric travel drive components, and actuator circuit components; The power source component is used to provide grid power or battery power to the actuator drive component, the slewing drive component, the control and electrical accessory component and the travel electric drive component during the operation of the excavator, and to recover energy when the excavator is in power generation mode; The actuator drive assembly is used to output the rotational speed corresponding to the control command sent by the control and electrical accessory assembly, so as to drive the pump and cylinder of the actuator circuit assembly to move, so that the excavator keeps digging. The slewing drive assembly is used to output the rotation speed corresponding to the control command sent by the control and electrical accessory assembly, so as to drive the motor of the slewing drive assembly to move, so that the excavator is in a slewing state; The travel drive assembly is used to output the rotational speed corresponding to the control command sent by the control and electrical accessory assembly, so as to drive the motor of the travel drive assembly to move, so that the excavator keeps traveling.

2. The fully distributed servo pump-controlled electric excavator with composite power supply according to claim 1, characterized in that: The power source assembly includes: a power battery, a battery thermal management unit, a battery management unit, an on-board charger, and a dual-power high-voltage management unit; The output terminal of the power battery is electrically connected to the input terminal of the battery management unit. The battery management unit is electrically connected to the battery thermal management unit and the on-board charger. The battery thermal management unit is connected to the power battery through a battery cooling circuit. The output terminal of the battery management unit is electrically connected to the input terminal of the dual-power high-voltage management unit. The output terminal of the dual-power high-voltage management unit is electrically connected to the power terminals of the actuator drive assembly, the rotary drive assembly, the walking electric drive assembly, and the control and electrical accessory assembly. The on-board charger and the dual-power high-voltage management unit are used for electrical connection to the power grid.

3. The fully distributed servo pump-controlled electric excavator with composite power supply according to claim 1, characterized in that: The actuator drive assembly includes: a boom cylinder, a stick cylinder, and a bucket cylinder; The bucket cylinder is driven by a bucket pump-motor driver, which in turn drives the bucket pump-motor. The bucket pump-motor control hydraulic oil is controlled via the bucket hydraulic circuit. The boom cylinder is driven by a boom pump-motor driver, which in turn drives the boom pump-motor. The boom pump-motor control hydraulic oil is controlled via the boom hydraulic circuit. The bucket cylinder is driven by a bucket pump-motor driver, which in turn drives the bucket pump-motor. The bucket pump-motor control hydraulic oil is controlled via the bucket hydraulic circuit.

4. The fully distributed servo pump-controlled electric excavator with composite power supply according to claim 1, characterized in that: The rotary drive assembly includes: a rotary motor controller and a rotary motor; the rotary motor is controlled by the rotary motor controller.

5. A fully distributed servo pump-controlled electric excavator with composite power supply according to claim 1, characterized in that: The electric drive assembly for travel includes a left travel motor and a right travel motor; the left travel motor is controlled by a left travel motor controller, and the right travel motor is controlled by a right travel motor controller.

6. The control method for a fully distributed servo pump-controlled electric excavator with composite power supply according to any one of claims 1 to 5, characterized in that: Specifically, it includes: Step 1: Obtain the status information of the actuator drive component, the rotary drive component, and the walking electric drive component, as well as the status information of the power battery and the status signal of the dual power high voltage management unit; Step 2: Determine the grid connection status and the SOC value of the power battery. If the grid connection is stable, enter the cable power supply priority mode. Step 3: If in cable power priority mode, press Control the battery charging power; Among them, the maximum allowable battery charging power The expression is as follows: ； in: Provide real-time power supply to the power grid. This refers to the rated capacity of the power battery.

7. The control method according to claim 6, characterized in that: Also includes: Step 4: Determine the grid connection status and the SOC value of the power battery. If the grid is disconnected, enter the battery power supply priority mode. Step 5: In battery-powered priority mode, the power of each actuator is allocated according to dynamic priority scores; Where: the dynamic priority score of the i-th executor The expression is as follows: ； in: Let be the actuator urgency coefficient of the i-th actuator. Let be the historical power satisfaction rate of the i-th actuator. This indicates the battery's current state of charge.

8. The control method according to claim 7, characterized in that: Also includes: Step 6: Determine the grid connection status and the SOC value of the power battery. If the grid fluctuation exceeds ±10% of the rated voltage, enter the hybrid power supply mode. Step 7: In hybrid power supply mode, adjust the power compensation according to the battery requirements. Compensate the battery; Among them, the power value that the battery needs to compensate is The expression is as follows: ； in: The rated power supply capacity of the power grid. Provides real-time power supply to the power grid.

9. The control method according to claim 8, characterized in that: Also includes: Step 8: In battery-powered priority mode, calculate the power requirement margin for each actuator. ; Step 9: When When the margin threshold is met and the duration is ≥ t seconds, power limits are applied to non-safety-critical actuators. Among them, the power requirement margin of each actuator The expression is as follows: ； in: Let i be the theoretical power requirement of the i-th actuator under its current operating condition. This represents the power actually allocated to the i-th actuator by the system.

10. The control method according to claim 9, characterized in that: Also includes: Step 10: A hysteresis comparator is set in the dual-power high-voltage management unit to detect when the rated voltage [90%, 110%] of the grid voltage is continuously within k ms and determine that it is a stable connection. At the same time, a filtering algorithm is used to eliminate instantaneous grid fluctuation interference.

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