Working condition-adaptive power battery control method and system, and electric loader

Abstract

Disclosed in the present invention are a working condition-adaptive power battery control method and system, and an electric loader. According to usage scenarios of engineering machinery, working conditions of the engineering machinery are subdivided, and a discharging control method or a charging control method for a power battery is formulated for each working condition. By monitoring main operating parameters of the engineering machinery in real time, establishing a working condition characterization parameter matrix on the basis of the parameters, and synchronously establishing a working condition parameter matrix database, an engineering machinery control system can identify each working condition by means of the real-time parameters, thereby quickly switching the discharging control method or the charging control method for the power battery. Controlling the charging / discharging power of the engineering machinery on a power battery side achieves the rapid adaptation of the battery power of the electric engineering machinery based on operating scenarios, in particular is applicable to electric loaders, achieving the objectives of working condition adaptability, low energy consumption, and prolonged battery life.

Description

A working condition adaptive power battery control method, system, and electric loader Technical Field

[0001] This invention relates to a working condition adaptive power battery control method, system, and electric loader, belonging to the field of electric loaders for construction machinery. Background Technology

[0002] Loaders, as commonly used earthmoving machinery, are widely used in construction, road construction, mining, agriculture, and other fields, with diverse application scenarios. Meanwhile, with increasingly stringent environmental regulations, many loader manufacturers are focusing on electrification technology, continuously launching new energy loader products. Therefore, achieving a high degree of adaptability between new energy loaders and operational scenarios, and increasing range to achieve energy saving, is a crucial way to improve product competitiveness. Currently, electric loaders on the market adapt to working conditions by shifting gears through drive motors and automatic transmissions. The power battery discharge method is set to meet the high-performance operation of the battery. However, different working conditions may result in the same power being released, leading to energy waste. Therefore, it is necessary to design an adaptive power battery control method and system for electric loaders.

[0003] Chinese patent CN202220221733.8 proposes an integrated drive control system for an electric loader, which mainly controls the loader's forward and reverse movement by sending shift requests to the gearbox controller. However, it does not consider the complexity of the loader's operating conditions, and the division of operating conditions is relatively simple. Chinese patents CN201210072038.0 and CN202210840278.4 propose a shift control system based on operating condition recognition, which only performs coarse adaptive recognition of driving and working conditions, without considering the loader's battery performance, resulting in wasted power. Chinese patent CN202210849142.X provides a method, device, vehicle, and electronic equipment for identifying battery operating conditions. It makes a fine division of battery operating conditions based on the battery's usage scenarios, but does not take into account the impact of the loader's actual working conditions on battery performance.

[0004] Summary of the Invention

[0005] This invention provides a working condition adaptive power battery control method, system, and electric loader, solving the problems disclosed in the background art. It achieves rapid battery power adaptation of the electric loader based on the working scenario, realizing working condition adaptability, low energy consumption, and increased range.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0007] In a first aspect, the present invention provides a power battery control method that adapts to different operating conditions:

[0008] The system acquires real-time operating parameters, control handle signals, and control pedal signals of the construction machinery, generates an operating condition characterization parameter matrix based on the real-time operating parameters, and simultaneously establishes an operating condition parameter matrix database. The database includes the parameter range corresponding to each operating condition. The operating condition of the construction machinery is determined based on the parameter range of the real-time operating parameters. The operating condition is switched according to the rate of change of the operating parameters, control handle signals, and control pedal signals at different times. The power battery control method includes a discharge control method and a charging control method.

[0009] If the operating condition is identified as standby, unloaded forward, unloaded reverse, unloaded turning, unloaded climbing, unloaded lifting, unloaded lowering, unloaded unloading, fully loaded forward, fully loaded reverse, fully loaded turning, fully loaded climbing, fully loaded lifting, fully loaded lowering, fully loaded unloading, digging, or bulldozing, a discharge control method shall be adopted.

[0010] If the operating condition is identified as no-load braking, no-load downhill braking, full-load braking, or full-load downhill braking, a charging control method is adopted.

