Energy feedback control method and device for a working machine

Abstract

The application relates to the technical field of engineering machinery, and discloses an energy feedback control method and device for engineering machinery, which comprises the following steps: calculating the reference deceleration corresponding to the engineering machinery according to the real-time operation parameters of the engineering machinery in the operation process and the energy system parameters corresponding to the engineering machinery; the reference deceleration comprises a maximum feedback deceleration and / or a required deceleration; when it is detected that the engineering machinery enters a sliding state, determining the target deceleration required by the engineering machinery according to the reference deceleration and a feedback braking strategy; and calculating braking parameters according to the target deceleration to control the engineering machinery to perform an electric braking operation, so as to control the sliding stop of the engineering machinery. It can be seen that the application can improve the determination flexibility and accuracy of the braking parameters of the engineering machinery, thereby improving the energy utilization rate of the engineering machinery and reducing the braking frequency of the engineering machinery, so as to reduce the operation and maintenance cost of the engineering machinery.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to an energy feedback control method and device for engineering machinery. Background Technology

[0002] Construction machinery (such as loaders, excavators, and forklifts) generally face complex and variable working conditions during construction operations, including typical scenarios such as port loading and unloading, mine stripping, and transportation in muddy sites. The core operating cycle of such equipment usually includes multiple stages such as digging, lifting, fully loaded transportation, unloading, and empty return, accompanied by frequent starting, acceleration, deceleration, and stopping operations.

[0003] In existing technologies, the control strategies for construction machinery mainly rely on the controller to calculate and output braking parameters such as the target braking torque, and on the driver's subjective evaluation to confirm the torque value. However, these power parameters can only be adapted to a single specific application scenario; when the construction machinery switches to other working conditions, the system still outputs power parameters according to fixed parameters, causing the driver to frequently use the brakes in other unsuitable scenarios. This defect not only wastes energy but also accelerates the wear and tear on critical components such as brakes, brake discs, and tires.

[0004] Therefore, it is particularly important to propose a technical solution that can improve the flexibility and accuracy of determining the braking parameters of construction machinery, thereby improving the energy utilization rate of construction machinery and reducing its operation and maintenance costs. Summary of the Invention

[0005] This invention provides an energy feedback control method and device for construction machinery, which can improve the flexibility and accuracy of determining the braking parameters of construction machinery, thereby improving the energy utilization rate of construction machinery and reducing the number of braking operations, thus reducing the operation and maintenance costs of construction machinery.

[0006] To address the aforementioned technical problems, the first aspect of this invention discloses an energy feedback control method for engineering machinery, the method comprising: The real-time operating parameters of the construction machinery during operation and the corresponding energy system parameters of the construction machinery are obtained. Based on the real-time operating parameters and the energy system parameters, the reference deceleration corresponding to the construction machinery is calculated; wherein, the reference deceleration includes the maximum feedback deceleration and / or the demand deceleration; When the construction machinery is detected to have entered a skidding state, the target deceleration that the construction machinery needs to achieve is determined based on the reference deceleration and the pre-set regenerative braking strategy. Calculate the braking parameters corresponding to the engineering machinery based on the target deceleration; Based on the braking parameters, the construction machinery is controlled to perform electric braking operation to bring the construction machinery to a stop.

[0007] As an optional implementation, in the first aspect of the present invention, the real-time operating parameters include real-time vehicle mass and real-time speed; and the energy system parameters include maximum feedback power. The step of calculating the reference deceleration of the construction machinery based on the real-time operating parameters and the energy system parameters includes: Calculate the maximum feedback deceleration of the construction machinery based on the maximum feedback power, the vehicle mass, and the real-time speed; and / or, Obtain the relationship between the desired gliding distance and predetermined gliding parameters; wherein, the relationship between gliding parameters is the correspondence between gliding speed and gliding distance; Based on the expected gliding distance, the gliding parameter relationship, and the real-time speed, the required deceleration of the engineering machinery is calculated.

[0008] As an optional implementation, in the first aspect of the present invention, calculating the required deceleration of the engineering machinery based on the desired coasting distance, the coasting parameter relationship, and the real-time speed includes: The target gliding distance is determined based on the desired gliding distance and the preset safety distance; Find the target gliding speed that matches the target gliding distance from the gliding parameter relationship; Calculate the required deceleration of the engineering machinery based on the real-time speed, the target gliding speed, and the target gliding distance. The required deceleration is the deceleration that the engineering machinery needs to achieve to come to a stop within the target sliding distance.

[0009] As an optional implementation, in the first aspect of the present invention, the real-time operation parameters further include real-time distance; wherein, the real-time distance is the distance between the engineering machinery and the target operation position or obstacle; The method further includes: When the real-time distance is detected to be less than or equal to the determined coasting prompt distance, a coasting prompt message is sent to the driver; wherein, the coasting prompt distance is a distance determined based on the target coasting distance or the expected coasting distance; the coasting prompt message is used to prompt the driver to control the construction machinery to stop accelerating; When the construction machinery is detected to have stopped accelerating, it is determined that the construction machinery has entered a coasting state.

[0010] As an optional implementation, in the first aspect of the invention, determining the target deceleration required by the engineering machinery based on the reference deceleration and a pre-set regenerative braking strategy includes: The maximum feedback deceleration is compared with the obtained comfort deceleration threshold, and the minimum value between the maximum feedback deceleration and the comfort deceleration threshold is determined as the candidate deceleration. The candidate deceleration is compared with the required deceleration, and the minimum value between the candidate deceleration and the required deceleration is determined as the target deceleration.

[0011] As an optional implementation, in the first aspect of the present invention, the method further includes: When the target deceleration is the candidate deceleration, a braking prompt message is sent to the driver; wherein, the braking prompt message is used to prompt the driver to control the construction machinery to perform auxiliary braking operation, so as to assist in controlling the construction machinery to stop sliding within the target sliding distance.

[0012] As an optional implementation, in the first aspect of the present invention, the method further includes: The detection process checks whether the engineering machinery meets any of the preset coasting exit conditions; wherein, all the coasting exit conditions include at least one of the following: automatic exit conditions, active exit conditions, and fault exit conditions; When it is detected that the engineering machinery meets any of the aforementioned coasting exit conditions, the engineering machinery is controlled to stop performing the electric braking operation.

