Control method for compensation torque of range extender for engineering machinery vehicle

Abstract

A control method for a compensation torque of a range extender (2) for an engineering machinery vehicle. The method comprises: determining a feedforward torque on the basis of driver demand power, and controlling a range extender (2) to operate with the feedforward torque; on the basis of the difference between the actual generating power of the range extender (2) and the driver demand power, calculating a power compensation torque; on the basis of actual operating conditions of an engineering machinery vehicle, determining whether to add other compensation torques; if the other compensation torques are to be added, setting a final compensation torque to be the sum of the power compensation torque and the other compensation torques; if the other compensation torques are not to be added, setting the final compensation torque to be the power compensation torque; and sending to the range extender (2) the final compensation torque, which then serves, together with the feedforward torque, as a generating torque of the range extender. Therefore, the generating power of the range extender (2) can change according to the driver demand power, and torque compensation is performed on the basis of the actual operating conditions, thereby ensuring the effective available power of a system.

Description

Control method for compensating torque of range extender for engineering machinery vehicle

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is based on and claims priority to an application filed in China with application number 202410840390.7 and filing date June 26, 2024. The disclosed content of the Chinese application is hereby introduced as a whole into this application. Technical Field

[0003] The present disclosure relates to a method for controlling a compensating torque of a range extender of an engineering vehicle. Background Art

[0004] Electric construction vehicles are a type of construction vehicle that uses electricity as a driving force for the motor. Due to their environmentally friendly and energy-saving properties, electric construction vehicles are becoming increasingly popular.

[0005] Currently, power batteries have limited energy storage and cannot meet the continuous operation requirements of electric construction vehicles. To address this issue, the inventors have discovered a technology that increases the driving time by switching from a pure electric technology route to an extended-range hybrid technology route, thereby meeting the continuous operation requirements of electric construction vehicles.

[0006] The key components of extended-range hybrid technology include a range extender (REL), which consists of an engine and a generator driven by the engine. As a new energy source for construction vehicles, the REL can improve operating time and maintain vehicle power during low-battery conditions. Furthermore, by decoupling the REL from the construction vehicle's drive system, it enables flexible control of the engine's operating point, effectively improving engine efficiency and fuel economy. Summary of the Invention

[0007] The present disclosure provides a method for controlling the compensating torque of a range extender for an engineering vehicle, which can overcome at least one of the above-mentioned drawbacks of existing products.

[0008] One aspect of the present disclosure relates to a method for controlling a compensating torque of a range extender for an engineering vehicle, wherein the engineering vehicle includes a power battery unit and a range extender for driving a vehicle motor, the method comprising:

[0009] Determine the feedforward torque according to the driver's required power, and control the range extender to operate with the feedforward torque;

[0010] Calculate the power compensation torque based on the difference between the actual power generated by the range extender and the power required by the driver;

[0011] Determine whether to add other compensatory torques based on the actual operating conditions of the construction machinery vehicle;

[0012] If it increases, the final compensation torque is set to the sum of the power compensation torque and other compensation torques; if it does not increase, the final compensation torque is set to the power compensation torque;

[0013] The final compensation torque is sent to the range extender to serve as the power generation torque of the range extender together with the feedforward torque.

[0014] In some embodiments, the step of determining the feed-forward torque includes obtaining the optimal power generation power when the range extender is operating according to the driver's required power, and calculating the feed-forward torque of the generator of the range extender and the required speed of the engine of the range extender according to the driver's required power and the optimal power generation power.

[0015] In some embodiments, the generator and the engine are controlled to operate according to the feed-forward torque and the required speed, respectively, for at least one operation cycle.

[0016] In some embodiments, the step of calculating the power compensation torque includes calculating the power compensation torque by the following formula: diff =f(P tgt ,ΔP diff )

[0017] in:

[0018] T diff Compensating torque for power;

[0019] P tgt Power demand for the driver;

[0020] ΔP diff The driver's required power P tgt The actual power generation P act The difference between (P tgt -P act ).

[0021] In some embodiments, the step of calculating the power compensation torque includes obtaining the power compensation torque by interpolating a mapping table according to the difference between the driver's required power and the actual generated power, and the driver's required power.

[0022] In some embodiments, the other compensation torques include an accessory compensation torque, and wherein the accessory compensation torque is calculated according to power consumption of engine accessories of the range extender.