[0011] The discharge control method includes a pulse discharge method and a continuous discharge method, and the charging control method is determined based on the battery status and operating conditions.

[0012] Furthermore, the operating condition characterization parameter matrix M x :[a x ,b x ,c x ,d x ,e x ,f x ,g x ,h x i x ,j x ];

[0013] Among them, a x b is the speed of the construction machinery; x For the acceleration of construction machinery; c x For the main pump pressure of the hydraulic system of construction machinery; d x Main pump flow rate; e x f represents the displacement of the bucket cylinder. x g represents the displacement of the boom cylinder. x For the displacement of the steering cylinder; h x For bucket cylinder pressure; i x The pressure of the boom cylinder; j x This refers to the steering cylinder pressure.

[0014] Furthermore, the operating condition characterization parameter matrix database

[0015] N x :[a x1 ~a x2 ,b x1 ~b x2 ,c x1 ~c x2 ,d x1 ~d x2 ,e x1 ~e x2 ,f x1 ~f x2 ,g x1 ~g x2 ,h x1 ~h x2 i x1 ~i x2 ,j x1 ~j x2 ];

[0016] Among them, a x1 ~a x2 The range of driving speeds; b x1 ~b x2 - Range of driving acceleration values; c x1 ~c x2 - Pressure range of the main pump in the hydraulic system; d x1 ~d x2 - Main pump flow range value; e x1 ~e x2 - Bucket cylinder displacement range value; f x1 ~f x2 - Boom cylinder displacement range value; g x1 ~g x2 - Steering cylinder displacement range value; h x1 ~h x2 - Bucket cylinder pressure range; i x1 ~i x2 - Boom cylinder pressure range; j x1 ~j x2 - Steering cylinder pressure range value.

[0017] Furthermore, the discharge control method includes a pulse discharge method and a continuous discharge method.

[0018] Furthermore, when the construction machinery is in the following conditions: no-load lifting, no-load unloading, fully-load lifting, fully-load unloading, and digging, the construction machinery adopts a pulse discharge method to query the allowable peak discharge power P based on the current battery SOC value and temperature. dmax According to the allowable peak discharge power P dmax and allowable discharge peak power P dmax The longest discharge time t maxIf the construction machinery has a peak discharge power P dmax Continuous operation for more than the maximum time t max Then, at time t max Then switch to the maximum continuous discharge method.

[0019] Furthermore, when the construction machinery is in standby mode, unloaded forward mode, unloaded reverse mode, unloaded turning mode, unloaded climbing mode, fully loaded forward mode, fully loaded reverse mode, fully loaded turning mode, fully loaded climbing mode, or bulldozing mode, the construction machinery adopts a continuous discharge method. Based on the current battery SOC value and temperature, the corresponding battery continuous power Map for each mode is queried. The continuous discharge method of the construction machinery is not time-limited; the battery continuous power P is set according to the power requirement of each mode. nmax The battery continuous power is set to be the lowest in standby mode and the battery continuous power is set to be the highest in full-load climbing mode.

[0020] When the battery temperature is between 20-40℃ and the remaining SOC is above 30%, it can maintain high power output. As the temperature decreases or increases, the discharge power will decrease. The lower / higher the temperature, the lower the allowable discharge power, until the discharge stops at the limit. When the remaining SOC is below 30%, the discharge power decreases.

[0021] When construction machinery uses pulse discharge or continuous discharge methods, the operating parameters, operating handle opening, and operating pedal opening at the first moment are acquired. After an interval of time Δt, the operating parameters, operating handle opening, and operating pedal opening at the second moment are acquired. The rate of change of the operating parameters, operating handle opening, and operating pedal opening is calculated and compared with preset thresholds for the rate of change of the operating parameters, operating handle opening, and operating pedal opening. If the rate of change exceeds the preset threshold, the operating condition corresponding to the operating parameters at the second moment is switched to pulse discharge or continuous discharge.

