Loader energy management control method and device, electronic equipment, storage medium and program product

Abstract

The embodiment of the application provides a loader energy management control method, device, electronic equipment, storage medium and program product, the method comprises the following steps: obtaining the running parameter of the loader, the running parameter comprises the battery parameter and the power parameter; generating a reference power generation power instruction according to the battery parameter and the power threshold in the constant temperature closed loop control architecture; inputting the reference power generation power instruction and the power parameter into the power correction architecture to generate a power generation power instruction; and controlling the range extender to output corresponding power generation power according to the power generation power instruction, by constructing the double closed loop cooperative control architecture of the constant temperature closed loop and the power correction, the stability and the power responsiveness are considered, and the requirements of the rapid dynamic response and the overall energy efficiency optimization of the system are met.

Description

Technical Field

[0001] This application relates to the field of construction equipment technology, and in particular to a loader energy management and control method, device, electronic equipment, storage medium and program product. Background Technology

[0002] Loaders, as core equipment in construction machinery, are widely used in mining and construction sites. During fully loaded transport or unloaded operation, load fluctuations are significant and power demands exhibit periodic changes. Range-extended hybrid loaders combine range extender power generation with battery power supply, achieving a balance between power output and energy efficiency optimization.

[0003] Traditional loader energy management strategies mainly include constant temperature control and power control strategies. However, traditional loader energy management strategies are difficult to adapt to complex working conditions and cannot meet the requirements of rapid dynamic response and optimal overall system energy efficiency. Summary of the Invention

[0004] This application provides a loader energy management control method, device, electronic device, storage medium, and program product to solve the problem that the prior art cannot meet the requirements of rapid dynamic response and optimal overall system energy efficiency.

[0005] In a first aspect, embodiments of this application provide a loader energy management and control method, including:

[0006] Obtain the loader's operating parameters, including battery parameters and power parameters;

[0007] Based on the battery parameters and the charge threshold in the constant temperature closed-loop control architecture, a reference power generation command is generated.

[0008] The reference power generation command and the power parameters are input into the power correction architecture to generate a power generation command.

[0009] The range extender is controlled to output the corresponding power output according to the power output command.

[0010] In one possible implementation, generating a reference power generation command based on the battery parameters and the charge threshold in the isothermal closed-loop control architecture includes:

[0011] The battery parameters are compared with the power threshold.

[0012] If the battery parameters are greater than the upper limit of the power threshold, the reference power generation is determined to be zero, and the range extender is controlled to maintain an idling state.

[0013] If the battery parameters are less than the lower limit of the power threshold, then the reference power generation is determined as the target power generation of the range extender.

[0014] If the battery parameters are between the upper limit threshold and the lower limit threshold, the corresponding reference power generation is determined based on the sub-interval in which the battery parameters are located.

[0015] In one possible implementation, determining the corresponding reference power generation based on the sub-interval in which the battery parameters are located includes:

[0016] Obtain the deviation between the battery parameters and the reference battery level;

[0017] Determine whether the deviation exceeds the preset range of power hysteresis change;

[0018] If the deviation does not exceed the power hysteresis change range, the power generation power corresponding to the power reference value is determined as the benchmark power generation power.

[0019] If the deviation exceeds the power hysteresis change range, the corresponding reference power generation is re-determined based on the sub-range in which the battery parameters are located.

[0020] In one possible implementation, generating a power generation command by inputting the reference power generation command and the power parameters into a power correction architecture includes:

[0021] Calculate the difference between the vehicle's required power and the sum of the battery's discharge power and the range extender's real-time power generation.

[0022] When the difference is positive and exceeds the preset power regulation hysteresis range, the power follow mode is entered, and the power generation command is adjusted to the vehicle's required power minus the battery discharge power.

[0023] When the difference is negative or within the preset power regulation hysteresis range, the power generation command remains unchanged.

[0024] In one possible implementation, before controlling the range extender to output the corresponding power generation according to the power generation command, the method further includes:

[0025] Identify the loader's operating conditions based on its operating parameters;

[0026] In response to the operating conditions meeting the preset target operating conditions, a control parameter adjustment strategy is determined based on the target operating conditions;

[0027] The power generation is corrected according to the control parameter adjustment strategy to obtain the corrected power generation.

[0028] In one possible implementation, before controlling the range extender to output the corresponding power generation according to the power generation command, the method further includes:

[0029] The power demand of the whole vehicle is filtered by a filtering algorithm to remove instantaneous peak power.

