Hybrid control method and device for construction machinery, construction machinery and storage medium

Abstract

The application belongs to the technical field of engineering machinery, and discloses an engineering machinery hybrid control method, device, engineering machinery and a storage medium. In the engineering machinery hybrid control method, it is confirmed that the power battery electric quantity does not exceed a first electric quantity threshold, thereby ensuring that the power battery has a charging demand at this time; the target rotating speed of the engine is set as a first rotating speed, so that the rotating speed of the engine is maintained at the first rotating speed as much as possible; the actual rotating speed of the engine is obtained; the actual rotating speed of the engine and a second rotating speed are compared; if the actual rotating speed of the engine is greater than the second rotating speed, it indicates that the rotating speed of the engine is still high at this time, and the engine can generate surplus power to drive the motor to generate electricity, so the engine is controlled to drive the motor to work, and the power battery is charged; if the actual rotating speed of the engine is not greater than the second rotating speed, it indicates that the rotating speed of the engine is low at this time, and the engine needs to be assisted by the motor to output power, so the power battery is controlled to drive the motor to work and output power.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to hybrid control methods, devices, engineering machinery, and storage media for engineering machinery. Background Technology

[0002] The hybrid system of the aerial work platform has two power sources: a battery and an engine. When the battery is low on power, the engine can serve as the power source and can also charge the battery at the same time.

[0003] In related technologies, the main method to determine whether to charge the battery via the engine is by comparing the vehicle's required power with the engine's maximum power. Specifically, when the vehicle's required power is less than the engine's maximum power, the battery can be charged via the engine. However, this method has a problem:

[0004] Firstly, the power demand of a vehicle is not a definite value that can be accurately measured. It needs to be calculated theoretically by humans, which will inevitably lead to errors. It is impossible to accurately assess the real power required for the operation of the whole machine, which can easily lead to wasted engine power or insufficient power.

[0005] Secondly, it is impossible to detect the engine's operating status in real time. When the engine takes in water or the weather is cold, the engine's output power will be greatly reduced. If the original control logic is still followed, it may cause the engine to stall.

[0006] Thirdly, aerial work platforms need to perform actions such as lifting, walking, climbing, main boom movement, and outrigger extension and retraction. Each action has different power requirements, making the calculation of the overall vehicle power requirements very complex. Summary of the Invention

[0007] According to one aspect of the present invention, a hybrid control method for engineering machinery is provided to solve many problems in the related art that determine whether to charge the battery by comparing the power demand of the vehicle with the upper limit of the engine power.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] A hybrid control method for construction machinery is implemented through a power system, which includes a power battery, a motor, and an engine. The power battery is used to power the motor. Both the motor and the engine can provide power to the construction machinery. The engine can drive the motor and charge the power battery.

[0010] The hybrid control method for engineering machinery includes:

[0011] S100: Confirm that the power battery charge does not exceed the first charge threshold;

[0012] S200: Set the target speed of the engine to the first speed;

[0013] S300: Obtain the actual engine speed;

[0014] S400: Compare the actual speed of the engine with the second speed; wherein the first speed is greater than the second speed;

[0015] If the actual speed of the engine is greater than the second speed, then step S500 is executed; if the actual speed of the engine is not greater than the second speed, then step S600 is executed.

[0016] S500: Controls the engine to drive the motor and charge the power battery;

[0017] S600: Controls the power battery to drive the motor and output power.

[0018] As a preferred embodiment of the hybrid control method for engineering machinery, step S500 includes:

[0019] S5001: Compare the actual speed of the engine with the magnitude of the first speed;

[0020] If the actual speed of the engine is not less than the first speed, then step S5002 is executed; if the actual speed of the engine is less than the first speed, then step S5003 is executed.

[0021] S5002: Control the engine to drive the motor to work, charge the power battery, and set the generator torque of the motor to a preset generator torque;

[0022] S5003: Control the engine to drive the motor to work, charge the power battery, and adjust the generating torque of the motor based on the actual speed of the engine.

[0023] As a preferred embodiment of the hybrid control method for engineering machinery, in step S5003, the generating torque of the motor is positively correlated with the actual speed of the engine, and the generating torque of the motor changes linearly with the actual speed of the engine.