[0022] Furthermore, the charging control method includes:

[0023] Charging is not permitted when the battery temperature is below 0℃ or above 60℃, and charging is not permitted when the battery's remaining SOC is 100%. When charging is permitted, the battery temperature and remaining SOC are monitored. High-power charging is permitted when the battery temperature is between 20-40℃ and the remaining SOC is below 40%. As the temperature decreases or increases, the charging power will decrease accordingly. The lower / higher the temperature, the lower the permitted charging power, until the discharge stop threshold is reached. The higher the remaining SOC, the lower the permitted charging power.

[0024] Furthermore, the charging control method further includes:

[0025] When the motor provides charging and braking power P e ≥ Braking Request Power P bWhen the driver requests braking force, the motor charges the battery, and the maximum allowable charging power P of the battery is queried based on the current battery SOC value. cmax Take the charging and braking power P provided by the motor e and the battery's maximum allowable charging power P cmax Both use relatively low charging power for charging;

[0026] When the motor provides charging and braking power P e < Braking power request P b When the motor provides maximum braking power, it simultaneously activates the mechanical braking power P. m Additionally, calculate the maximum allowable charging power P of the battery based on the current battery SOC value. cmax Take the charging and braking power P provided by the motor e and the battery's maximum allowable charging power P cmax Both are charged using relatively low charging power.

[0027] Furthermore, the driver's braking request power P b =c1·m·v·k·f·c2·i

[0028] Where c1 is the dynamic load correction coefficient; m is the vehicle mass; k is the brake pedal opening coefficient; f is the tire rolling coefficient of the construction machinery; v is the vehicle speed; c2 is the system correction coefficient; i is the gradient coefficient, which is 1 for flat braking conditions and is determined according to the actual gradient for downhill braking conditions.

[0029] Furthermore, the method for switching to the charging control method corresponding to the operating condition:

[0030] The system acquires the operating parameters, operating handle opening, and operating pedal opening at the first moment. After an interval Δt, it acquires the operating parameters, operating handle opening, and operating pedal opening at the second moment. It calculates the rate of change of the operating parameters, operating handle opening, and operating pedal opening and compares them with preset thresholds for the rate of change of the operating parameters, operating handle opening, and operating pedal opening. If the rate of change exceeds the preset threshold, it switches to the operating condition corresponding to the operating parameters at the third moment. When switching to the operating condition corresponding to the operating parameters at the third moment, a charging control method is used.

[0031] Secondly, the present invention provides a power battery control system that adapts to different operating conditions, comprising:

[0032] The working condition parameter acquisition module is used to acquire real-time working condition parameters of construction machinery;

[0033] The control handle signal acquisition module is used to acquire control handle signals;

[0034] Operating pedal signal acquisition module; used to acquire operating pedal signals;

[0035] The working condition analysis module is used to generate a working condition characterization parameter matrix based on real-time working condition parameters and simultaneously establish a working condition parameter matrix database. The database includes the parameter range corresponding to each working condition. The working condition is determined based on the parameter range of the real-time working condition parameters. The working condition is switched based on the rate of change of working condition parameters, operating handle signals, and operating pedal signals at different times.

[0036] The battery management system adjusts the power battery control method according to the operating condition: if the operating condition is identified as standby, no-load forward, no-load reverse, no-load turning, no-load climbing, no-load lifting, no-load lowering, no-load unloading, fully loaded forward, fully loaded reverse, fully loaded turning, fully loaded climbing, fully loaded lifting, fully loaded lowering, fully loaded unloading, digging, or bulldozing, a discharge control method is used; if the operating condition is identified as no-load braking, no-load downhill braking, fully loaded braking, or fully loaded downhill braking, a charging control method is used.

[0037] Thirdly, the present invention provides an electric loader, including the aforementioned adaptive power battery control system, and further comprising:

[0038] The loader vehicle controller is used to acquire the working conditions identified by the working condition adaptive power battery control system and the corresponding power battery control method.

[0039] A battery energy distribution unit is used to distribute battery energy to the walking motor and the working motor according to the power battery control method.