[0030] Set a switching delay at the switching boundary between the constant temperature control mode and the pre-power follow mode, and configure the rise and fall slope constraints according to the range extender power adjustment.

[0031] Secondly, embodiments of this application provide a loader energy management control device, comprising:

[0032] The acquisition module is used to acquire the operating parameters of the loader, including battery parameters and power parameters;

[0033] The first generation module is used to generate a reference power generation command based on the battery parameters and the power threshold in the constant temperature closed-loop control architecture.

[0034] The second generation module is used to generate a power generation command by combining the reference power generation command with the power parameter input power correction architecture.

[0035] The control module is used to control the range extender to output the corresponding power generation according to the power generation command.

[0036] Thirdly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0037] The memory stores computer-executed instructions;

[0038] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0039] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0040] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0041] The loader energy management control method, device, electronic equipment, storage medium, and program product provided in this application obtain the loader's battery parameters and power parameters, generate a reference power generation command based on the battery parameters and the power threshold in the constant temperature closed-loop control architecture, and generate a power generation command with the power parameter input power correction architecture to control the range extender to output the corresponding power generation. By constructing a dual closed-loop collaborative control architecture of constant temperature closed loop and power correction, it solves the problems that a single constant temperature control strategy cannot respond to the instantaneous peak load of the loader in digging conditions and cannot meet the needs of heavy-load operation, as well as the problems that a single power following control strategy leads to frequent high-rate charging and discharging of the battery, significant reduction in cycle life, and deviation of the range extender from the high-efficiency fuel consumption range. Through the layered coupling of the dual-layer architecture, it achieves a balance between stability and power responsiveness, meeting the requirements of rapid dynamic response and optimal overall system energy efficiency. Attached Figure Description

[0042] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0043] Figure 1 A schematic diagram illustrating the application scenario of the loader energy management and control method provided in this application;

[0044] Figure 2 Flowchart of the loader energy management control method provided in this application Figure 1 ;

[0045] Figure 3 Flowchart of the loader energy management control method provided in this application Figure 2 ;

[0046] Figure 4 Flowchart of the loader energy management control method provided in this application Figure 3 ;

[0047] Figure 5 Flowchart of the loader energy management control method provided in this application Figure 4 ;

[0048] Figure 6 This is a schematic diagram of the structure of the loader energy management control device provided in this application;

[0049] Figure 7 A schematic diagram of the structure of the electronic device provided in this application.

[0050] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0051] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application.

[0052] First, let me explain the terms used in this application:

[0053] VCU: Vehicle Control Unit, responsible for vehicle power coordination, energy management and safety assurance.

[0054] Loaders, as core equipment in construction machinery, are widely used in mining and construction sites. During fully loaded transport or unloaded operation, load fluctuations are significant, and power demand exhibits periodic changes. Range-extended hybrid loaders, by combining range extender power generation with battery power, can balance power output and energy efficiency optimization. Traditional loader energy management strategies mainly include temperature control and power control strategies. However, these traditional strategies are ill-suited to complex working conditions and cannot meet the demands for rapid dynamic response and optimal overall system energy efficiency.

[0055] To address the aforementioned technical problems, this application proposes the following technical concept: Considering the establishment of a dual-closed-loop collaborative control architecture of constant temperature closed loop and power correction, by acquiring the battery parameters and power parameters of the loader, a reference power generation command is generated based on the battery parameters and the power threshold in the constant temperature closed-loop control architecture. This command, along with the power parameter input power correction architecture, generates a power generation command, controlling the range extender to output the corresponding power generation. This solves the problems that a single constant temperature control strategy cannot respond to the instantaneous peak load of the loader in digging operations and cannot meet the requirements of heavy-load operations, as well as the problems that a single power following control strategy leads to frequent high-rate charging and discharging of the battery, significant reduction in cycle life, and deviation of the range extender from the efficient fuel consumption range. Through the layered coupling of the dual-layer architecture, a balance between stability and power responsiveness is achieved, meeting the requirements of rapid dynamic response and optimal overall system energy efficiency.

[0056] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0057] Figure 1This is a schematic diagram illustrating the application scenario of the loader energy management and control method provided in this application, such as... Figure 1 As shown, this application scenario includes: a vehicle controller 101 and multiple subsystems 102.