[0024] As a preferred embodiment of the hybrid control method for engineering machinery, step S600 includes:

[0025] S6001: Compare the actual speed of the engine with the magnitude of the third speed; wherein the second speed is greater than the third speed;

[0026] If the actual speed of the engine is not greater than the third speed, then step S6002 is executed; if the actual speed of the engine is greater than the third speed, then step S6003 is executed.

[0027] S6002: Control the output torque of the motor to the maximum torque;

[0028] S6003: Adjust the output torque of the motor based on the actual speed of the engine.

[0029] As a preferred embodiment of the hybrid control method for engineering machinery, in step S6003, the output torque of the motor is negatively correlated with the actual speed of the engine, and the output torque of the motor changes linearly with the actual speed of the engine.

[0030] As a preferred embodiment of the hybrid control method for engineering machinery, the power system further includes a clutch, which has an engaged state and a disengaged state. When the clutch is engaged, the output shaft of the engine is connected to the rotating shaft of the motor; when the clutch is disengaged, the output shaft of the engine is disconnected from the rotating shaft of the motor.

[0031] The hybrid control method for engineering machinery also includes the following steps between S200 and S300:

[0032] S210: Control the speed of the motor to be equal to the target speed of the engine, and control the clutch to enter the engagement state;

[0033] S220: Set the target speed of the motor to the second speed.

[0034] As a preferred embodiment of the hybrid control method for engineering machinery, the following is also included after step S500:

[0035] S510: Confirm that the power battery charge is not less than the second charge threshold;

[0036] S520: Control the clutch to enter the disengaged state.

[0037] According to another aspect of the present invention, a hybrid control device for construction machinery is provided for executing the above-described hybrid control method for construction machinery, the hybrid control device comprising:

[0038] A power confirmation module is used to confirm that the power battery power does not exceed a first power threshold.

[0039] The target speed setting module is used to set the target speed of the engine to a first speed.

[0040] The actual speed acquisition module is used to acquire the actual speed of the engine;

[0041] A speed comparison module is used to compare the actual speed of the engine with the magnitude of a second speed.

[0042] The charging module is used to control the engine to drive the motor and charge the power battery when the actual speed of the engine is greater than the second speed.

[0043] The electric power assist module is used to control the power battery to drive the motor and output power when the actual speed of the engine is not greater than the second speed.

[0044] According to another aspect of the present invention, engineering machinery is provided, including a power system, the power system including a power battery, a motor and an engine, the power battery being used to power the motor, both the motor and the engine being able to provide power to the engineering machinery, the engine being able to drive the motor to work and charge the power battery;

[0045] The engineering machinery also includes:

[0046] Controller;

[0047] A speed sensor is used to acquire the actual speed of the engine and send the acquired actual speed of the engine to the controller;

[0048] Memory, used to store one or more programs;

[0049] When the controller executes one or more programs, it causes the controller to control the vehicle to implement the above-described engineering machinery hybrid control method.

[0050] According to another aspect of the invention, a storage medium is provided on which a computer program is stored, which, when executed by a controller, enables the construction machinery to implement the above-described hybrid control method for construction machinery.

[0051] The beneficial effects of this invention are:

[0052] This invention provides a hybrid control method, device, machinery, and storage medium for construction machinery. The method confirms that the power battery charge does not exceed a first charge threshold, ensuring the battery has a charging requirement. A target engine speed is set as a first speed to maintain the engine speed as much as possible. However, if the vehicle load is high, the engine speed may not be able to maintain the first speed. The actual engine speed is obtained. The actual engine speed is compared with a second speed, where the first speed is greater than the second speed. If the actual engine speed is greater than the second speed, it indicates that the engine speed is still high enough to generate excess power to drive the motor and generate electricity. Therefore, the engine is controlled to drive the motor and charge the power battery. If the actual engine speed is not greater than the second speed, it indicates that the engine speed is low, requiring the motor to assist in outputting power. Therefore, the power battery is controlled to drive the motor and output power. This hybrid control method eliminates the need to estimate or detect the vehicle's power demand, simplifies the control process, and avoids wasted or insufficient engine power. Furthermore, by detecting the actual engine speed, the engine's operating state can be detected, and different control strategies can be adopted based on different operating states. Attached Figure Description

[0053] Figure 1 This is a first flowchart of the hybrid control method for engineering machinery in this embodiment of the invention;

[0054] Figure 2 This is the second flowchart of the hybrid control method for engineering machinery in this embodiment of the invention;

[0055] Figure 3 This is the third flowchart of the hybrid control method for engineering machinery in this embodiment of the invention;

[0056] Figure 4 This is a schematic diagram of the structure of the hybrid control device for engineering machinery in an embodiment of the present invention;

[0057] Figure 5 This is a schematic diagram of the engineering machinery in an embodiment of the present invention.