[0040] The microcontroller unit is used to control the operation of the walking motor and the working motor respectively according to the allocated battery power.

[0041] The beneficial effects achieved by this invention are as follows: This invention subdivides the working conditions of construction machinery according to their usage scenarios, and formulates a power battery discharge control method or charging control method for each working condition. By monitoring the main operating parameters of the construction machinery in real time and establishing a working condition characterization parameter matrix based on these parameters, a working condition parameter matrix database is simultaneously established. The construction machinery control system can identify each working condition through real-time parameters, thereby quickly switching the power battery discharge control method or charging control method, controlling the charging and discharging power at the power battery end, and realizing rapid adaptation of battery power for electric construction machinery based on the working scenario. This is especially suitable for electric loaders, achieving working condition self-adaptation, low energy consumption, and increased range. Attached Figure Description

[0042] Figure 1 is a schematic flowchart of the adaptive power battery control method of the present invention.

[0043] Figure 2 is a schematic diagram of the power battery control system with adaptive operating conditions of the present invention;

[0044] Figure 3 is a schematic diagram of the discharge feedforward control process of the adaptive power battery control method of the present invention.

[0045] Figure 4 is a schematic diagram of the charging feedback control process of the adaptive power battery control method of the present invention.

[0046] Figure 5 is a schematic diagram of the application of the power battery MAP of the adaptive power battery control method of the present invention under working conditions.

[0047] Figure 6 is a schematic diagram of the discharge method of the adaptive power battery control method of the present invention.

[0048] Figure 7 is a schematic diagram of the charging method of the adaptive power battery control method of the present invention. Detailed Implementation

[0049] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0050] Example 1:

[0051] As shown in Figure 1, this embodiment proposes an adaptive power battery control method for electric loaders. The loader control system quickly identifies the working conditions through real-time operating parameters and formulates different power level discharge control methods or charging control methods for each working condition, and switches the discharge / charging control method of the power battery according to the working conditions.

[0052] The loader operating conditions include: standby, unloaded forward, unloaded reverse, unloaded braking, unloaded steering, unloaded climbing, unloaded downhill braking, unloaded lifting, unloaded unloading, unloaded lowering, fully loaded forward, fully loaded reverse, fully loaded braking, fully loaded steering, fully loaded climbing, fully loaded downhill braking, fully loaded lifting, fully loaded unloading, fully loaded lowering, digging, and bulldozing. By collecting the loader's main operating parameters, a loader operating condition characterization parameter matrix is ​​constructed. A database of parameter matrices for different operating conditions is obtained through actual engineering tests. Each operating condition includes all main operating parameters, and the main operating parameters for each condition represent a range of data. The system can clearly define the loader's operating condition based on the collected main operating parameters.

[0053] M x :[a x ,b x ,c x ,d x ,e x ,f x,g x ,h x i x ,j x (1);

[0054] In the formula:

[0055] M x - Loader operating condition characterization parameter matrix, operating condition types include standby condition, no-load forward condition, no-load reverse condition, no-load braking condition, no-load steering condition, no-load climbing condition, no-load downhill braking condition, no-load lifting condition, no-load unloading condition, no-load lowering condition, fully loaded forward condition, fully loaded reverse condition, fully loaded braking condition, fully loaded steering condition, fully loaded climbing condition, fully loaded downhill braking condition, fully loaded lifting condition, fully loaded unloading condition, fully loaded lowering condition, digging condition, and bulldozing condition;

[0056] a x - Loader travel speed;

[0057] b x -Loader acceleration;

[0058] c x - Loader hydraulic system main pump pressure;

[0059] d x - Main pump flow rate;

[0060] e x - Bucket cylinder displacement;

[0061] f x - Boom cylinder displacement;

[0062] g x - Steering cylinder displacement;

[0063] h x - Bucket cylinder pressure;

[0064] i x - Boom cylinder pressure;

[0065] j x - Steering cylinder pressure.