[0013] A second aspect of the present invention discloses an energy feedback control device for engineering machinery, the device comprising: The acquisition module is used to acquire the real-time operating parameters of the construction machinery during the operation process and the corresponding energy system parameters of the construction machinery; The calculation module is used to calculate the reference deceleration corresponding to the construction machinery based on the real-time operating parameters and the energy system parameters; wherein, the reference deceleration includes the maximum feedback deceleration and / or the demand deceleration; The determination module is used to determine the target deceleration that the construction machinery needs to achieve based on the reference deceleration and the pre-set regenerative braking strategy when the construction machinery is detected to have entered a skidding state. The calculation module is also used to calculate the braking parameters corresponding to the engineering machinery based on the target deceleration; The control module is used to control the construction machinery to perform electric braking operation according to the braking parameters, so as to control the construction machinery to stop.

[0014] As an optional implementation, in a second aspect of the invention, the real-time operating parameters include real-time vehicle mass and real-time speed; and the energy system parameters include maximum feedback power. The specific method by which the calculation module calculates the reference deceleration of the construction machinery based on the real-time operating parameters and the energy system parameters includes: Calculate the maximum feedback deceleration of the construction machinery based on the maximum feedback power, the vehicle mass, and the real-time speed; and / or, Obtain the relationship between the desired gliding distance and predetermined gliding parameters; wherein, the relationship between gliding parameters is the correspondence between gliding speed and gliding distance; Based on the expected gliding distance, the gliding parameter relationship, and the real-time speed, the required deceleration of the engineering machinery is calculated.

[0015] As an optional implementation, in a second aspect of the invention, the calculation module calculates the required deceleration of the engineering machinery based on the desired coasting distance, the coasting parameter relationship, and the real-time speed in a specific manner, including: The target gliding distance is determined based on the desired gliding distance and the preset safety distance; Find the target gliding speed that matches the target gliding distance from the gliding parameter relationship; Calculate the required deceleration of the engineering machinery based on the real-time speed, the target gliding speed, and the target gliding distance. The required deceleration is the deceleration that the engineering machinery needs to achieve to come to a stop within the target sliding distance.

[0016] As an optional implementation, in a second aspect of the present invention, the real-time operation parameters further include real-time distance; wherein the real-time distance is the distance between the engineering machinery and the target operation position or obstacle; The device further includes: The first prompting module is used to send a coasting prompt message to the driver when the detected real-time distance is less than or equal to a determined coasting prompt distance; wherein, the coasting prompt distance is a distance determined based on the target coasting distance or the expected coasting distance; the coasting prompt message is used to prompt the driver to control the construction machinery to stop accelerating; The determining module is also used to determine that the construction machinery has entered a gliding state when it is detected that the construction machinery has stopped accelerating.

[0017] As an optional implementation, in a second aspect of the invention, the determining module determines the specific method by which the engineering machinery needs to achieve the target deceleration based on the reference deceleration and a pre-set regenerative braking strategy, including: The maximum feedback deceleration is compared with the obtained comfort deceleration threshold, and the minimum value between the maximum feedback deceleration and the comfort deceleration threshold is determined as the candidate deceleration. The candidate deceleration is compared with the required deceleration, and the minimum value between the candidate deceleration and the required deceleration is determined as the target deceleration.

[0018] As an optional implementation, in a second aspect of the invention, the apparatus further includes: The second prompting module is used to send a braking prompt message to the driver when the target deceleration is the candidate deceleration; wherein the braking prompt message is used to prompt the driver to control the construction machinery to perform auxiliary braking operation, so as to assist in controlling the construction machinery to stop sliding within the target sliding distance.

[0019] As an optional implementation, in a second aspect of the invention, the apparatus further includes: The detection module is used to detect whether the engineering machinery meets any of the preset coasting exit conditions; wherein, all the coasting exit conditions include at least one of the following: automatic exit conditions, active exit conditions, and fault exit conditions; The control module is also used to control the engineering machinery to stop performing the electric braking operation when it is detected that the engineering machinery meets any of the coasting exit conditions.

[0020] A third aspect of the present invention discloses another energy feedback control device for engineering machinery, the device comprising: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute some or all of the steps of the energy feedback control method for engineering machinery disclosed in the first aspect of the present invention.

[0021] The fourth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute some or all of the steps of the energy feedback control method for engineering machinery disclosed in the first aspect of the present invention.

[0022] Compared with the prior art, the present invention has the following beneficial effects: In this invention, a reference deceleration for the construction machinery can be calculated based on the real-time operating parameters of the construction machinery during operation and the corresponding energy system parameters of the construction machinery. The reference deceleration includes the maximum regenerative deceleration and / or the required deceleration. When the construction machinery is detected to enter a coasting state, the target deceleration required by the construction machinery is determined based on the reference deceleration and the regenerative braking strategy. Braking parameters are calculated based on the target deceleration to control the construction machinery to perform electric braking operation, thereby controlling the construction machinery to stop coasting. As can be seen, implementing this invention enables the calculation of reference decelerations such as the maximum regenerative deceleration and / or required deceleration of the construction machinery based on the real-time operating parameters and energy system parameters of the machinery during operation. When the machinery enters a coasting state, the target deceleration required by the machinery is determined based on the reference deceleration and the regenerative braking strategy. Braking parameters are then calculated based on the target deceleration to control the machinery to perform electric braking operations, thereby bringing the machinery to a stop. This improves the flexibility and accuracy of determining the braking parameters of the machinery. Furthermore, it recovers the kinetic energy of the machinery under deceleration conditions through electric braking operations, significantly reducing the machinery's power consumption. Simultaneously, the control logic prioritizing electric braking greatly reduces the frequency and intensity of mechanical braking, thereby improving the energy utilization rate of the machinery while reducing the number of braking operations. This reduces slippage and frictional losses of key components such as tires and brakes under rapid deceleration and frequent braking conditions, effectively extending the service life of key components and reducing the operating and maintenance costs of the machinery. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart illustrating an energy feedback control method for engineering machinery disclosed in an embodiment of the present invention; Figure 2 This is a schematic flowchart of another energy feedback control method for engineering machinery disclosed in an embodiment of the present invention; Figure 3 This is a schematic diagram of the architecture of an energy feedback control system for engineering machinery disclosed in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of an energy feedback control device for engineering machinery disclosed in an embodiment of the present invention; Figure 5This is a schematic diagram of the structure of another energy feedback control device for engineering machinery disclosed in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of another energy feedback control device for engineering machinery disclosed in an embodiment of the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

[0027] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0028] This invention discloses an energy feedback control method and device for construction machinery. Based on real-time operating parameters and energy system parameters of the construction machinery during operation, it calculates reference decelerations such as the maximum feedback deceleration and / or required deceleration. When the construction machinery enters a coasting state, it determines the target deceleration required by the machinery based on the reference deceleration and the feedback braking strategy. Braking parameters are then calculated based on the target deceleration to control the machinery to perform electric braking, bringing it to a stop. This improves the flexibility and accuracy of determining braking parameters. Furthermore, it recovers kinetic energy during deceleration through electric braking, significantly reducing power consumption. Simultaneously, by prioritizing electric braking, the frequency and intensity of mechanical braking are greatly reduced, thereby improving energy utilization while reducing braking frequency. This reduces slippage and friction loss of key components such as tires and brakes under rapid deceleration and frequent braking conditions, effectively extending the service life of critical components and lowering operation and maintenance costs. Detailed descriptions follow.