[0058] In the picture:

[0059] 1. Power battery; 2. Motor; 3. Engine; 4. Clutch;

[0060] 10. Battery level confirmation module; 20. Target speed setting module; 30. Actual speed acquisition module; 40. Speed ​​comparison module; 50. Charging module; 60. Electric assist module;

[0061] 70. Controller; 71. ECU; 72. MCU; 73. ECM; 74. Clutch controller; 80. Speed ​​sensor; 90. Memory. Detailed Implementation

[0062] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0063] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0064] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0065] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0066] Example 1

[0067] The hybrid system of an aerial work platform has two power sources: a battery and an engine. When the battery is low, the engine can serve as the power source and simultaneously charge the battery. Related technologies primarily determine whether to charge the battery via the engine by comparing the vehicle's required power with the engine's maximum power limit. Specifically, when the vehicle's required power is less than the engine's maximum power, the engine can charge the battery. However, this approach suffers from several drawbacks, including the inability to accurately assess the actual power required for the machine's operation, the inability to monitor the engine's operating status in real time, and the highly complex calculation process for the vehicle's required power.

[0068] In response, this embodiment provides a hybrid control method for construction machinery to solve many problems in related technologies that rely on comparing the required power of the vehicle with the upper limit of the engine power to determine whether the battery is being charged. This method can be used in the field of construction machinery technology, and can be specifically applied to aerial work platforms.

[0069] This hybrid control method for construction machinery is implemented through a hybrid control device, which can be implemented via software and / or hardware and integrated into the construction machinery. Furthermore, the hybrid control method is implemented through a power system, which includes a power battery 1, a motor 2, and an engine 3. The power battery 1 powers the motor 2, and both the motor 2 and the engine 3 provide power to the construction machinery. The engine 3 drives the motor 2 and charges the power battery 1.

[0070] Reference Figure 1 The hybrid control method for engineering machinery includes the following steps.

[0071] S100: Confirm that the power battery charge does not exceed the first charge threshold.

[0072] The first power threshold is the maximum power level of the power battery when the hybrid mode is started. Only when the power battery power level does not exceed the first power threshold does it indicate that the power battery has a charging need, and thus the hybrid mode will be entered. When the power battery power level is greater than the first power threshold, there is no need to charge the power battery. At the same time, the power battery can be used as the power source to drive the motor to output power, that is, the pure electric mode is entered.

[0073] S200: Set the target engine speed to the first speed.

[0074] If the engine is not yet started, start the engine. Setting the target engine speed to the first speed means trying to maintain the engine speed at the first speed. When the engine speed is higher than the first speed, control the engine speed to decrease. At this time, the engine does not need to run at maximum power. If the engine speed cannot be maintained at the first speed due to the vehicle performing high-power operations, the engine needs to be controlled to run at maximum power.

[0075] This step aims to keep the engine speed as close to the first RPM as possible. However, it is understandable that if the vehicle load is heavy, the engine speed may not be able to maintain the first RPM, meaning the actual engine speed may be lower than the first RPM.

[0076] S300: Obtain the actual engine speed.

[0077] Specifically, the actual engine speed can be obtained through a speed sensor.

[0078] S400: Compares the actual engine speed with the second speed; where the first speed is greater than the second speed.

[0079] In this embodiment, the first rotational speed is specifically 2200 r / min, and the second rotational speed is specifically 2100 r / min.

[0080] If the actual engine speed is greater than the second speed, then proceed to step S500; if the actual engine speed is not greater than the second speed, then proceed to step S600.

[0081] S500: Controls the engine to drive the electric motor and charge the power battery.

[0082] S600: Controls the power battery to drive the motor and output power.