[0023] In some embodiments, the accessory compensation torque is calculated by the following formula: acc =f(P acc ,N act )

[0024] in:

[0025] T acc Compensate torque for accessories;

[0026] P acc is the power consumption of the engine accessories of the range extender;

[0027] N act is the current speed of the range extender's engine.

[0028] In some embodiments, the accessory compensation torque is calculated by the following formula:

[0029] in:

[0030] T acc Compensate torque for accessories;

[0031] P acc is the power consumption of the engine accessories of the range extender;

[0032] N act is the current speed of the range extender's engine.

[0033] In some embodiments, the step of determining whether to increase other compensation torques includes judging whether a battery SOP of the power battery unit decreases, and increasing the accessory compensation torque to a final compensation torque when the battery SOP gradually decreases.

[0034] In some embodiments, the step of determining whether to increase the other compensation torques includes always increasing the accessory compensation torque to the final compensation torque.

[0035] In some embodiments, the other compensation torque includes an electric charge compensation torque, wherein the electric charge compensation torque is calculated according to the battery SOP of the power battery unit and the operating load of the power mechanical vehicle.

[0036] In some embodiments, the electric charge compensation torque is calculated by the following formula: sop =T Init *μ diff

[0037] in:

[0038] T sop Compensate torque for electricity;

[0039] T Init is the initial charge compensation torque, which is a function of the battery SOP of the power battery unit and the operating load of the construction machinery vehicle;

[0040] μ diff is a compensation factor, which is positively correlated with the rate of change of the battery SOP of the power battery unit over time.

[0041] In some embodiments, the step of determining whether to increase other compensation torques includes continuing to judge whether the battery SOP of the power battery unit has dropped, and when it is detected that the battery SOP of the power battery unit has dropped to less than a first power threshold, the power compensation torque is increased to a final compensation torque; when the battery SOP of the power battery unit rises back to equal to or greater than a second power threshold, the power compensation torque is not increased to the final compensation torque.

[0042] In some embodiments, the second charge threshold is greater than or equal to the first charge threshold.

[0043] Other features and advantages of the subject technology of the present disclosure will be set forth in the description that follows, and in part will be apparent from the description, or may be learned by practicing the subject technology of the present disclosure. The advantages of the subject technology of the present disclosure will be realized and obtained through the structure particularly pointed out in the written description and claims thereof as well as the accompanying drawings.

[0044] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the subject technology of the present disclosure as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Aspects of the present disclosure will be better understood after reading the following detailed description in conjunction with the accompanying drawings, in which:

[0046] FIG1 shows a schematic diagram of a range extender torque compensation system according to some embodiments of the present disclosure;

[0047] FIG2 shows a schematic diagram of a mapping table of power compensation torque;

[0048] FIG3 is a schematic diagram showing a mapping table of initial electric charge compensation torque;

[0049] FIG4 shows an exemplary flow chart of the range extender torque compensation system arbitrating the compensation torque. DETAILED DESCRIPTION

[0050] The present disclosure will be described below with reference to the accompanying drawings, which illustrate several embodiments of the present disclosure. However, it should be understood that the present disclosure can be presented in many different ways and is not limited to the embodiments described below; in fact, the embodiments described below are intended to make the present disclosure more complete and fully illustrate the scope of protection of the present disclosure to those skilled in the art. It should also be understood that the embodiments disclosed herein can be combined in various ways to provide many additional embodiments.

[0051] It should be understood that like reference numerals refer to like elements throughout the drawings. In the drawings, the dimensions of some features may be distorted for clarity.

[0052] It should be understood that the terms used in the specification are only used to describe specific embodiments and are not intended to limit the present disclosure. Unless otherwise defined, all terms (including technical and scientific terms) used in the specification have the meanings commonly understood by those skilled in the art. For the sake of brevity and / or clarity, well-known functions or structures may not be described in detail.

[0053] The singular forms "a", "an", "the" and "the" used in the specification include the plural forms unless otherwise expressly stated. The terms "include", "comprise" and "contain" used in the specification indicate the presence of the claimed features, but do not exclude the presence of one or more other features. The term "and / or" used in the specification includes any and all combinations of one or more of the relevant listed items. The terms "between X and Y" and "between approximately X and Y" used in the specification should be interpreted as including X and Y. The term "between approximately X and Y" used in this specification means "between approximately X and approximately Y", and the term "from about X to Y" used in this specification means "from about X to about Y".