[0029] Example 1 Please see Figure 1 , Figure 1 This is a schematic flowchart of an energy feedback control method for engineering machinery disclosed in an embodiment of the present invention. Figure 1 The described energy feedback control method for construction machinery can be applied to an energy feedback control device for construction machinery. This device may include one of a control device, a control terminal, a control system, and a server, wherein the server can be a local server or a cloud server; this embodiment of the invention is not limited thereto. Furthermore, this method can also be applied to an energy feedback control system for construction machinery, the architecture of which can be found in [reference needed]. Figure 3 , Figure 3 This is a schematic diagram of the architecture of an energy feedback control system for engineering machinery disclosed in an embodiment of the present invention. The embodiments of the present invention are not limited thereto. Figure 1 As shown, the energy feedback control method for this engineering machinery may include the following operations: 101. Obtain real-time operating parameters of the construction machinery during operation and the corresponding energy system parameters of the construction machinery.

[0030] In this embodiment of the invention, the engineering machinery can be, for example, a loader, or other engineering machinery that requires frequent braking during operation. This embodiment of the invention does not limit the scope of the invention.

[0031] In this embodiment of the invention, optionally, the real-time operating parameters of the construction machinery during operation may include the real-time vehicle mass and the real-time speed of the construction machinery; further optionally, the real-time operating parameters may also include the real-time distance of the construction machinery; wherein, the real-time distance is the distance between the construction machinery and the target operating position or obstacle; further optionally, the target operating position may be the operating position of the construction machinery at the next operation process point during operation (e.g., the position of the material pile), which is not limited in this embodiment of the invention. Further optionally, the real-time vehicle mass of the construction machinery may be measured based on the weighing system corresponding to the construction machinery, and / or the real-time speed of the construction machinery may be determined based on the VCU (Vehicle Control Unit) corresponding to the construction machinery, and / or the real-time distance of the construction machinery may be obtained based on the lidar corresponding to the construction machinery, which is not limited in this embodiment of the invention.

[0032] In this embodiment of the invention, optionally, the energy system parameters corresponding to the construction machinery may include the maximum feedback power corresponding to the construction machinery; further optionally, the maximum feedback power may be the maximum power that the energy recovery system corresponding to the construction machinery can feed back; optionally, the energy recovery system may be a BMS (Battery Management System), which is not limited in this embodiment of the invention; it is understood that during the energy recovery process, the battery management system calculates and limits in real time the maximum charging power upper limit that the battery pack managed by the battery management system can safely accept, which is not limited in this embodiment of the invention.

[0033] 102. Calculate the reference deceleration of the construction machinery based on real-time operating parameters and energy system parameters.

[0034] In this embodiment of the invention, the reference deceleration for the construction machinery may include the maximum regenerative deceleration and / or the demand deceleration. The maximum regenerative deceleration can be the maximum vehicle deceleration rate threshold that the construction machinery can safely achieve under current conditions through the energy recovery system. The demand deceleration can be the deceleration required for the construction machinery to come to a stop within a target coasting distance.

[0035] 103. When the construction machinery is detected to have entered a coasting state, the target deceleration required by the construction machinery is determined based on the reference deceleration and the pre-set regenerative braking strategy.

[0036] In this embodiment of the invention, the regenerative braking strategy is used to evaluate the deceleration that is compatible with the energy feedback capability of the construction machinery and the actual driving conditions.

[0037] 104. Calculate the braking parameters of the engineering machinery based on the target deceleration.

[0038] In this embodiment of the invention, optionally, the braking parameters corresponding to the engineering machinery may include braking torque. Further, the braking torque may be the negative torque of the motor. This embodiment of the invention does not impose any limitations.

[0039] 105. Based on the braking parameters, control the construction machinery to perform electric braking operation in order to control the construction machinery to stop.

[0040] In this embodiment of the invention, the electric braking operation is used to recover the kinetic energy generated by the motor of the construction machinery during acceleration / deceleration to the energy recovery system corresponding to the construction machinery.

[0041] As can be seen, the method described in the embodiments of the present invention can calculate the reference deceleration, such as the maximum regenerative deceleration and / or the required deceleration, of the construction machinery based on the real-time operating parameters and energy system parameters of the construction machinery during operation. When the construction machinery enters a coasting state, the target deceleration required by the construction machinery is determined based on the reference deceleration and the regenerative braking strategy. Then, the braking parameters are calculated based on the target deceleration to control the construction machinery to perform electric braking operation so that the construction machinery can coast to a stop. This can improve the flexibility and accuracy of determining the braking parameters of the construction machinery. In addition, the kinetic energy of the construction machinery under deceleration conditions can be recovered through electric braking operation, which can significantly reduce the power consumption of the construction machinery. At the same time, through the control logic of electric braking priority, the frequency and intensity of mechanical braking are greatly reduced. This can improve the energy utilization rate of the construction machinery, reduce the number of braking operations, reduce the slippage and friction loss of key components such as tires and brakes under rapid deceleration and frequent braking conditions, effectively extend the service life of key components of the construction machinery, and reduce the operation and maintenance costs of the construction machinery.

[0042] In an optional embodiment, calculating the reference deceleration of the construction machinery based on real-time operating parameters and energy system parameters may include the following operations: Calculate the maximum regenerative deceleration of the construction machinery based on the maximum regenerative power, vehicle mass, and real-time speed; and / or, Obtain the relationship between the desired gliding distance and predetermined gliding parameters; where the gliding parameter relationship is the correspondence between gliding speed and gliding distance; Based on the expected coasting distance, the relationship between coasting parameters, and the real-time speed, calculate the required deceleration for the engineering machinery.

[0043] Optionally, the maximum regenerative deceleration of the construction machinery can be calculated based on the maximum regenerative power, vehicle mass, and real-time speed, as shown in the following formula:

[0044] in, To maximize feedback deceleration, Maximum feedback power (unit: W). Real-time velocity (unit: m / s). The total vehicle weight (unit: kg).

[0045] Optionally, the desired gliding distance can be a received preset gliding distance or a distance determined based on empirical values; this embodiment of the invention does not limit this. Further, optionally, the preset gliding distance input by the user can be received through an interactive device (such as a graphic display) corresponding to the engineering machinery; this embodiment of the invention does not limit this.