[0083] If the actual engine speed is greater than the second speed, it indicates that the engine speed is still relatively high and can generate excess power to drive the motor to generate electricity. Therefore, step S500 is executed, that is, the engine is controlled to drive the motor to work and charge the power battery. If the actual engine speed is not greater than the second speed, it indicates that the engine speed is relatively low and the motor is needed to assist the engine in outputting power. Therefore, step S600 is executed, that is, the power battery is controlled to drive the motor to work and output power.

[0084] Optionally, when the actual engine speed is not greater than the second speed, step S600 is only executed when the power battery charge is greater than the minimum limit, so as to prevent the power battery from continuing to supply power when the charge is too low, thereby protecting the power battery.

[0085] This hybrid control method for construction machinery does not require estimation or detection of the vehicle's power demand, has a simple control process, and can avoid engine power waste or insufficient power. In addition, by detecting the actual speed of the engine, the engine's operating status can be detected, and different control strategies can be adopted based on different operating statuses.

[0086] Another problem with the related technology is that the switching between power generation mode and electric hybrid mode relies heavily on fixed power thresholds and fixed action types, and cannot adaptively adjust the motor torque when the load changes; in addition, it may cause the vehicle to repeatedly switch between power generation mode and electric hybrid mode.

[0087] In this regard, refer to Figure 2 In the hybrid control method for engineering machinery provided in this embodiment, step S500 specifically includes the following steps.

[0088] S5001: Compare the actual engine speed with the first speed.

[0089] If the actual engine speed is not less than the first speed, then proceed to step S5002; if the actual engine speed is less than the first speed, then proceed to step S5003.

[0090] S5002: Controls the engine to drive the motor to charge the power battery and sets the motor's generating torque to the preset generating torque.

[0091] S5003: Controls the engine to drive the motor to charge the power battery, and adjusts the motor's generating torque based on the engine's actual speed.

[0092] If the actual speed of the engine is not less than the first speed, it indicates that the maximum power of the engine can meet the power requirements of the whole machine, and there is still a certain margin for generating electricity. This is common in low-power operation or standby conditions. At this time, the generating torque of the motor can be set to the preset generating torque, and thus step S5002 is executed. The preset generating torque is usually set to a large value. In some embodiments, the maximum generating torque of the motor can also be used as the preset generating torque.

[0093] Furthermore, if the following conditions are met at this time: Therefore, the actual generated current is the set value, where, P is the engine's maximum power, and P is the vehicle's required power. This is the first rotational speed, T is the preset generating torque, and the set value of the generating current refers to the generating current when the motor's generating torque is the preset generating torque. If the following conditions are met: Therefore, the actual generated current is Where V is the power battery voltage.

[0094] If the actual engine speed is less than the first speed, it indicates that the engine's maximum power cannot meet the overall power requirements. This is common in high-power operation conditions, such as lifting and climbing. Furthermore, since the actual engine speed is greater than the second speed, there is no need to output power through the motor; power can still be generated through the engine. However, the motor's generating torque should be reduced, thus step S5003 is executed.

[0095] Optionally, in step S5003, the generated torque of the motor is positively correlated with the actual speed of the engine, and the generated torque of the motor changes linearly with the actual speed of the engine. That is, the higher the actual speed of the engine, the higher the generated torque of the motor. When the actual speed of the engine is the first speed, the generated torque of the motor is the preset generated torque. When the actual speed of the engine is the second speed, the generated torque of the motor is zero.

[0096] Optionally, the rate of change of the motor's generated torque does not exceed a first preset rate of change, thereby ensuring a relatively smooth change in the motor's generated torque when the actual engine speed changes rapidly. The first preset rate of change can be set according to actual needs. For example, when the actual engine speed rapidly increases from a second speed to a first speed, it is necessary to ensure that the time for the motor's generated torque to increase from zero to the preset generated torque is greater than a preset time. The specific value of the first preset rate of change can be determined based on this.

[0097] Furthermore, referring to Figure 3 In the hybrid control method for engineering machinery provided in this embodiment, step S600 specifically includes the following steps.

[0098] S6001: Compare the actual engine speed with the third speed; where the second speed is greater than the third speed.

[0099] In this embodiment, the third rotational speed is specifically 2000 r / min.