[0054] In the specification, when an element is referred to as being "on," "attached," "connected," "coupled," or "in contact with" another element, the element may be directly on, attached, connected, coupled to, or in contact with another element, or there may be intervening elements. In contrast, when an element is referred to as being "directly" "on," "directly attached," "directly connected," "directly coupled," or "in direct contact with" another element, there may be no intervening elements. In the specification, when a feature is arranged "adjacent" to another feature, it may mean that the feature has a portion that overlaps with the adjacent feature or a portion that is located above or below the adjacent feature.

[0055] In the specification, spatial terms such as "upper," "lower," "left," "right," "front," "back," "higher," and "lower" may be used to describe the relationship of one feature to another feature in the accompanying drawings. It should be understood that these spatial terms encompass not only the orientation shown in the accompanying drawings, but also different orientations of the device during use or operation. For example, if the device in the accompanying drawings is turned over, a feature previously described as "below" another feature may now be described as "above" the other feature. The device may also be oriented in other ways (rotated 90 degrees or in other orientations), and the relative spatial relationships will be interpreted accordingly.

[0056] In order to achieve effective coordination between the range extender and the power battery and improve the energy utilization efficiency of the vehicle, it is necessary to control the power generation process of the range extender. In a technology known to the inventor, after the range extender is involved, the power generation power of the range extender is determined mainly based on the current power demand of the driver, but the impact of the current working conditions of the engineering machinery vehicle (such as the current speed of the vehicle, load, power battery SOP, etc.) on the power generation demand is not considered. This causes a deviation in the output power generation power of the range extender, so that the effective available power of the system does not match the power demanded by the driver.

[0057] The present disclosure relates to a control method for the compensation torque of a range extender for an engineering machinery vehicle, which effectively solves the problem of mismatch between the effective available power of the system and the power required by the driver caused by the power generation power deviation of the range extender. Figure 1 shows a schematic diagram of a range extender torque compensation system 1 according to some embodiments of the present disclosure. As shown in the figure, the range extender torque compensation system 1 may include a range extender 2, a power battery unit 3 and an all-in-one unit 4. The all-in-one unit 4 can coordinate and manage the distribution of energy sources for the entire vehicle. The all-in-one unit 4 can be operated so that the power battery unit 3 drives the vehicle motor alone (not shown), or the range extender 2 drives the vehicle motor alone and additionally charges the power battery unit 3. The power battery unit 3 may include at least one of a power battery and a supercapacitor.

[0058] The range extender 2 may include an engine 21 and an engine controller 22 for the engine 21, a generator 23 and a generator controller 24 for the generator 23, and a range extender control system 25. The engine 21 and the generator 23 may be mechanically connected to each other to drive the generator 23 to generate electricity. In some embodiments, the engine 21 and the generator 23 may be directly connected coaxially so that the engine 21 and the generator 23 operate at the same speed. The generator 23 and the power battery unit 3 may both be electrically connected to the all-in-one unit 4. The engine controller 22 may send speed commands to the engine 21 and detect and provide feedback on information such as the current engine speed of the engine 21 and the operating status of the engine accessories. The engine accessories include various auxiliary components required for the operation of the engine 21, such as the engine 21's pump and sensors. The generator controller 24 may send torque commands to the generator 23 and detect and provide feedback on information such as the current generator speed, torque, and actual generated power of the generator 23. The range extender control system 25 can be connected to the engine controller 22, the generator controller 24, etc. in communication (for example, via a controller area network CAN) to transmit information and update the status control of the engine 21, the generator 23, etc. in real time.

[0059] The range extender torque compensation system 1 may further include a vehicle control system 6. The vehicle control system 6 may be communicatively connected (e.g., via CAN) to the range extender control system 25, the all-in-one unit 4, and the power battery unit 3 to detect the operating status of the aforementioned modules and send instructions to the aforementioned modules.

[0060] The range extender torque compensation system 1 can obtain a feedforward torque for the generator 23 based on the driver's power demand. It can also calculate the final compensation torque for the generator 23 based on actual operating conditions. For example, the range extender torque compensation system 1 can calculate the power compensation torque for the generator 23 based on the difference between the actual power generated by the generator 23 and the power demanded by the driver. It can also calculate the accessory compensation torque for the generator 23 based on the power consumption of the engine accessories. It can also calculate the charge compensation torque for the generator 23 based on the battery SOP of the power battery unit 3 and the operating load. The range extender torque compensation system 1 can arbitrate the aforementioned compensation torques based on the current operating state of the range extender 2 to obtain the final compensation torque. The range extender torque compensation system 1 combines the final compensation torque with the feedforward torque as the power generation torque for the generator 23. This allows the range extender 2's power generation to vary according to the driver's power demand and provides torque compensation based on actual operating conditions, ensuring effective system power availability.