[0066] N x :[a x1 ~a x2 ,b x1 ~b x2 ,c x1 ~c x2 ,d x1 ~d x2 ,e x1 ~e x2 ,f x1 ~fx2 ,g x1 ~g x2 ,h x1 ~h x2 i x1 ~i x2 ,j x1 ~j x2 (2);

[0067] In the formula:

[0068] N x - Loader operating condition characterization parameter matrix database, operating condition types include standby condition, no-load forward condition, no-load reverse condition, no-load braking condition, no-load steering condition, no-load climbing condition, no-load downhill braking condition, no-load lifting condition, no-load unloading condition, no-load lowering condition, fully loaded forward condition, fully loaded reverse condition, fully loaded braking condition, fully loaded steering condition, fully loaded climbing condition, fully loaded downhill braking condition, fully loaded lifting condition, fully loaded unloading condition, fully loaded lowering condition, digging condition, and bulldozing condition;

[0069] a x1 ~a x2 - Loader travel speed range;

[0070] b x1 ~b x2 - Loader travel acceleration range;

[0071] c x1 ~c x2 - Loader hydraulic system main pump pressure range;

[0072] d x1 ~d x2 -Main pump flow range;

[0073] e x1 ~e x2 - Displacement range of the bucket cylinder;

[0074] f x1 ~f x2 - Boom cylinder displacement range value;

[0075] g x1 ~g x2 - Steering cylinder displacement range value;

[0076] h x1 ~h x2 - Bucket cylinder pressure range;

[0077] i x1 ~i x2 - Boom cylinder pressure range;

[0078] jx1 ~j x2 - Steering cylinder pressure range value.

[0079] Acquire real-time operating parameters, control handle signals, and control pedal signals of the construction machinery;

[0080] A working condition characterization parameter matrix is ​​generated based on real-time working condition parameters, and a working condition parameter matrix database is established simultaneously. The database includes the parameter range corresponding to each working condition, and the working condition is determined based on the parameter range of the real-time working condition parameters.

[0081] The operating conditions are switched according to the rate of change of operating parameters, operating handle signals, and operating pedal signals at different times.

[0082] If the operating condition is identified as standby, unloaded forward, unloaded reverse, unloaded turning, unloaded climbing, unloaded lifting, unloaded lowering, unloaded unloading, fully loaded forward, fully loaded reverse, fully loaded turning, fully loaded climbing, fully loaded lifting, fully loaded lowering, fully loaded unloading, digging, or bulldozing, a discharge control method shall be adopted.

[0083] If the operating condition is identified as no-load braking, no-load downhill braking, full-load braking, or full-load downhill braking, a charging control method is adopted.

[0084] The operating handle signals include: boom lifting opening, boom lowering opening, bucket retraction opening, and bucket outward tilting opening; the operating pedal signals include: ignition pedal opening and brake pedal opening.

[0085] As shown in Figure 3, when the operating conditions are identified as standby, unloaded forward, unloaded reverse, unloaded turning, unloaded climbing, unloaded lifting, unloaded lowering, unloaded unloading, fully loaded forward, fully loaded reverse, fully loaded turning, fully loaded climbing, fully loaded lifting, fully loaded lowering, fully loaded unloading, digging, and bulldozing, a discharge control method is adopted. The switching of the discharge control method adopts feedforward control, that is, the operating condition parameters, operating handle opening, and operating pedal opening are obtained at the first moment. After an interval of Δt, the operating condition parameters, operating handle opening, and operating pedal opening at the second moment are obtained. The rate of change of the operating condition parameters, operating handle opening, and operating pedal opening is calculated and compared with the preset threshold of the rate of change of the operating condition parameters, operating handle opening, and operating pedal opening. If it exceeds the preset threshold, the operating condition corresponding to the operating condition parameters at the second moment is switched to pulse discharge or continuous discharge.