[0046] Optionally, the gliding parameter relationship can be the experimental results obtained from gliding experiments conducted on a flat road in advance, and this embodiment of the invention does not limit it; further optionally, the data form of the gliding parameter relationship can be a gliding parameter curve or a linear table, and this embodiment of the invention does not limit it.

[0047] For example, the relationship between the glide parameters can be expressed as follows:

[0048] in, This is the gliding distance. This refers to the gliding speed.

[0049] As can be seen, this optional embodiment can calculate the maximum regenerative deceleration of the construction machinery based on the maximum regenerative power, vehicle mass, and real-time speed, that is, by combining the real-time operation of the construction machinery and its energy recovery capability. It can more accurately and in real-time calculate the maximum deceleration that the construction machinery can achieve based on its energy recovery capability, thereby improving the accuracy of the maximum regenerative deceleration calculation. Furthermore, it can also calculate the required deceleration of the construction machinery based on the obtained expected coasting distance, the relationship between the preset coasting speed and coasting distance, and the real-time speed. This can more accurately calculate the deceleration required for the construction machinery to coast to a stop within a certain distance, thereby improving the accuracy of the required deceleration calculation.

[0050] In this optional embodiment, the calculation of the required deceleration of the construction machinery based on the desired coasting distance, the coasting parameter relationship, and the real-time speed may include the following operations: Determine the target gliding distance based on the desired gliding distance and the preset safety distance; Find the target gliding speed that matches the target gliding distance from the gliding parameter relationships; Calculate the required deceleration of the construction machinery based on the real-time speed, target coasting speed, and target coasting distance.

[0051] For example, the safe distance can be 1 meter, or it can be any other value. This embodiment of the invention does not limit the distance.

[0052] Optionally, the target gliding distance can be the sum of the desired gliding distance and the safe distance, but this embodiment of the invention does not limit it.

[0053] Optionally, the required deceleration of the construction machinery can be calculated based on the real-time speed, target coasting speed, and target coasting distance, as shown in the following formula:

[0054] in, Slowing down demand, For real-time speed, For the target gliding speed, The target gliding distance.

[0055] As can be seen, this optional embodiment can first determine the target sliding distance based on the expected sliding distance and the preset safety distance, then find the target sliding speed that matches the target sliding distance from the sliding parameter relationship, and then calculate the required deceleration of the construction machinery based on the real-time speed, the target sliding speed and the target sliding distance. By setting the safety distance, the reliability of the calculation of the target sliding distance of the construction machinery can be improved, and the accuracy and reliability of the calculation of the required deceleration can be further improved, which is conducive to further improving the safety of the construction machinery when sliding and stopping.

[0056] In this optional embodiment, the method may also include the following operations: When the detected real-time distance is less than or equal to the determined coasting warning distance, a coasting warning message is sent to the driver; wherein, the coasting warning distance is a distance determined based on the target coasting distance or the expected coasting distance; the coasting warning message is used to prompt the driver to control the construction machinery to stop accelerating; When the construction machinery stops accelerating, it is determined that the construction machinery has entered a coasting state.

[0057] The embodiment of the present invention does not limit the gliding prompt distance to either being greater than or equal to the target gliding distance, or being greater than or equal to the expected gliding distance.

[0058] Optionally, the driver can be given a gliding prompt message through the interactive device corresponding to the construction machinery, based on visual prompts and / or sound prompts. This embodiment of the invention does not limit the scope of the prompt.

[0059] For example, when approaching the target coasting distance or the desired coasting distance (i.e., reaching the coasting warning distance), a coasting warning message is sent to the driver through the graphic display corresponding to the construction machinery. The coasting warning message may specifically be: "Please release the accelerator pedal and pay attention to safety." This embodiment of the invention does not limit the scope of the message.

[0060] Optionally, when the driver releases the accelerator, the construction machinery is determined to have entered a coasting state; however, this embodiment of the invention does not impose any limitations on this.

[0061] As can be seen, this optional embodiment can also send a coasting prompt message to the driver when the real-time distance between the construction machinery and the target position is detected to be close to the determined coasting prompt distance, so as to prompt the driver to control the construction machinery to stop accelerating. When the construction machinery stops accelerating, it can be determined that the construction machinery has entered the coasting state. The coasting prompt message can more accurately and timely prompt the driver that the construction machinery needs to coast to a stop. It can improve the accuracy of electric braking control of construction machinery, while improving the operational safety and reliability of construction machinery.

[0062] Example 2 Please see Figure 2 , Figure 2 This is a schematic flowchart of an energy feedback control method for engineering machinery disclosed in an embodiment of the present invention. Figure 2 The described energy feedback control method for construction machinery can be applied to an energy feedback control device for construction machinery. This device may include one of a control device, a control terminal, a control system, and a server, wherein the server can be a local server or a cloud server; this embodiment of the invention is not limited thereto. Furthermore, this method can also be applied to an energy feedback control system for construction machinery, the architecture of which can be found in [reference needed]. Figure 3 , Figure 3 This is a schematic diagram of the architecture of an energy feedback control system for engineering machinery disclosed in an embodiment of the present invention. The embodiments of the present invention are not limited thereto. Figure 2 As shown, the energy feedback control method for this engineering machinery may include the following operations: 201. Obtain real-time operating parameters of the construction machinery during operation and the corresponding energy system parameters of the construction machinery.

[0063] 202. Calculate the reference deceleration of the construction machinery based on real-time operating parameters and energy system parameters.

[0064] In this embodiment of the invention, the reference deceleration includes the maximum feedback deceleration and / or the demand deceleration.

[0065] 203. When the construction machinery is detected to have entered a coasting state, the maximum feedback deceleration is compared with the obtained comfort deceleration threshold, and the minimum value between the maximum feedback deceleration and the comfort deceleration threshold is determined as the candidate deceleration.

[0066] In this embodiment of the invention, the comfortable deceleration threshold is the maximum deceleration threshold at which the driver and passengers do not experience significant forward tilting, discomfort, or psychological panic (i.e., the body remains in a comfortable state); for example, the comfortable deceleration threshold can be: 0.15g = 1.5m / The embodiments of the present invention are not limited.

[0067] 204. Compare the candidate deceleration with the required deceleration, and determine the minimum value between the candidate deceleration and the required deceleration as the target deceleration.

[0068] 205. Calculate the braking parameters of the engineering machinery based on the target deceleration.

[0069] 206. Based on the braking parameters, control the construction machinery to perform electric braking operation in order to control the construction machinery to stop.