[0058] Specifically, the vehicle controller 101 collects operating parameters uploaded by multiple subsystems 102, generates a reference power generation command based on battery parameters and the power threshold in the constant temperature closed-loop control architecture, inputs the reference power generation command and power parameters into the power correction architecture to generate a power generation command, and controls the range extender to output the corresponding power generation according to the power generation command.

[0059] Figure 2 Flowchart of the loader energy management control method provided in this application Figure 1 ,like Figure 2 As shown, the method includes:

[0060] S201: Obtain the loader's operating parameters, including battery parameters and power parameters.

[0061] Specifically, the loader's vehicle controller collects the operating parameters reported by each subsystem in real time through the vehicle's CAN bus. The collection period is set to 10ms. After each collection period, the parameters are updated and cached in the VCU's internal register.

[0062] In this embodiment, the battery parameter is the State of Charge (SOC) of the power battery, which is used to characterize the percentage of the battery's remaining capacity relative to its rated capacity.

[0063] In this embodiment, the power parameters include the total power demand of the vehicle, the real-time power generation of the range extender, and the maximum discharge power of the battery, which respectively reflect the vehicle load demand, the current output capacity of the range extender, and the instantaneous discharge limit of the power battery.

[0064] S202: Generate a reference power generation command based on battery parameters and the power threshold in the constant temperature closed-loop control architecture.

[0065] Specifically, the real-time battery SOC is compared with multiple pre-calibrated power thresholds to determine the current power range of the SOC, and the corresponding benchmark power output command is output according to the preset mapping relationship between the range and the power output.

[0066] In this embodiment, the isothermal closed-loop control architecture refers to an upper-level control closed loop that takes the battery SOC as the controlled object and aims to maintain the SOC within a target range.

[0067] In this embodiment, the power threshold includes an upper limit threshold, a lower limit threshold, and multiple sub-interval division thresholds between the upper and lower limit thresholds. These thresholds are predetermined through bench testing and vehicle calibration and stored in the calibration parameter table of the VCU.

[0068] S203: Generates a power generation command by combining the reference power generation command with the power parameter input power correction architecture.

[0069] Specifically, using the reference power generation command output from the upper-level constant temperature closed loop as the initial value, the power parameters such as the total power demand of the vehicle, the maximum discharge power of the battery, and the real-time power generation of the range extender are input into the lower-level power correction logic for real-time calculation. Based on the power supply and demand difference, it is determined whether to enter the power follow mode to adjust the reference power upward, and the actual power generation command is output.

[0070] In this embodiment, the power correction architecture refers to the lower-level load power following the dynamic correction closed loop. Its function is to temporarily break through the constant temperature reference power limit when the vehicle load demand exceeds the current combined supply capacity of the battery and range extender, so that the range extender can increase power to make up the difference and ensure sufficient operating power.

[0071] In this embodiment, the power generation command is a power setting value issued to the range extender for execution.

[0072] S204: Control the range extender to output the corresponding power output according to the power output command.

[0073] Specifically, the VCU sends the generated power output command to the range extender controller via the CAN bus. The range extender controller calculates the target engine speed and generator torque based on the target power value, and sends speed control commands to the engine controller and torque control commands to the generator controller respectively. Through closed-loop regulation, the actual output power of the range extender tracks the power output command.

[0074] In this embodiment, the range extender consists of an engine and a generator coaxially connected power generation unit. The power generation is adjusted by changing the engine throttle opening to adjust the output torque and by changing the generator excitation current or stator current to adjust the electromagnetic load, so that the actual power generation is consistent with the command value.

[0075] As can be seen from the above embodiments, by acquiring the battery parameters and power parameters of the loader, a reference power generation command is generated based on the battery parameters and the power threshold in the constant temperature closed-loop control architecture. This command, along with the power parameter input power correction architecture, generates a power generation command and controls the range extender to output the corresponding power generation. By constructing a dual-closed-loop collaborative control architecture of constant temperature closed-loop and power correction, the problems of a single constant temperature control strategy being unable to respond to the instantaneous peak load of the loader in digging operations and failing to meet the requirements of heavy-load operations, as well as the problems of a single power following control strategy leading to frequent high-rate charging and discharging of the battery, significant reduction in cycle life, and the range extender deviating from the efficient fuel consumption range, are solved. Through the layered coupling of the dual-layer architecture, a balance between stability and power responsiveness is achieved, meeting the requirements of rapid dynamic response and optimal overall system energy efficiency.