[0086] As shown in Figure 4, when the operating condition is predicted to be no-load braking, no-load downhill braking, full-load braking, or full-load downhill braking, a charging control method is adopted. The switching of the charging method uses feedback control. It is necessary to confirm that the operating condition parameters at the third moment are indeed the above-mentioned operating conditions before switching to the charging control method. That is, the operating condition parameters, operating handle opening, and operating pedal opening at the first moment are obtained. After an interval of Δt, the operating condition parameters, operating handle opening, and operating pedal opening at the second moment are obtained. The change rate of the operating condition parameters, operating handle opening, and operating pedal opening is calculated and compared with the preset thresholds for the change rate of the operating condition parameters, operating handle opening, and operating pedal opening. If it exceeds the preset threshold, the operating condition corresponding to the operating condition parameters at the third moment is switched to. When switching to the operating condition corresponding to the operating condition parameters at the third moment, the charging control method is adopted.

[0087] As shown in Figure 6, the discharge method includes a pulse discharge method and a continuous discharge method, and the following steps are performed during execution:

[0088] Step S1: Set the loader's no-load lifting, no-load unloading, full-load lifting, full-load unloading, and digging modes to pulse discharge mode. Query the allowable peak discharge power P based on the current battery SOC value and temperature. dmax This invention relates to a pulse discharge method for power batteries under pulse discharge conditions, which allows the power battery to provide ultra-high discharge power in a short period of time. When designing the pulse discharge method, the allowable peak discharge power P needs to be set according to the operating conditions. dmax and allows peak power P dmax The longest discharge time t max If the loader discharges at peak power P dmax Continuous operation for more than the maximum time t max Then, it is necessary to [do something] at time t. max Then switch to the maximum continuous discharge method;

[0089] Step S2: When the loader is in standby, unloaded forward, unloaded reverse, unloaded turning, unloaded climbing, fully loaded forward, fully loaded reverse, fully loaded turning, fully loaded climbing, or bulldozing mode, the system is matched to a continuous discharge method, as shown in Figure 5. Based on the current battery SOC value and temperature, the system queries the battery continuous power Map corresponding to each working condition. The loader's continuous discharge method is not time-limited. When designing the continuous discharge method, the battery continuous power P is set according to the power requirements of each working condition. nmax The battery continuous power is set to the lowest in standby mode and the highest in full-load climbing mode.

[0090] The design of power battery discharge control methods is also limited by battery temperature and remaining SOC. When the battery temperature is between 20-40℃ and the remaining SOC is above 30%, high power output can be maintained. As the temperature decreases or increases, the discharge power will decrease. The lower / higher the temperature, the lower the allowable discharge power, until the discharge stops. When the remaining SOC is below 30%, the discharge power also decreases.

[0091] As shown in Figure 7, the charging method is performed using the following steps:

[0092] Step S3: The power battery charging control method needs to consider battery temperature and remaining SOC. Charging is not allowed when the battery temperature is below 0℃ or above 60℃. Charging is not allowed when the battery's remaining SOC is 100%. When the system allows charging, it needs to detect the battery temperature and remaining SOC. When the battery temperature is between 20-40℃ and the remaining SOC is below 40%, high-power charging is allowed. As the temperature decreases or increases, the charging power will decrease accordingly. The lower / higher the temperature, the lower the allowable charging power, until the discharge stop threshold is reached. The higher the remaining SOC, the lower the allowable charging power.

[0093] Step S4: Analyze the requested braking power. Calculate the braking power requested by the driver based on the brake pedal opening. The specific braking power calculation is as follows:

[0094] P b =c1·m·v·k·f·c2·i (1)

[0095] In the formula, P b c1 is the braking request power of the braking system; m is the vehicle mass; k is the brake pedal opening coefficient; f is the loader tire rolling coefficient; v is the vehicle speed; c2 is the system correction coefficient; i is the gradient coefficient (1 for flat braking conditions, and the value is determined according to the actual gradient for downhill braking conditions).

[0096] Step S5: Determine the braking power request P b With the charging and braking power P provided by the motor e The battery's permissible charging power P cmax The battery size determines the charging method, as detailed below:

[0097] a. When the charging and braking power P provided by the motor e ≥ Braking Request Power P b When the driver requests braking force, the motor charges the battery according to the requested braking power. Simultaneously, the maximum allowable charging power P of the battery needs to be queried based on the current battery SOC value. cmax The smaller of the two charging powers is used for charging.