[0100] If the actual engine speed is not greater than the third speed, then proceed to step S6002; if the actual engine speed is greater than the third speed, then proceed to step S6003.

[0101] S6002: Controls the motor's output torque to the maximum torque.

[0102] S6003: Adjusts the motor's output torque based on the engine's actual speed.

[0103] If the actual engine speed is not greater than the third speed, it indicates that the engine speed is too low at this time, which usually indicates that the load is too large. Therefore, step S6002 is executed, that is, the output torque of the motor is controlled to the maximum torque.

[0104] If the actual engine speed is greater than the third speed, it means that the engine speed is still close to the second speed. Although the motor is needed to assist the engine in outputting power, there is no need to set the output torque of the motor to be high. Therefore, step S6003 is executed, that is, the output torque of the motor is adjusted based on the actual engine speed.

[0105] Optionally, in step S6003, the output torque of the motor is negatively correlated with the actual speed of the engine, and the output torque of the motor changes linearly with the actual speed of the engine. That is, the higher the actual speed of the engine, the lower the output torque of the motor. When the actual speed of the engine is the third speed, the output torque of the motor is the maximum torque, and when the actual speed of the engine is the second speed, the output torque of the motor is zero.

[0106] Optionally, the rate of change of the motor's output torque does not exceed a second preset rate of change, thereby ensuring a relatively smooth change in the motor's output torque when the actual engine speed changes rapidly. The second preset rate of change can be set according to actual needs. For example, when the actual engine speed rapidly decreases from a second speed to a third speed, it is necessary to ensure that the time for the motor's output torque to increase from zero to maximum torque is greater than a preset time. The specific value of the second preset rate of change can be determined based on this.

[0107] Optionally, the power system also includes a clutch, which has an engaged state and a disengaged state. When the clutch is engaged, the engine output shaft is connected to the motor shaft; when the clutch is disengaged, the engine output shaft is disconnected from the motor shaft.

[0108] Continue to refer to Figure 1 The hybrid control method for construction machinery also includes steps S210-S220, which are located between steps S200 and S300.

[0109] S210: Controls the motor speed to be equal to the engine's target speed and controls the clutch to engage.

[0110] Generally speaking, the engine speed is the first speed, so the motor speed is controlled at the first speed at this time.

[0111] S220: Set the target speed of the motor to the second speed.

[0112] At this point, the motor can be driven to generate electricity by the speed difference between the two.

[0113] Continue to refer to Figure 1 The hybrid control method for construction machinery also includes steps S510-S520, which follow step S500.

[0114] S510: Confirm that the power battery charge is not less than the second charge threshold.

[0115] S520: Controls the clutch to engage the disengaged state.

[0116] The second charge threshold is the charge threshold at which the power battery is fully charged or nearly fully charged. When the power battery charge is not less than the second charge threshold, there is no need to continue charging the power battery, and thus the clutch is controlled to enter the disengaged state.

[0117] The specific values ​​of the first and second battery thresholds can be set according to actual needs. The specific values ​​of the first and second battery thresholds can be the same or different.

[0118] Example 2

[0119] This embodiment provides a hybrid control device for construction machinery, which can execute the hybrid control method for construction machinery in the above embodiment.

[0120] Specifically, refer to Figure 4 The hybrid control device for this construction machinery includes a battery level confirmation module 10, a target speed setting module 20, an actual speed acquisition module 30, a speed comparison module 40, a charging module 50, and an electric assist module 60. Specifically, the battery level confirmation module 10 confirms that the battery level does not exceed a first battery level threshold; the target speed setting module 20 sets the engine's target speed to a first speed; the actual speed acquisition module 30 acquires the engine's actual speed; the speed comparison module 40 compares the engine's actual speed with a second speed; the charging module 50 controls the engine to drive the motor and charge the battery when the engine's actual speed is greater than the second speed; and the electric assist module 60 controls the battery to drive the motor and output power when the engine's actual speed is not greater than the second speed.