[0070] In this embodiment of the invention, for other detailed descriptions of steps 201-202 and steps 205-206, please refer to the detailed descriptions of steps 101-102 and steps 104-105 in Embodiment 1. These will not be repeated in this embodiment of the invention.

[0071] As can be seen, the method described in the embodiments of the present invention can calculate the reference deceleration, such as the maximum regenerative deceleration and / or the required deceleration, of the construction machinery based on the real-time operating parameters and energy system parameters of the construction machinery during operation. When the construction machinery enters a coasting state, the target deceleration required by the construction machinery is determined according to the reference deceleration and the regenerative braking strategy. Then, the braking parameters are calculated based on the target deceleration to control the construction machinery to perform electric braking operation so that the construction machinery can coast to a stop. This can improve the flexibility and accuracy of determining the braking parameters of the construction machinery. In addition, the kinetic energy of the construction machinery under deceleration conditions can be recovered through electric braking operation, which can significantly reduce the power consumption of the construction machinery. At the same time, through the control logic of electric braking priority, the frequency and intensity of mechanical braking are greatly reduced, thereby improving the energy utilization rate of the construction machinery, reducing the number of braking operations, reducing the slippage and friction loss of key components such as tires and brakes under rapid deceleration and frequent braking conditions, effectively extending the service life of key components of the construction machinery, and reducing the operation and maintenance costs of the construction machinery. Furthermore, by determining the minimum value between the maximum feedback deceleration and the comfort deceleration threshold as candidate deceleration, it is possible to analyze whether the energy recovery capability during the coasting process of construction machinery is within the human comfort range. If it is within the comfort range, energy recovery is prioritized, and the maximum feedback deceleration is determined as the candidate deceleration; if it is not within the comfort range, the human comfort speed is prioritized, and the comfort deceleration threshold is determined as the candidate deceleration. Moreover, by further determining the minimum value between the candidate deceleration and the required deceleration as the target deceleration, it is possible to analyze whether the candidate deceleration represents the maximum deceleration that the construction machinery can currently achieve, and whether the construction machinery is coasting within the required range. The required deceleration is compared. If the required deceleration does not exceed the candidate deceleration, the required deceleration can be selected as the target deceleration, meaning the construction machinery can achieve a coasting stop under electric braking. If the required deceleration exceeds the candidate deceleration, only the candidate deceleration can be selected as the target deceleration, meaning the construction machinery needs to be braked externally. This allows for a more comprehensive and accurate analysis of the rationality of the deceleration that the construction machinery can currently use by analyzing the operation of the construction machinery, improving the accuracy and reliability of the target deceleration determination, and further improving the reliability of the braking parameters of the construction machinery, which is conducive to further improving the accuracy of the electric braking of the construction machinery.

[0072] In an optional embodiment, the method may further include the following operations: When the target deceleration is the candidate deceleration, a braking prompt message is sent to the driver.

[0073] Among them, the braking prompt information is used to prompt the driver to control the construction machinery to perform auxiliary braking operations, so as to help control the construction machinery to stop sliding within the target sliding distance.

[0074] Optionally, the auxiliary braking operation can be a mechanical braking operation, such as the driver pressing the brake pedal; however, this embodiment of the invention does not limit the operation.

[0075] For example, assume the maximum feedback deceleration is... The comfortable deceleration threshold is The rate of decrease in demand is The comparison logic for steps 203-204 can be specifically described as follows: First compare the maximum feedback deceleration and comfort deceleration threshold The size relationship between them, where: (1) When ≥ At this time, it indicates that the instantaneous charging acceptance capacity (i.e., feedback capacity) of the energy recovery system of the construction machinery is relatively limited, but the deceleration relying on the feedback of the energy recovery system is within the human comfort range; at this time, the above-mentioned candidate deceleration is the maximum feedback deceleration. ; (2) When < At this point, it indicates that the energy recovery system of the construction machinery has a relatively strong feedback capability, and the electric braking force it can provide is theoretically sufficient to produce deceleration exceeding the comfort range. At this time, if recovery is performed directly at maximum feedback power, the vehicle deceleration will exceed the subjective comfort boundary. Therefore, the aforementioned candidate deceleration is the comfort deceleration threshold. ; Then, the candidate deceleration is compared with the demand deceleration. The size relationship between them, where: (1) When ≥ At that time, that is, the above candidate deceleration is the maximum feedback deceleration. hour: if ≥ At that time, the target deceleration is determined to be To control the construction machinery according to Real-time back-calculation of motor negative torque based on deceleration; if < When this occurs, it indicates that the upper limit of the electro-braking feedback capability achievable by the energy recovery system cannot meet the current braking demand, and the target deceleration is determined to be... The driver was instructed to "please increase mechanical braking," and the construction machinery was simultaneously controlled to... Real-time back-calculation of motor negative torque based on deceleration; (2) When < When, that is, when the above candidate decelerations are the comfortable deceleration thresholds, hour: if ≥ At that time, the target deceleration is determined to be To control the construction machinery according to Real-time back-calculation of motor negative torque based on deceleration; if < When this occurs, it indicates that the current electric braking is insufficient and prompts the driver to "please pay attention to strengthening the mechanical braking," while simultaneously controlling the construction machinery to proceed as instructed. The negative torque of the motor is calculated in real time by deceleration, but this embodiment of the invention is not limited.

[0076] As can be seen, this optional embodiment can send a braking prompt message to the driver when the required deceleration exceeds the candidate deceleration, that is, when the target deceleration is the candidate deceleration, so as to prompt the driver to control the construction machinery to perform auxiliary braking operation, so as to assist in controlling the construction machinery to stop sliding within the target sliding distance. It can more timely and accurately prompt the driver that the construction machinery needs to be externally braked, thereby improving the control accuracy and control safety of the construction machinery.

[0077] In an optional embodiment, the method may further include the following operations: The test checks whether the construction machinery meets any of the preset coasting exit conditions; wherein, all coasting exit conditions include at least one of the following: automatic exit conditions, active exit conditions, and fault exit conditions; When the construction machinery is detected to meet any of the coasting exit conditions, the control mechanism stops the construction machinery from performing electric braking operations.

[0078] Optionally, controlling the construction machinery to stop performing electric braking operations can specifically involve controlling the construction machinery to exit the electric braking mode, thereby controlling the construction machinery to stop performing electric braking operations. This embodiment of the invention does not limit the scope of the invention.

[0079] As can be seen, this optional embodiment can control the construction machinery to stop performing electric braking operation when it is detected that the construction machinery meets any one of the automatic exit condition, active exit condition, and fault exit condition. It can provide a comprehensive analysis of whether the construction machinery can stop normally, thereby improving the control accuracy of the construction machinery using electric braking to stop.