[0076] In one embodiment of this application, step S202 includes:

[0077] S2021: Compare battery parameters with power thresholds.

[0078] Specifically, the VCU compares the battery SOC value read at the current sampling time with the upper limit threshold, the lower limit threshold, and the boundary threshold of each sub-interval in sequence. It determines which preset power range the SOC falls into through conditional judgment statements and outputs the interval identification signal.

[0079] In this embodiment, the comparison adopts a successive comparison method. First, it is determined whether the value is higher than the upper limit threshold, then whether the value is lower than the lower limit threshold, and finally, it is determined which sub-interval it belongs to, so as to ensure that each SOC value uniquely corresponds to a interval classification result.

[0080] S2022: If the battery parameters are greater than the upper limit of the power threshold, the reference power generation is determined to be zero, and the range extender is controlled to maintain idle speed.

[0081] Specifically, when the SOC range judgment result is higher than the upper limit threshold, the VCU outputs a reference power generation command with a value of 0 to the range extender, and at the same time sends an idle speed operation command to the engine controller, so that the engine keeps running at the minimum stable speed but does not drive the generator to generate electricity, and the power battery alone undertakes the power supply of the whole vehicle.

[0082] In this embodiment, idling refers to the operating state in which the engine maintains the lowest stable speed, the generator excitation current is zero, and the range extender does not output electrical power. In idling, the range extender does not participate in energy supply and only remains in standby to shorten the response time for starting power generation.

[0083] S2023: If the battery parameters are less than the lower limit of the power threshold, the reference power generation will be determined as the target power generation of the range extender.

[0084] Specifically, when the SOC range judgment result is below the lower limit threshold, the VCU sets the reference power generation command to the rated maximum power generation of the range extender, so that the range extender operates at full power and replenishes the power battery.

[0085] In this embodiment, the target power output of the range extender refers to the maximum power output that the range extender can continuously output under the combined constraints of the engine's optimal fuel consumption curve and the generator's rated power.

[0086] The maximum power generation value is pre-calibrated through range extender bench performance testing and serves as the power setting value for full-power power generation mode.

[0087] S2024: If the battery parameters are between the upper and lower thresholds, the corresponding reference power generation is determined based on the sub-interval in which the battery parameters are located.

[0088] Specifically, when the SOC is in the middle range between the upper and lower thresholds, it is determined which sub-range the SOC falls into, and the corresponding pre-calibrated power generation value of the sub-range is retrieved as the benchmark power generation output. The lower the SOC, the larger the benchmark power generation value.

[0089] In this embodiment, a sub-interval refers to a series of continuous and non-overlapping power segments that are further divided between the upper and lower thresholds based on the SOC difference. Each sub-interval maps to a fixed benchmark power generation value, forming a stepped SOC-power correspondence.

[0090] As can be seen from the above embodiments, by comparing the battery parameters with the power threshold in three stages: when the battery parameters are greater than the upper threshold, the range extender stops generating power and maintains idle speed; when the battery parameters are less than the lower threshold, the range extender generates power at full power; and when the battery parameters are between the upper and lower limits, the corresponding power generation is determined according to the sub-range of the SOC. This controls the SOC fluctuation within the range, avoids overcharging and discharging of the battery, prevents the range extender from jumping between extreme power generation states, and improves the stability of system operation.

[0091] Figure 3 Flowchart of the loader energy management control method provided in this application Figure 2 ,like Figure 3 As shown, step S2024 includes:

[0092] S301: Obtain the deviation between battery parameters and the reference charge value.

[0093] Specifically, the SOC value corresponding to the last time the reference power generation was switched is used as the power reference value for latching. The SOC value collected in real time at the current time is subtracted from the latched power reference value to calculate the difference, which is the SOC deviation.

[0094] In this embodiment, the power reference value refers to the SOC anchor point value corresponding to the current level of the benchmark power generation. Whenever the benchmark power generation changes level, the SOC value at the moment of the change is latched as a new power reference value, which is used as a benchmark reference for hysteresis judgment.

[0095] S302: Determine whether the deviation exceeds the preset range of power hysteresis change.

[0096] Specifically, the absolute value of the calculated SOC deviation is compared with a preset power hysteresis threshold. If the absolute value of the deviation is less than or equal to the hysteresis threshold, it is determined that the power hysteresis change range has not been exceeded; if the absolute value of the deviation is greater than the hysteresis threshold, it is determined that the power hysteresis change range has been exceeded.