[0121] The hybrid control device for construction machinery provided in this embodiment confirms that the power battery charge does not exceed a first power threshold through the power confirmation module 10; sets the target speed of the engine to a first speed through the target speed setting module 20; acquires the actual speed of the engine through the actual speed acquisition module 30; compares the actual speed of the engine with a second speed through the speed comparison module 40; when the actual speed of the engine is greater than the second speed, the charging module 50 controls the engine to drive the motor and charge the power battery; when the actual speed of the engine is not greater than the second speed, the electric assist module 60 controls the power battery to drive the motor and output power. It has the same beneficial effects as the above-mentioned hybrid control method for construction machinery.

[0122] Example 3

[0123] This embodiment provides engineering machinery, as referred to Figure 5The construction machinery includes a power system comprising a power battery 1, a motor 2, and an engine 3. The power battery 1 supplies power to the motor 2. Both the motor 2 and the engine 3 provide power to the construction machinery. The engine 3 drives the motor 2 and charges the power battery 1. Optionally, the construction machinery also includes a clutch 4, which has an engaged state and a disengaged state. When the clutch 4 is engaged, the output shaft of the engine 3 is connected to the shaft of the motor 2; when the clutch 4 is disengaged, the output shaft of the engine 3 is disconnected from the shaft of the motor 2.

[0124] Continue to refer to Figure 5 The construction machinery also includes a controller 70, a speed sensor 80, and a memory 90. The speed sensor 80 acquires the actual speed of the engine 3 and sends this information to the controller 70. The controller 70 is communicatively connected to the power battery 1, the motor 2, the clutch 4, the engine 3, the speed sensor 80, and the memory 90. Specifically, the controller 70 includes an ECU 71, an MCU 72, an ECM 73, and a clutch controller 74. The ECU 71 is communicatively connected to the MCU 72, ECM 73, and clutch controller 74. The MCU 72 is communicatively connected to the motor 2. The ECU 71 sends speed and torque control commands to the MCU 72, which in turn controls the speed and torque of the motor 2. The motor 2 feeds back speed signals to the MCU 72, which in turn sends signals to the ECU 71. Feedback speed signal; ECM73 is communicatively connected to engine 3. ECU71 is used to send start, stop, and speed control commands to ECM73. ECM73 is used to control engine 3 to start or stop and control the speed of engine 3. Engine 3 is used to feed back speed signals to ECM73. ECM73 is used to feed back speed signals to ECU71. Clutch controller 74 is communicatively connected to clutch 4. ECU71 is used to send engagement or disengagement commands to clutch controller 74. Clutch controller 74 is used to control clutch 4 to enter the engagement state or disengagement state and to feed back the status of clutch 4 to ECU71.

[0125] The memory 90, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the hybrid control method for construction machinery in this embodiment of the invention. The controller 70 executes various functional applications and data processing of the construction machinery by running the software programs, instructions, and modules stored in the memory 90, thereby realizing the hybrid control method for construction machinery described in the above embodiment.

[0126] The memory 90 primarily includes a program storage area and a data storage area. The program storage area stores the operating system and at least one application program required for a given function; the data storage area stores data created based on terminal usage. Furthermore, the memory 90 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory, or other non-volatile solid-state storage device. In some instances, the memory 90 may further include remotely configured memories 90 relative to the controller 70, which can be connected to the construction machinery via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0127] The engineering machinery provided in this embodiment belongs to the same inventive concept as the engineering machinery hybrid control method provided in the above embodiments. Technical details not described in detail in this embodiment can be found in the above embodiments. Furthermore, this embodiment has the same beneficial effects as the engineering machinery hybrid control method.

[0128] Example 4

[0129] This embodiment provides a storage medium on which a computer program is stored. When the program is executed by the controller, the construction machinery implements the construction machinery hybrid control method as described in the above embodiment of the present invention.

[0130] Of course, the computer-executable instructions provided in the embodiments of the present invention are not limited to the operations in the hybrid control method for engineering machinery as described above, but can also execute related operations in the hybrid control device for engineering machinery provided in the embodiments of the present invention, and have corresponding functions and beneficial effects.

[0131] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, 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, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a robot, personal computer, server, or network device, etc.) to execute the engineering machinery hybrid control method described in the various embodiments of the present invention.