[0080] In this optional embodiment, detecting whether the construction machinery meets any of the preset coasting exit conditions may include the following operations: The system detects whether the construction machinery has entered the safe distance range; when the construction machinery is detected to have entered the safe distance range, it determines that the construction machinery meets the automatic withdrawal conditions. And / or, The system detects whether the driver performs one of the target operations on the construction machinery; when the driver performs one of the target operations on the construction machinery, it determines that the construction machinery meets the conditions for active withdrawal. And / or, The system detects whether any operational abnormality exists in the construction machinery; when any operational abnormality is detected, it determines whether the construction machinery meets the fault exit conditions.

[0081] Optionally, the target operation may include at least one of the following: accelerator pedal operation, brake pedal operation, and interactive exit operation; this embodiment of the invention is not limited thereto. Further optionally, the accelerator pedal operation may be the operation of the driver pressing the accelerator; the brake pedal operation may be the operation of the driver pressing the brake pedal, and the pedal depth is greater than a preset depth threshold; the interactive exit operation may be the operation of the user triggering the exit coasting function on the interactive device (e.g., clicking the "Exit Auto Coasting" button); this embodiment of the invention is not limited thereto.

[0082] Optionally, operational anomalies may include, but are not limited to, one or more of the following: radar signal loss, abnormal vehicle speed, and battery failure. This embodiment of the invention does not impose any limitations on these anomalies.

[0083] Further optionally, when the construction machinery is detected to meet the fault exit conditions, controlling the construction machinery to stop performing electric braking operations may include the following operations: Control the construction machinery to stop performing electric braking operations and switch the braking mode of the construction machinery to manual mechanical braking mode.

[0084] As can be seen, this optional embodiment can also determine that the construction machinery meets the automatic exit condition when it is detected that the construction machinery has entered the safe distance range, and / or, when it is detected that the construction machinery driver performs any one of the following operations on the construction machinery: accelerator pedal operation, brake pedal operation, and interactive exit operation, it can determine that the construction machinery meets the active exit condition, and / or, when it is detected that the construction machinery has any operational abnormality, it can determine that the construction machinery meets the fault exit condition. This can further improve the comprehensiveness of the analysis of whether the construction machinery can coast to a stop normally, thereby further improving the accuracy and reliability of the judgment on whether the construction machinery meets any preset coasting exit condition, and thus helping to further improve the control precision of the construction machinery using electric braking to coast to a stop.

[0085] In this embodiment of the invention, for example, the energy feedback control method for construction machinery can be applied to the energy feedback control system of construction machinery, such as... Figure 3 As shown, the system may include: The VCU (Vehicle Control Unit) monitors vehicle information, calculates required torque, and issues commands to control various controllers; the BMS (Battery Management System) controller controls the on / off state of the vehicle's high-voltage circuit and monitors battery operation; the high-voltage battery pack supplies power to the vehicle and absorbs energy generated by the drive motor; the drive motor controller controls the drive motor and monitors its operation; the drive motor is used for vehicle driving and braking; the lidar is used to acquire distance information; the graphic display is used for human-machine interaction (e.g., triggering functions, setting control commands); and the weighing system is used to assess the weight of the entire machine. Furthermore, such as Figure 3 As shown, in this system, except for the high-voltage battery pack and the travel motor, all other modules can be connected via the CAN communication bus. There is a feedback energy flow between the travel motor controller, the high-voltage battery pack, and the travel motor. The direction of the feedback energy flow can be found in [reference needed]. Figure 3 The embodiments of the present invention are not limited.

[0086] In this embodiment of the invention, the energy feedback control method can significantly improve the overall operating economy of construction machinery (such as loaders) during loading and unloading reciprocating operations. On the one hand, the kinetic energy under high-frequency acceleration and deceleration conditions is efficiently recovered to the high-voltage battery pack, significantly reducing power consumption. On the other hand, the control logic that prioritizes electric braking greatly reduces the frequency and intensity of mechanical brake intervention, fundamentally reducing the wear of brake pads and brake discs. At the same time, it reduces tire slippage and friction loss under rapid deceleration and frequent braking conditions, effectively extending the service life of brakes and tires and reducing equipment maintenance costs.

[0087] Example 3 Please see Figure 4 , Figure 4 This is a schematic diagram of the structure of an energy feedback control device for engineering machinery disclosed in an embodiment of the present invention. Figure 4 The described energy feedback control device for construction machinery may include one of a control device, a control terminal, a control system, and a server, wherein the server is a local server or a cloud server, and this embodiment of the invention does not limit the specific type of server. Figure 4 As shown, the energy feedback control device for this engineering machinery may include: The acquisition module 301 is used to acquire the real-time operating parameters of the construction machinery during operation and the corresponding energy system parameters of the construction machinery. Calculation module 302 is used to calculate the reference deceleration of the construction machinery based on real-time operating parameters and energy system parameters; wherein the reference deceleration includes the maximum feedback deceleration and / or demand deceleration; The determination module 303 is used to determine the target deceleration that the construction machinery needs to achieve based on the reference deceleration and the pre-set regenerative braking strategy when the construction machinery is detected to have entered the skidding state. The calculation module 302 is also used to calculate the braking parameters of the engineering machinery based on the target deceleration; The control module 304 is used to control the construction machinery to perform electric braking operation according to the braking parameters, so as to control the construction machinery to stop.

[0088] As can be seen, the device described in the embodiments of the present invention can calculate the reference deceleration, such as the maximum regenerative deceleration and / or the required deceleration, of the construction machinery based on the real-time operating parameters and energy system parameters of the construction machinery during operation. When the construction machinery enters a coasting state, the target deceleration required by the construction machinery is determined based on the reference deceleration and the regenerative braking strategy. Then, the braking parameters are calculated based on the target deceleration to control the construction machinery to perform electric braking operation so that the construction machinery can coast to a stop. This can improve the flexibility and accuracy of determining the braking parameters of the construction machinery. In addition, the kinetic energy of the construction machinery under deceleration conditions can be recovered through electric braking operation, which can significantly reduce the power consumption of the construction machinery. At the same time, through the control logic of electric braking priority, the frequency and intensity of mechanical braking are greatly reduced. This can improve the energy utilization rate of the construction machinery while reducing the number of braking operations. It can also reduce the slippage and friction loss of key components such as tires and brakes under rapid deceleration and frequent braking conditions, effectively extend the service life of key components of the construction machinery, and reduce the operation and maintenance costs of the construction machinery.