[0097] In this embodiment, the power hysteresis variation range is a symmetrical range formed by extending a fixed SOC percentage in both the positive and negative directions from the power reference value. The width of the range is determined by the hysteresis threshold.

[0098] Optionally, the power hysteresis range can be set to ±5% of the reference value.

[0099] S303: If the deviation does not exceed the range of hysteresis change in power, the power generation corresponding to the power reference value shall be determined as the benchmark power generation.

[0100] Specifically, when the absolute value of the SOC deviation is less than or equal to the hysteresis threshold, the current benchmark power generation level remains unchanged, and the power generation value corresponding to the current power reference value is used for output without level switching, until the SOC fluctuation exceeds the boundary of the hysteresis interval.

[0101] S304: If the deviation exceeds the range of hysteresis change in power, the corresponding reference power generation will be re-determined based on the sub-range in which the battery parameters are located.

[0102] Specifically, when the absolute value of the SOC deviation is greater than the hysteresis threshold, it is determined that the SOC has deviated from the power range corresponding to the current level. The sub-interval judgment logic is re-executed, the benchmark power generation level is updated according to the sub-interval that the current SOC actually falls into, and the current SOC value is locked as a new power reference value, and the next hysteresis judgment cycle begins.

[0103] As can be seen from the above embodiments, by obtaining the deviation between the battery parameters and the reference value of the charge, it is determined whether the preset charge hysteresis change range is exceeded. If it is not exceeded, the current power generation is maintained. If it is exceeded, the reference power generation is re-determined according to the sub-range. The introduction of the charge hysteresis range suppresses the frequent adjustment of the range extender caused by small fluctuations in SOC. It avoids the frequent switching of the range extender's operating conditions and vehicle vibration caused by the continuous adjustment of the power generation due to small changes in SOC, improves the stability and anti-interference ability of the control system, and extends the service life of the range extender.

[0104] In one embodiment of this application, step S203 includes:

[0105] S2031: Calculate the difference between the vehicle's required power and the sum of the battery's discharge power and the range extender's real-time power generation.

[0106] Specifically, within each control cycle, the total power demand of the vehicle collected in real time is used as the minuend, and the maximum discharge power of the battery is added to the real-time power generation power of the range extender to obtain the current total power supply capacity as the subtrahend, and the power difference is calculated.

[0107] In this embodiment, the power difference reflects the surplus or deficit of the current vehicle load relative to the total power supply capacity of the system.

[0108] In this embodiment, a positive difference indicates that the vehicle's power demand exceeds the combined supply capacity of the battery's maximum discharge and the range extender's current power generation, resulting in a power gap; a negative difference indicates that the current power supply capacity is sufficient to cover the vehicle's demand, and the power battery has surplus capacity to absorb excess energy.

[0109] S2032: When the difference is positive and exceeds the preset power regulation hysteresis range, enter the power follow mode and adjust the power generation command to the vehicle's required power minus the battery discharge power.

[0110] Specifically, when the calculated power difference is positive and the value of the difference is greater than the preset power regulation hysteresis upper limit threshold, the VCU determines that the current load has exceeded the power supply capacity in constant temperature mode, triggers the switch to power following mode, and recalculates the power generation command as the difference between the vehicle's required power and the battery's maximum discharge power, so that the power generated by the range extender makes up for the load gap.

[0111] In this embodiment, the power regulation hysteresis range is a positive and negative power band centered on the zero difference point, used to prevent small power fluctuations from causing the range extender to frequently switch between constant temperature mode and power follow mode.

[0112] In this embodiment, the power follow mode refers to the operating mode in which the power generation of the range extender is dynamically adjusted according to the power demand of the vehicle, with the goal of making up for the power supply gap of the battery.

[0113] S2033: When the difference is negative or within the preset power regulation hysteresis range, maintain the power generation command unchanged.

[0114] Specifically, when the power difference is negative, or when the difference is positive but the value does not exceed the upper limit threshold of power regulation hysteresis, the VCU determines that the current power supply capacity is sufficient or there is only a slight fluctuation. There is no need to trigger mode switching, and the reference power output command of the upper constant temperature closed loop is maintained. The range extender maintains the current power output operation.