[0061] The specific working process of the range extender torque compensation system 1 is introduced below. When the vehicle is running, the range extender torque compensation system 1 can obtain information such as the battery power state (SOP) from the power battery unit 3. From the vehicle control system 6, the range extender torque compensation system 1 can obtain information such as the operating load of the engineering machinery vehicle. After the range extender 2 is started, the range extender torque compensation system 1 can obtain real-time driver demand power and other information from the vehicle control system 6 (for example, through the driver's input, etc.). From the range extender control system 25, the range extender torque compensation system 1 can obtain information such as the power consumption of the engine accessories, the speed of the engine 21 and the generator 23, and the real-time power generation of the generator 23.

[0062] The range extender torque compensation system 1 can obtain the required speed of the engine 21 and the feedforward torque of the generator 23 according to the acquired driver's required power.

[0063] In some embodiments, the range extender torque compensation system 1 can obtain the optimal power generation power for the range extender 2 based on the obtained driver demand power by methods such as looking up a mapping table (or MAP). The optimal power generation power means that under this power, the power generation efficiency of the generator 23 is the highest and / or the fuel economy of the engine 21 is the best. In some embodiments, for the working conditions of engineering machinery vehicles, the optimal power generation power can be obtained by testing and calibration on a bench based on the universal characteristic curve of the engine 21 and the power generation efficiency mapping table of the generator 23. The range extender torque compensation system 1 can calculate the required speed of the engine 21 and the feedforward torque of the generator 23 according to the driver's demand power and the optimal power generation power, as shown in the following formula: [N dmd , T fd ]=f(P tgt ,P map )

[0064] in:

[0065] N dmd is the required engine speed;

[0066] T fd is the feed-forward torque of the generator;

[0067] P tgt Power demand for the driver;

[0068] P map is the optimal power generation.

[0069] In some embodiments, the range extender torque compensation system 1 can calculate the required speed of the engine 21 based on the driver's required power and the optimal power generation. The range extender torque compensation system 1 can then calculate the feedforward torque of the generator 23 based on the required speed of the engine 21 and the driver's required power.

[0070] The range extender torque compensation system 1 can send the required speed of the engine 21 and the feedforward torque of the generator 23 to the engine controller 22 and the generator controller 24, respectively. The engine controller 22 and the generator controller 24 control the engine 21 and the generator 23 to operate according to the required speed and feedforward torque, respectively, and for at least one operating cycle of the range extender control system 25.

[0071] After the engine 21 and generator 23 have been operating for a period of time, the range extender torque compensation system 1 can calculate the final compensation torque for the generator 23 based on actual operating conditions. This final compensation torque can include, for example, one or more of power compensation torque, accessory compensation torque, and charge compensation torque. The range extender torque compensation system 1 can arbitrate these compensation torques based on a torque compensation strategy, applying compensation torque to the generator 23 to ensure effective system power availability. The power compensation torque, accessory compensation torque, and charge compensation torque are described below.

[0072] Power compensation torque

[0073] The range extender torque compensation system 1 can obtain the actual generated power during the range extender operation through the generator controller 24. The range extender torque compensation system 1 can calculate the power compensation torque used to compensate the generator 23 based on the difference between the actual generated power and the power required by the driver.

[0074] In some embodiments, the range extender torque compensation system 1 can calculate the power compensation torque for the generator 23 according to the difference and the driver's required power using the following formula:

[0075] T diff =f(P tgt ,ΔP diff )

[0076] in:

[0077] T diff Compensating torque for power;

[0078] P tgt Power demand for the driver;

[0079] ΔP diff is the actual power generation P act and the driver's required power P tgt The difference between (P tgt -P act ).

[0080] In other embodiments, the range extender torque compensation system 1 can interpolate and look up a mapping table based on the difference and the driver's requested power to obtain the power compensation torque for the generator 23. The power compensation torque mapping table can be set based on empirical values. Figure 2 shows a schematic diagram of the power compensation torque mapping table, where the two horizontal axes represent the difference between the actual generated power and the driver's requested power, and the driver's requested power, respectively, and the vertical axis represents the power compensation torque.