[0132] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-disclosed concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. A hybrid control method for engineering machinery, characterized in that, Implemented through a power system, which includes a power battery, a motor, and an engine. The power battery is used to power the motor. Both the motor and the engine can provide power to the construction machinery. The engine can drive the motor to work and charge the power battery. The hybrid control method for engineering machinery includes: S100: Confirm that the power battery charge does not exceed the first charge threshold; S200: Set the target speed of the engine to the first speed; S300: Obtain the actual engine speed; S400: Compare the actual speed of the engine with the second speed; wherein the first speed is greater than the second speed; If the actual speed of the engine is greater than the second speed, then step S500 is executed; if the actual speed of the engine is not greater than the second speed, then step S600 is executed. S500: Controls the engine to drive the motor and charge the power battery; S600: Controls the power battery to drive the motor and output power.

2. The hybrid control method for engineering machinery according to claim 1, characterized in that, Step S500 includes: S5001: Compare the actual speed of the engine with the magnitude of the first speed; If the actual speed of the engine is not less than the first speed, then step S5002 is executed; if the actual speed of the engine is less than the first speed, then step S5003 is executed. S5002: Control the engine to drive the motor to work, charge the power battery, and set the generator torque of the motor to a preset generator torque; S5003: Control the engine to drive the motor to work, charge the power battery, and adjust the generating torque of the motor based on the actual speed of the engine.

3. The hybrid control method for engineering machinery according to claim 2, characterized in that, In step S5003, the generating torque of the motor is positively correlated with the actual speed of the engine, and the generating torque of the motor changes linearly with the actual speed of the engine.

4. The hybrid control method for engineering machinery according to claim 1, characterized in that, Step S600 includes: S6001: Compare the actual speed of the engine with the magnitude of the third speed; wherein the second speed is greater than the third speed; If the actual speed of the engine is not greater than the third speed, then step S6002 is executed; if the actual speed of the engine is greater than the third speed, then step S6003 is executed. S6002: Control the output torque of the motor to the maximum torque; S6003: Adjust the output torque of the motor based on the actual speed of the engine.

5. The hybrid control method for engineering machinery according to claim 4, characterized in that, In step S6003, the output torque of the motor is negatively correlated with the actual speed of the engine, and the output torque of the motor changes linearly with the actual speed of the engine.

6. The hybrid control method for engineering machinery according to any one of claims 1-5, characterized in that, The power system also includes a clutch, which has an engaged state and a disengaged state. When the clutch is engaged, the output shaft of the engine is connected to the rotating shaft of the motor; when the clutch is disengaged, the output shaft of the engine is disconnected from the rotating shaft of the motor. The hybrid control method for engineering machinery also includes the following steps between S200 and S300: S210: Control the speed of the motor to be equal to the target speed of the engine, and control the clutch to enter the engagement state; S220: Set the target speed of the motor to the second speed.

7. The hybrid control method for engineering machinery according to claim 6, characterized in that, It also includes the steps following step S500: S510: Confirm that the power battery charge is not less than the second charge threshold; S520: Control the clutch to enter the disengaged state.

8. A hybrid control device for construction machinery, characterized in that, For executing the hybrid control method for construction machinery as described in any one of claims 1-7, the hybrid control device for construction machinery includes: A power confirmation module is used to confirm that the power battery power does not exceed a first power threshold. The target speed setting module is used to set the target speed of the engine to a first speed. The actual speed acquisition module is used to acquire the actual speed of the engine; A speed comparison module is used to compare the actual speed of the engine with the magnitude of a second speed. The charging module is used to control the engine to drive the motor and charge the power battery when the actual speed of the engine is greater than the second speed. The electric power assist module is used to control the power battery to drive the motor and output power when the actual speed of the engine is not greater than the second speed.

9. Construction machinery, characterized in that, The system includes a power system, which comprises a power battery, a motor, and an engine. The power battery powers the motor, and both the motor and the engine provide power to the construction machinery. The engine drives the motor and charges the power battery. The engineering machinery also includes: Controller; A speed sensor is used to acquire the actual speed of the engine and send the acquired actual speed of the engine to the controller; Memory, used to store one or more programs; When the controller executes one or more of the programs, it causes the controller to control the vehicle to implement the engineering machinery hybrid control method as described in any one of claims 1-7.

10. A storage medium having a computer program stored thereon, characterized in that, When the program is executed by the controller, the construction machinery implements the construction machinery hybrid control method as described in any one of claims 1-7.

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