[0115] As can be seen from the above embodiments, by calculating the difference between the sum of the vehicle's required power, the battery's discharge power, and the range extender's real-time power generation, when the difference is positive and exceeds the preset power adjustment hysteresis range, the power following mode is entered, and the power generation command is adjusted to the vehicle's required power minus the battery's discharge power; when the difference is negative or within the hysteresis range, the current power generation remains unchanged, thus constructing a power following correction mechanism and a power adjustment hysteresis range to prevent small power fluctuations from causing frequent switching of the range extender's operating conditions. When the required power exceeds the current power supply capacity, power following is triggered, realizing power coordination and energy management between the power battery and the range extender. This ensures power supply under peak loads and avoids increased fuel consumption caused by frequent load changes in the range extender.

[0116] Figure 4 Flowchart of the loader energy management control method provided in this application Figure 3 ,like Figure 4 As shown, the method also includes:

[0117] S401: Identify the loader's operating conditions based on operating parameters.

[0118] Specifically, the VCU extracts multiple operating parameter features, inputs these features into a pre-trained working condition classification logic, and outputs the current working condition category of the loader by combining multiple conditions.

[0119] In this embodiment, the characteristic quantities of the operating parameters include, but are not limited to, the average and fluctuation range of the vehicle's required power, the working pressure of the hydraulic system, the speed of the travel motor, the displacement of the boom cylinder, and the bucket tilting angle.

[0120] In this embodiment, the working condition refers to the different working stages of the loader in the working cycle, including but not limited to digging and impact working condition, fully loaded transfer working condition, unloaded driving working condition and idling standby working condition. Each type of working condition corresponds to different load characteristics and power demand patterns.

[0121] S402: In response to the operating conditions meeting the preset target operating conditions, determine the control parameter adjustment strategy based on the target operating conditions.

[0122] Specifically, the identified current operating condition is matched with a preset list of target operating conditions. If the match is successful, the control parameter adjustment scheme corresponding to the target operating condition is retrieved from the operating condition parameter mapping table built into the VCU.

[0123] The adjustment plan records parameters including, but not limited to, the power threshold offset, the reference power correction, and the power hysteresis range adjustment.

[0124] In this embodiment, the target operating condition refers to a predefined specific operating condition that requires differentiated adjustment of control parameters, typically an operating condition whose load characteristics differ significantly from those of the conventional operating condition.

[0125] In this embodiment, the control parameter adjustment strategy refers to the correction rules for key control parameters such as constant temperature range, reference power, and hysteresis range under specific operating conditions.

[0126] S403: Adjust the power generation according to the control parameter adjustment strategy to obtain the corrected power generation.

[0127] Specifically, the various correction values ​​in the control parameter adjustment strategy are superimposed on the current basic control parameters to form temporary control parameters adapted to the current operating conditions. The calculation process of the isothermal closed loop and power following closed loop is re-executed with the temporary parameters, and the power generation command after the operating condition correction is sent to the range extender for execution.

[0128] As can be seen from the above embodiments, by adding an adaptive parameter adjustment mechanism based on operating condition identification before the range extender's power output, the typical operating conditions of the loader are identified according to the operating parameters. When the target operating condition is met, the control parameter adjustment strategy is determined according to the corresponding operating condition, and the power generation is corrected. This achieves precise matching between the energy management control strategy and the real-time operating conditions of the loader. For the instantaneous peak power demand of the digging and impact conditions, the power following response range is expanded and the constant temperature reference power is temporarily increased to ensure sufficient power for heavy-load operations. For the full-load transfer conditions, standard parameters are maintained to ensure that the range extender operates in the high-efficiency range, thus improving the adaptability of the control strategy to the loader's strong impact and cyclic intermittent operating conditions.

[0129] Figure 5 Flowchart of the loader energy management control method provided in this application Figure 4 ,like Figure 5 As shown, the method also includes:

[0130] S501: The required power of the whole vehicle is filtered through a filtering algorithm to remove instantaneous peak power.

[0131] Specifically, before inputting the vehicle demand power into the power correction architecture, the original demand power signal is sent to a digital filter for smoothing. A sliding window average filtering algorithm is used to calculate the arithmetic mean of the demand power values ​​for N consecutive sampling periods. The smoothed power value after filtering is used as the input to the power correction stage.

[0132] In this embodiment, the filtering algorithm uses first-order inertial filtering or moving average filtering, which is used to attenuate or eliminate the short-duration instantaneous spike components in the original demand power signal.