[0089] In an optional embodiment, the real-time operating parameters include real-time vehicle mass and real-time speed; and the energy system parameters include maximum regenerative power. The calculation module 302 calculates the reference deceleration of the construction machinery based on real-time operating parameters and energy system parameters, and the specific method may include: Calculate the maximum regenerative deceleration of the construction machinery based on the maximum regenerative power, vehicle mass, and real-time speed; and / or, Obtain the relationship between the desired gliding distance and predetermined gliding parameters; where the gliding parameter relationship is the correspondence between gliding speed and gliding distance; Based on the expected coasting distance, the relationship between coasting parameters, and the real-time speed, calculate the required deceleration for the engineering machinery.

[0090] As can be seen, the device described in this optional embodiment can calculate the maximum regenerative deceleration of the construction machinery based on the maximum regenerative power, vehicle mass, and real-time speed, that is, combined with the real-time operation of the construction machinery and its energy recovery capability. It can more accurately and in real-time calculate the maximum deceleration that the construction machinery can achieve based on its energy recovery capability, thereby improving the accuracy of the maximum regenerative deceleration calculation. Furthermore, it can also calculate the required deceleration of the construction machinery based on the obtained expected coasting distance, the relationship between the preset coasting speed and coasting distance, and the real-time speed. It can more accurately calculate the deceleration required for the construction machinery to coast to a stop within a certain distance, thereby improving the accuracy of the required deceleration calculation.

[0091] In this optional embodiment, the calculation module 302 may calculate the specific method by which it calculates the required deceleration of the construction machinery based on the desired coasting distance, the coasting parameter relationship, and the real-time speed, including: Determine the target gliding distance based on the desired gliding distance and the preset safety distance; Find the target gliding speed that matches the target gliding distance from the gliding parameter relationships; Calculate the required deceleration of the construction machinery based on the real-time speed, target coasting speed, and target coasting distance; Among them, the required deceleration is the deceleration that the construction machinery needs to achieve to stop within the target sliding distance.

[0092] As can be seen, the device described in this optional embodiment can first determine the target sliding distance based on the desired sliding distance and the preset safety distance, then find the target sliding speed that matches the target sliding distance from the sliding parameter relationship, and then calculate the required deceleration of the construction machinery based on the real-time speed, the target sliding speed and the target sliding distance. By setting the safety distance, the reliability of the calculation of the target sliding distance of the construction machinery can be improved, and the accuracy and reliability of the calculation of the required deceleration can be further improved, thereby helping to further improve the safety of the construction machinery when sliding and stopping.

[0093] In this optional embodiment, the real-time operation parameters may also include real-time distance; wherein, the real-time distance is the distance between the construction machinery and the target operation location or obstacle; Among them, such as Figure 5 As shown, the device may further include: The first prompt module 305 is used to send a coasting prompt message to the driver when the detected real-time distance is less than or equal to the determined coasting prompt distance; wherein, the coasting prompt distance is a distance determined based on the target coasting distance or the expected coasting distance; the coasting prompt message is used to prompt the driver to control the construction machinery to stop accelerating; The determination module 303 is also used to determine that the construction machinery has entered a coasting state when it is detected that the construction machinery has stopped accelerating.

[0094] As can be seen, the device described in this optional embodiment can also send a coasting prompt message to the driver when it detects that the real-time distance between the construction machinery and the target position is close to the determined coasting prompt distance, so as to prompt the driver to control the construction machinery to stop accelerating. When the construction machinery stops accelerating, it can be determined that the construction machinery has entered the coasting state. The coasting prompt message can more accurately and timely prompt the driver that the construction machinery needs to coast to a stop, which can improve the accuracy of electric braking control of the construction machinery, while improving the operational safety and reliability of the construction machinery.

[0095] In an optional embodiment, the determining module 303 determines the specific method by which the construction machinery needs to achieve the target deceleration based on the reference deceleration and a pre-set regenerative braking strategy, which may include: The maximum feedback deceleration is compared with the obtained comfort deceleration threshold, and the minimum value between the maximum feedback deceleration and the comfort deceleration threshold is determined as the candidate deceleration. Compare the candidate deceleration with the required deceleration, and determine the minimum value between the candidate deceleration and the required deceleration as the target deceleration.

[0096] As can be seen, the apparatus described in this optional embodiment can analyze whether the energy recovery capability of the construction machinery during the coasting process is within the human comfort range by determining the minimum value between the maximum feedback deceleration and the comfort deceleration threshold as the candidate deceleration. If it is within the comfort range, energy recovery is prioritized, and the maximum feedback deceleration is determined as the candidate deceleration; if it is not within the comfort range, the human comfort speed is prioritized, and the comfort deceleration threshold is determined as the candidate deceleration. Furthermore, by determining the minimum value between the candidate deceleration and the required deceleration as the target deceleration, it is possible to analyze whether the candidate deceleration is the maximum deceleration that the construction machinery can currently achieve and the current deceleration of the construction machinery at the required deceleration. By comparing the required deceleration for coasting within a certain range, if the required deceleration does not exceed the candidate deceleration, the required deceleration can be selected as the target deceleration, meaning the construction machinery can achieve coasting under electric braking. If the required deceleration exceeds the candidate deceleration, only the candidate deceleration can be selected as the target deceleration, meaning the construction machinery needs to be subjected to external mechanical braking. This allows for a more comprehensive and accurate analysis of the operational status of the construction machinery, thereby improving the rationality of the deceleration that the construction machinery can currently use. This enhances the accuracy and reliability of determining the target deceleration, further improving the reliability of determining the braking parameters of the construction machinery, and ultimately contributing to improving the accuracy of electric braking of the construction machinery.

[0097] In this optional embodiment, optionally, such as Figure 5 As shown, the device may further include: The second prompt module 306 is used to send a braking prompt message to the driver when the target deceleration is a candidate deceleration; wherein, the braking prompt message is used to prompt the driver to control the construction machinery to perform auxiliary braking operation, so as to assist in controlling the construction machinery to stop sliding within the target sliding distance.

[0098] As can be seen, the device described in this optional embodiment can also send a braking prompt message to the driver when the required deceleration exceeds the candidate deceleration, that is, when the target deceleration is the candidate deceleration, so as to prompt the driver to control the construction machinery to perform auxiliary braking operation, so as to assist in controlling the construction machinery to stop sliding within the target sliding distance. It can more timely and accurately prompt the driver that the construction machinery needs to be externally braked, thereby improving the control accuracy and control safety of the construction machinery.