[0081] Accessory compensation torque

[0082] The range extender torque compensation system 1 can obtain the power consumed by the engine accessories during the operation of the range extender through the engine controller 22. The range extender torque compensation system 1 can calculate the accessory compensation torque for compensating the generator 23 based on the power consumed by the engine accessories.

[0083] In some embodiments, the range extender torque compensation system 1 can obtain the power consumption of the engine accessories and the current speed of the engine 21 during operation through the engine controller 22. The range extender torque compensation system 1 calculates the accessory compensation torque for the generator 23 based on the power consumption of the engine accessories and the current speed of the engine 21, as shown in the following formula: acc =f(P acc ,N act )

[0084] in:

[0085] T acc Compensate torque for accessories;

[0086] P acc is the power consumption of engine accessories;

[0087] N act is the current engine speed.

[0088] In some embodiments, the formula for calculating the accessory compensation torque for the generator 23 may be as follows:

[0089] in:

[0090] T acc Compensate torque for accessories;

[0091] P acc is the power consumption of engine accessories;

[0092] N act is the current engine speed.

[0093] Power compensation torque

[0094] The range extender torque compensation system 1 can obtain the actual battery SOP of the power battery unit 3 during range extender operation. It can also obtain the operating load of the power machinery from the vehicle control system. Based on the actual battery SOP of the power battery unit 3 and the operating load of the power machinery, the range extender torque compensation system 1 calculates the power compensation torque to be used to compensate the generator 23.

[0095] In some embodiments, the range extender torque compensation system 1 can calculate the initial power compensation torque based on the battery SOP of the power battery unit 3 and the operating load of the power mechanical vehicle. In one example, the initial power compensation torque can be a function of the battery SOP of the power battery unit 3 and the operating load of the power mechanical vehicle, as shown in the following formula: Init =f(P sop ,M load )

[0096] in:

[0097] T Init Compensate the torque for the initial charge;

[0098] P sop Battery SOP for power battery unit;

[0099] M load The operating load of construction machinery vehicles.

[0100] In another example, the initial charge compensation torque can be an empirical value calibrated through multiple tests. Figure 3 shows a schematic diagram of a mapping table of the initial charge compensation torque, where the two horizontal axes are battery SOP and workload, and the vertical axis is the initial charge compensation torque.

[0101] The range extender torque compensation system 1 can determine the compensation factor for the initial power compensation torque according to the rate of change of the battery SOP over time. The compensation factor is positively correlated with the rate of change of the battery SOP over time, as shown in the following formula: diff =ΔP sop / Δt sop

[0102] in:

[0103] μ diff is the compensation factor;

[0104] ΔP sop is the change of battery SOP over time, ΔP sop It can be calculated, for example, every 10 operating cycles of the booster controller:

[0105] Δt sop is the time interval.

[0106] When the battery SOP changes faster or decreases faster over time, the compensation factor gradually increases. The compensation factor is designed to give the range extender a larger compensation coefficient during operations with high power consumption, increasing the range extender's power generation and keeping the power battery unit's charge relatively stable over time.

[0107] The range extender torque compensation system 1 can calculate the power compensation torque for the generator 23 based on the product of the initial power compensation torque and the compensation factor, as shown in the following formula. sop =T Init *μ diff

[0108] in:

[0109] T sop Compensate torque for electricity;

[0110] T Init Compensate the torque for the initial charge;

[0111] μ diff is the compensation factor.

[0112] In other words, the application of the charge compensation torque is changed according to the rate of change of the current battery SOP. When the battery SOP decreases at a high rate, the power required for the operation is high, and the range extender's power generation is far from meeting the operation requirements. Therefore, the gradient step size of the charge compensation torque is large, causing the range extender's power generation to increase rapidly to meet the current operation requirements. When the battery SOP decreases at a low rate, the difference between the range extender's power generation and the power required for the operation is small. Therefore, the gradient step size of the charge compensation torque is small, causing the engine speed to change slowly and smoothly, reducing the impact force when doing work.

[0113] Torque compensation strategy

[0114] The range extender torque compensation system 1 can utilize a torque compensation strategy to arbitrate the above compensation torques according to the current working state of the range extender 2 to determine the final compensation torque, and use the final compensation torque together with the feedforward torque as the power generation torque executed by the generator 23.