[0133] In this embodiment, instantaneous peak power refers to a short-duration power pulse with a duration less than the width of the filter window.

[0134] S502: Set a switching delay at the switching boundary between constant temperature control mode and pre-power follow mode, and configure the rise and fall slope constraint according to the range extender power adjustment.

[0135] Specifically, when the mode switching conditions are met, a switching delay timer is started. During the delay period, the switching conditions are continuously checked. If the conditions are still met after the delay, the mode switching is performed. At the same time, when the power generation command changes, the rate of change of the command is limited, and the power is transitioned to the target power value according to the preset rising and falling slopes.

[0136] In this embodiment, the switching delay refers to the time delay introduced between the triggering of the switching condition and the actual execution of the switching, which is used to filter out short-term interference.

[0137] In this embodiment, the gradient constraint refers to the maximum allowable change in the power generation command per unit time, i.e., the upper limit of the power increase rate and decrease rate, which is used to ensure the smooth power adjustment process of the range extender.

[0138] As can be seen from the above embodiments, by adding anti-vibration and anti-interference processing mechanisms before the power command output, and by filtering the vehicle's required power through a filtering algorithm to suppress instantaneous peak power interference during digging operations, the range extender is prevented from frequently increasing or decreasing load due to misjudgment of instantaneous peak power. A switching delay is set at the switching boundary between constant temperature control mode and power following mode, and the rise and fall slope constraint is configured according to the range extender power adjustment to constrain the smoothness of range extender power change from the rate level.

[0139] Figure 6 This is a schematic diagram of the structure of the loader energy management control device provided in this application, as shown below. Figure 6 As shown, the loader energy management control device 60 provided in this embodiment includes: an acquisition module 601, a first generation module 602, a second generation module 603, and a control module 604.

[0140] The acquisition module 601 is used to acquire the operating parameters of the loader, including battery parameters and power parameters.

[0141] The first generation module 602 is used to generate a reference power generation command based on the battery parameters and the power threshold in the constant temperature closed-loop control architecture.

[0142] The second generation module 603 is used to input the reference power generation command and power parameters into the power correction architecture to generate the power generation command.

[0143] The control module 604 is used to control the range extender to output the corresponding power generation according to the power generation command.

[0144] In one embodiment of this application, the first generation module 602 includes:

[0145] The comparison unit is used to compare battery parameters with a power threshold.

[0146] The first determining unit is used to determine that the reference power generation is zero if the battery parameters are greater than the upper limit of the power threshold, and to control the range extender to maintain an idling state.

[0147] The second determining unit is used to determine the reference power generation as the target power generation of the range extender if the battery parameters are less than the lower limit threshold of the power generation threshold.

[0148] The third determining unit is used to determine the corresponding reference power generation based on the sub-interval in which the battery parameters are located if the battery parameters are between the upper and lower thresholds.

[0149] In one embodiment of this application, the third determining unit includes:

[0150] The acquisition sub-unit is used to obtain the deviation between battery parameters and the reference value of battery capacity.

[0151] The judgment subunit is used to determine whether the deviation exceeds the preset range of electrical hysteresis change.

[0152] The first determining subunit is used to determine the power generation corresponding to the power reference value as the benchmark power generation if the deviation does not exceed the power hysteresis change range.

[0153] The second determining sub-unit is used to redetermine the corresponding reference power generation based on the sub-interval in which the battery parameters are located if the deviation exceeds the power hysteresis change range.

[0154] In one embodiment of this application, the second generation module 603 includes:

[0155] The calculation unit is used to calculate the difference between the vehicle's required power and the sum of the battery discharge power and the range extender's real-time power generation.

[0156] The first control unit is used to enter the power following mode when the difference is positive and exceeds the preset power adjustment hysteresis range, and adjust the power generation command to the vehicle's required power minus the battery discharge power.

[0157] The second control unit is used to maintain the power generation command unchanged when the difference is negative or within the preset power regulation hysteresis range.

[0158] In one embodiment of this application, the loader energy management control device 60 further includes:

[0159] The identification module is used to identify the operating conditions of the loader based on the operating parameters.

[0160] The determination module is used to determine the control parameter adjustment strategy based on the preset target operating conditions in response to the operating conditions.

[0161] The correction module is used to correct the power generation based on the control parameter adjustment strategy to obtain the corrected power generation.