[0099] In an optional embodiment, such as Figure 5 As shown, the device may further include: The detection module 307 is used to detect whether the construction machinery meets any of the preset coasting exit conditions; wherein, all coasting exit conditions include at least one of automatic exit conditions, active exit conditions and fault exit conditions; The control module 304 is also used to control the construction machinery to stop performing electric braking operation when it is detected that the construction machinery meets any of the coasting exit conditions.

[0100] As can be seen, the device described in this optional embodiment can control the construction machinery to stop performing electric braking operation when it detects that the construction machinery meets any one of the automatic exit condition, active exit condition, and fault exit condition. It can provide a comprehensive analysis of whether the construction machinery can stop normally by coasting, thereby improving the control accuracy of the construction machinery using electric braking to stop.

[0101] Example 4 Please see Figure 6 , Figure 6 This is a schematic diagram of the structure of another energy feedback control device for engineering machinery disclosed in an embodiment of the present invention. Figure 6 As shown, the energy feedback control device for this engineering machinery may include: Memory 401 storing executable program code; Processor 402 coupled to memory 401; The processor 402 calls the executable program code stored in the memory 401 to execute some or all of the steps in the energy feedback control method for engineering machinery described in Embodiment 1 or Embodiment 2 of the present invention.

[0102] Example 5 This invention discloses a computer storage medium storing computer instructions. When these computer instructions are invoked, they are used to execute some or all of the steps in the energy feedback control method for engineering machinery described in Embodiment 1 or Embodiment 2 of this invention.

[0103] Example 6 This invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform some or all of the steps in the energy feedback control method for engineering machinery described in Embodiment 1 or Embodiment 2.

[0104] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0105] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0106] Finally, it should be noted that the energy feedback control method and device for engineering machinery disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention, and are only used to illustrate the technical solutions of the present invention, not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An energy feedback control method for engineering machinery, characterized in that, The method includes: The real-time operating parameters of the construction machinery during operation and the corresponding energy system parameters of the construction machinery are obtained. Based on the real-time operating parameters and the energy system parameters, the reference deceleration corresponding to the construction machinery is calculated; wherein, the reference deceleration includes the maximum feedback deceleration and / or the demand deceleration; When the construction machinery is detected to have entered a skidding state, the target deceleration that the construction machinery needs to achieve is determined based on the reference deceleration and the pre-set regenerative braking strategy. Calculate the braking parameters corresponding to the engineering machinery based on the target deceleration; Based on the braking parameters, the construction machinery is controlled to perform electric braking operation to bring the construction machinery to a stop.

2. The energy feedback control method for engineering machinery according to claim 1, characterized in that, The real-time operating parameters include real-time vehicle mass and real-time speed; and the energy system parameters include maximum feedback power. The step of calculating the reference deceleration of the construction machinery based on the real-time operating parameters and the energy system parameters includes: Calculate the maximum feedback deceleration of the construction machinery based on the maximum feedback power, the vehicle mass, and the real-time speed; and / or, Obtain the relationship between the desired gliding distance and predetermined gliding parameters; wherein, the relationship between gliding parameters is the correspondence between gliding speed and gliding distance; Based on the expected gliding distance, the gliding parameter relationship, and the real-time speed, the required deceleration of the engineering machinery is calculated.

3. The energy feedback control method for engineering machinery according to claim 2, characterized in that, The step of calculating the required deceleration of the construction machinery based on the expected coasting distance, the coasting parameter relationship, and the real-time speed includes: The target gliding distance is determined based on the desired gliding distance and the preset safety distance; Find the target gliding speed that matches the target gliding distance from the gliding parameter relationship; Calculate the required deceleration of the engineering machinery based on the real-time speed, the target gliding speed, and the target gliding distance. The required deceleration is the deceleration that the engineering machinery needs to achieve to come to a stop within the target sliding distance.

4. The energy feedback control method for engineering machinery according to claim 3, characterized in that, The real-time operation parameters also include real-time distance; wherein, the real-time distance is the distance between the engineering machinery and the target operation position or obstacle; The method further includes: When the real-time distance is detected to be less than or equal to the determined coasting prompt distance, a coasting prompt message is sent to the driver; wherein, the coasting prompt distance is a distance determined based on the target coasting distance or the expected coasting distance; the coasting prompt message is used to prompt the driver to control the construction machinery to stop accelerating; When the construction machinery is detected to have stopped accelerating, it is determined that the construction machinery has entered a coasting state.

5. The energy feedback control method for engineering machinery according to any one of claims 1-4, characterized in that, The step of determining the target deceleration required by the construction machinery based on the reference deceleration and a pre-set regenerative braking strategy includes: The maximum feedback deceleration is compared with the obtained comfort deceleration threshold, and the minimum value between the maximum feedback deceleration and the comfort deceleration threshold is determined as the candidate deceleration. The candidate deceleration is compared with the required deceleration, and the minimum value between the candidate deceleration and the required deceleration is determined as the target deceleration.

6. The energy feedback control method for engineering machinery according to claim 5, characterized in that, The method further includes: When the target deceleration is the candidate deceleration, a braking prompt message is sent to the driver; wherein, the braking prompt message is used to prompt the driver to control the construction machinery to perform auxiliary braking operation, so as to assist in controlling the construction machinery to stop sliding within the target sliding distance.

7. The energy feedback control method for engineering machinery according to any one of claims 1, 2, 3, 4, and 6, characterized in that, The method further includes: The detection process checks whether the engineering machinery meets any of the preset coasting exit conditions; wherein, all the coasting exit conditions include at least one of the following: automatic exit conditions, active exit conditions, and fault exit conditions; When it is detected that the engineering machinery meets any of the aforementioned coasting exit conditions, the engineering machinery is controlled to stop performing the electric braking operation.

8. An energy feedback control device for engineering machinery, characterized in that, The device includes: The acquisition module is used to acquire the real-time operating parameters of the construction machinery during the operation process and the corresponding energy system parameters of the construction machinery; The calculation module is used to calculate the reference deceleration corresponding to the construction machinery based on the real-time operating parameters and the energy system parameters; wherein, the reference deceleration includes the maximum feedback deceleration and / or the demand deceleration; The determination module is used to determine the target deceleration that the construction machinery needs to achieve based on the reference deceleration and the pre-set regenerative braking strategy when the construction machinery is detected to have entered a skidding state. The calculation module is also used to calculate the braking parameters corresponding to the engineering machinery based on the target deceleration; The control module is used to control the construction machinery to perform electric braking operation according to the braking parameters, so as to control the construction machinery to stop.

9. An energy feedback control device for engineering machinery, characterized in that, The device includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the energy feedback control method for engineering machinery as described in any one of claims 1-7.

10. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which, when invoked, are used to execute the energy feedback control method for engineering machinery as described in any one of claims 1-7.

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