[0115] The torque compensation strategy is adjusted based on the vehicle's actual operating conditions, taking into account factors such as system efficiency, accessory consumption, battery charge, and vehicle load. This strategy ensures continuous operation and power performance while maintaining a relatively stable battery charge and ensuring engine speed stability during operation.

[0116] Figure 4 shows an exemplary flow chart of the compensation torque arbitration performed by the range extender torque compensation system 1. In some embodiments, after the range extender 2 is activated, the range extender torque compensation system 1 can continuously transmit the power compensation torque to the range extender 2 to compensate for the power generation torque of the generator 23. This ensures that the power generated by the range extender 2 meets the driver's demand, minimizing the impact of system efficiency on actual power generation.

[0117] In some embodiments, after the range extender 2 starts working, the range extender torque compensation system 1 can determine whether the battery SOP of the power battery unit 3 has dropped. When the actual power generation power of the range extender 2 cannot meet the operating power demand, the battery SOP of the power battery unit 3 will gradually drop. At this time, the range extender torque compensation system 1 can increase the accessory compensation torque to the final compensation torque to compensate for the power generation torque of the generator 23 for the consumption caused by the engine accessories. In other embodiments, after the range extender 2 starts working, the range extender torque compensation system 1 can always increase the accessory compensation torque to the final compensation torque without determining whether the battery SOP of the power battery unit 3 has dropped, so as to compensate for the power generation torque of the generator 23.

[0118] In some embodiments, after applying the accessory compensation torque, the range extender torque compensation system 1 can continue to determine whether the battery SOP of the power battery unit 3 decreases. In the case where the actual power generation power of the range extender 2 cannot meet the operating power demand, the battery SOP of the power battery unit 3 will continue to decrease gradually. When the range extender torque compensation system 1 detects that the battery SOP of the power battery unit 3 is less than the power threshold Th sop When the battery SOP of the power battery unit 3 rises to or above the power threshold Th, the power compensation torque can be increased to the final compensation torque to compensate for the power generation torque of the generator 23; sop1 Stop compensation when Th sop1 and threshold Th sop It can be calibrated according to the actual operating conditions. In some examples, the threshold Th sop1 Can be greater than the threshold Th sop In other examples, the threshold Th sop1 Can be equal to the threshold Th sop In other embodiments, the range extender torque compensation system 1 may determine whether to increase the electric charge compensation torque to the final compensation torque before applying the accessory compensation torque or without applying the accessory compensation torque.

[0119] It should be understood that in some embodiments, the torque compensation strategy may consider whether to add the power compensation torque, the accessory compensation torque, and the charge compensation torque to the final compensation torque. In some embodiments, the torque compensation strategy may consider whether to add both the power compensation torque and the accessory compensation torque to the final compensation torque. In some embodiments, the torque compensation strategy may consider whether to add both the power compensation torque and the charge compensation torque to the final compensation torque. In other embodiments, the torque compensation strategy may only consider whether to add the power compensation torque to the final compensation torque, while completely ignoring the accessory compensation torque and the charge compensation torque. In some embodiments, in addition to the power compensation torque, the accessory compensation torque, and the charge compensation torque, the torque compensation strategy may consider whether to add other forms of compensation torque to the final compensation torque.

[0120] According to the embodiment of the present disclosure, the control method for the compensation torque of the range extender for engineering machinery vehicles comprehensively considers the driver's required power, battery SOP, operating load and engine accessory consumption during the range extender's power generation condition, compensates for the torque generated by the range extender, effectively solves the power generation power deviation of the range extender, and ensures the effective available power of the system.

[0121] The present disclosure solves the problem of deviation between the range extender's generated power and the driver's required power by implementing power compensation torque, thereby ensuring the continuous operation requirements and power performance of the engineering machinery vehicle.

[0122] The present disclosure implements power compensation torque, so that the range extender system adapts to the variable load conditions of engineering machinery vehicles. The battery power is maintained within a relatively stable range, ensuring the effective available power of the energy supply system and being able to meet the sudden heavy load requirements during the operation of engineering machinery vehicles.

[0123] The control method disclosed herein directly realizes compensation for the generator torque without performing related logic and conversion in the middle, and the control is direct and efficient.