[0162] In one embodiment of this application, the loader energy management control device 60 further includes:

[0163] The filtering module is used to filter the vehicle's required power through a filtering algorithm to remove instantaneous power spikes.

[0164] The configuration module is used to set the switching delay at the switching boundary between the constant temperature control mode and the pre-power follow mode, and to adjust the rise and fall slope constraints according to the range extender power.

[0165] The loader energy management control device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0166] Figure 7 A schematic diagram of the structure of the electronic device provided in this application. Figure 7 As shown, the electronic device 70 provided in this embodiment includes at least one processor 701 and a memory 702. Optionally, the electronic device 70 further includes a communication component 703. The processor 701, memory 702, and communication component 703 are connected via a bus.

[0167] In the specific implementation process, at least one processor 701 executes computer execution instructions stored in memory 702, causing at least one processor 701 to execute the above-described loader energy management control method.

[0168] The specific implementation process of processor 701 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0169] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0170] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0171] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0172] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described loader energy management control method.

[0173] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described loader energy management control method.

[0174] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0175] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0176] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0177] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0178] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0179] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0180] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0181] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. A loader energy management and control method, characterized in that, include: Obtain the loader's operating parameters, including battery parameters and power parameters; Based on the battery parameters and the charge threshold in the constant temperature closed-loop control architecture, a reference power generation command is generated. The reference power generation command and the power parameters are input into the power correction architecture to generate a power generation command. The range extender is controlled to output the corresponding power output according to the power output command.

2. The method according to claim 1, characterized in that, The step of generating a reference power generation command based on the battery parameters and the power threshold in the constant temperature closed-loop control architecture includes: The battery parameters are compared with the power threshold. If the battery parameters are greater than the upper limit of the power threshold, the reference power generation is determined to be zero, and the range extender is controlled to maintain an idling state. If the battery parameters are less than the lower limit of the power threshold, then the reference power generation is determined as the target power generation of the range extender. If the battery parameters are between the upper limit threshold and the lower limit threshold, the corresponding reference power generation is determined based on the sub-interval in which the battery parameters are located.

3. The method according to claim 2, characterized in that, The step of determining the corresponding reference power generation based on the sub-interval in which the battery parameters are located includes: Obtain the deviation between the battery parameters and the reference battery level; Determine whether the deviation exceeds the preset range of power hysteresis change; If the deviation does not exceed the power hysteresis change range, the power generation power corresponding to the power reference value is determined as the benchmark power generation power. If the deviation exceeds the power hysteresis change range, the corresponding reference power generation is re-determined based on the sub-range in which the battery parameters are located.

4. The method according to claim 1, characterized in that, The step of generating a power generation command by inputting the reference power generation command and the power parameters into the power correction architecture includes: Calculate the difference between the vehicle's required power and the sum of the battery's discharge power and the range extender's real-time power generation. When the difference is positive and exceeds the preset power regulation hysteresis range, the power follow mode is entered, and the power generation command is adjusted to the vehicle's required power minus the battery discharge power. When the difference is negative or within the preset power regulation hysteresis range, the power generation command remains unchanged.

5. The method according to claim 1, characterized in that, Before controlling the range extender to output the corresponding power generation according to the power generation command, the method further includes: Identify the loader's operating conditions based on its operating parameters; In response to the operating conditions meeting the preset target operating conditions, a control parameter adjustment strategy is determined based on the target operating conditions; The power generation is corrected according to the control parameter adjustment strategy to obtain the corrected power generation.

6. The method according to any one of claims 1 to 5, characterized in that, Before controlling the range extender to output the corresponding power generation according to the power generation command, the method further includes: The power demand of the whole vehicle is filtered by a filtering algorithm to remove instantaneous peak power. Set a switching delay at the switching boundary between the constant temperature control mode and the pre-power follow mode, and configure the rise and fall slope constraints according to the range extender power adjustment.

7. A loader energy management control device, characterized in that, include: The acquisition module is used to acquire the operating parameters of the loader, including battery parameters and power parameters; The first generation module is used to generate a reference power generation command based on the battery parameters and the power threshold in the constant temperature closed-loop control architecture. The second generation module is used to generate a power generation command by combining the reference power generation command with the power parameter input power correction architecture. The control module is used to control the range extender to output the corresponding power generation according to the power generation command.

8. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the loader energy management control method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the loader energy management control method as described in any one of claims 1 to 6.

10. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the loader energy management control method according to any one of claims 1 to 6.

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