[0124] Although exemplary embodiments of the present disclosure have been described, it will be understood by those skilled in the art that various changes and modifications may be made to the exemplary embodiments of the present disclosure without departing substantially from the spirit and scope of the present disclosure. Therefore, all such changes and modifications are intended to be within the scope of protection of the present disclosure as defined by the claims. The present disclosure is defined by the appended claims, and equivalents of these claims are intended to be included therein.

Claims

1. A method for controlling the compensating torque of a range extender of an engineering vehicle, wherein: The engineering machinery vehicle includes a power battery unit and a range extender for driving a vehicle motor, and the method includes: Determine the feedforward torque according to the driver's required power, and control the range extender to operate with the feedforward torque; Calculate the power compensation torque based on the difference between the actual power generated by the range extender and the power required by the driver; Determine whether to add other compensatory torques based on the actual operating conditions of the construction machinery vehicle; If it increases, the final compensation torque is set to the sum of the power compensation torque and other compensation torques; if it does not increase, the final compensation torque is set to the power compensation torque; The final compensation torque is sent to the range extender to serve as the power generation torque of the range extender together with the feedforward torque.

2. The control method according to claim 1, wherein: The step of determining the feedforward torque includes obtaining the optimal power generation power of the range extender when the range extender is working according to the driver's required power, and calculating the feedforward torque of the generator of the range extender and the required speed of the engine of the range extender according to the driver's required power and the optimal power generation power.

3. The control method according to claim 2, wherein: The generator and the engine are controlled to operate according to the feedforward torque and the required speed respectively for at least one operation cycle.

4. The control method according to any one of claims 1 to 3, wherein: The step of calculating the power compensation torque includes calculating the power compensation torque by the following formula: diff =f(P tgt ,ΔP diff ) in: T diff Compensating torque for power; P tgt Power demand for the driver; ΔP diff The driver's required power P tgt The actual power generation P act The difference between (P tgt -P act ).

5. The control method according to any one of claims 1 to 4, wherein: The step of calculating the power compensation torque includes obtaining the power compensation torque by interpolating and searching a mapping table according to the difference between the driver's required power and the actual generated power and the driver's required power.

6. The control method according to any one of claims 1 to 5, wherein: The other compensation torques include an accessory compensation torque, and wherein the accessory compensation torque is calculated according to power consumption of engine accessories of the range extender.

7. The control method according to claim 6, wherein: The accessory compensation torque is calculated using the following formula: T acc =f(P acc ,N act ) in: T acc Compensate torque for accessories; P acc is the power consumption of the engine accessories of the range extender; N act is the current speed of the range extender's engine.

8. The control method according to any one of claims 6 to 7, wherein: The accessory compensation torque is calculated using the following formula: in: T acc Compensate torque for accessories; P acc is the power consumption of the engine accessories of the range extender; N act is the current speed of the range extender's engine.

9. The control method according to any one of claims 6 to 8, wherein: The step of determining whether to increase other compensation torques includes judging whether the battery SOP of the power battery unit decreases, and when the battery SOP gradually decreases, increasing the accessory compensation torque to the final compensation torque.

10. The control method according to any one of claims 6 to 9, wherein: The step of determining whether to increase other compensation torques includes always increasing the accessory compensation torque to the final compensation torque.

11. The control method according to any one of claims 1 to 10, wherein: The other compensation torques include an electric charge compensation torque, wherein the electric charge compensation torque is calculated according to the battery SOP of the power battery unit and the operating load of the power mechanical vehicle.

12. The control method according to claim 11, wherein: The power compensation torque is calculated by the following formula: T sop =T Init *μ diff in: T sop Compensate torque for electricity; T Init is the initial charge compensation torque, which is a function of the battery SOP of the power battery unit and the operating load of the construction machinery vehicle; μ diff is a compensation factor, which is positively correlated with the rate of change of the battery SOP of the power battery unit over time.

13. The control method according to any one of claims 11 to 12, wherein: The step of determining whether to increase other compensation torques includes continuing to determine whether the battery SOP of the power battery unit decreases, and when it is detected that the battery SOP of the power battery unit decreases to less than a first power threshold, increasing the power compensation torque to a final compensation torque; When the battery SOP of the power battery unit rises back to be equal to or greater than the second power threshold, the power compensation torque is not increased to the final compensation torque.

14. The control method according to claim 13, wherein: The second power threshold is greater than or equal to the first power threshold.

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