[0098] b. When the motor provides charging and braking power P e < Braking power request P b When the motor provides maximum braking power, it simultaneously activates the mechanical braking power P. m Additionally, it is necessary to calculate the maximum allowable charging power P of the battery based on the current battery SOC value. cmax The smaller of the two charging powers is used for charging.

[0099] Example 2:

[0100] As shown in Figure 2, this embodiment provides a power battery control system with adaptive operating conditions, including:

[0101] The working condition parameter acquisition module is used to acquire real-time working condition parameters of construction machinery;

[0102] The control handle signal acquisition module is used to acquire control handle signals;

[0103] The pedal signal acquisition module is used to acquire the pedal signal.

[0104] The working condition analysis module is used to generate a working condition characterization parameter matrix based on real-time working condition parameters and simultaneously establish a working condition parameter matrix database. The database includes the parameter range corresponding to each working condition. The working condition is determined based on the parameter range of the real-time working condition parameters. The working condition is switched based on the rate of change of working condition parameters, operating handle signals, and operating pedal signals at different times.

[0105] The Battery Management System (BMS) is used to adjust the power battery control method according to the operating condition: if the operating condition is identified as standby, no-load forward, no-load reverse, no-load turning, no-load climbing, no-load lifting, no-load lowering, no-load unloading, fully loaded forward, fully loaded reverse, fully loaded turning, fully loaded climbing, fully loaded lifting, fully loaded lowering, fully loaded unloading, digging, or bulldozing, a discharge control method is used; if the operating condition is identified as no-load braking, no-load downhill braking, fully loaded braking, or fully loaded downhill braking, a charging control method is used.

[0106] Example 3:

[0107] As shown in Figure 2, this embodiment provides an electric loader, which is equipped with the working condition adaptive power battery control system of the above embodiment. The electric loader also includes:

[0108] The loader vehicle controller (VCU) is used to acquire the working conditions identified by the working condition adaptive power battery control system and the corresponding power battery control method.

[0109] The battery energy distribution unit (BDU) is used to distribute battery energy to the walking motor and the working motor according to the power battery control method.

[0110] The microcontroller unit (MCU) is used to control the operation of the walking motor and the working motor respectively according to the allocated battery power.

[0111] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

[0112] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0113] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0114] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0115] The above are merely embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of the claims of the present invention pending approval.

Claims

1. A power battery control method adaptive to working conditions, characterized in that: real-time working condition parameters of the engineering machinery, operation handle signals and operation pedal signals are obtained, a working condition parameter matrix is generated according to the real-time working condition parameters, and a working condition parameter matrix database is simultaneously established, the database including parameter ranges corresponding to various working conditions, the working condition of the engineering machinery being determined according to the parameter range in which the real-time working condition parameters are located, the working condition being switched according to the change rates of the working condition parameters, operation handle signals and operation pedal signals at different times, the power battery control method including a discharging control method and a charging control method; if the working condition is identified as standby condition, empty load forward movement condition, empty load backward movement condition, empty load steering condition, empty load climbing condition, empty load lifting condition, empty load descending condition, empty load unloading condition, full load forward movement condition, full load backward movement condition, full load steering condition, full load climbing condition, full load lifting condition, full load descending condition, full load unloading condition, shovel digging condition or bulldozing condition, the discharging control method is adopted; if the working condition is identified as empty load braking condition, empty load descending braking condition, full load braking condition or full load descending braking condition, the charging control method is adopted; the discharging control method includes a pulse discharging method and a continuous discharging method, and the charging control method is determined according to the battery state and the working condition state.

2. The operating condition-adaptive power battery control method according to claim 1, characterized in that: The working condition characteristic parameter matrix M x : [a x ,b x ,c x ,d x ,e x ,f x ,g x ,h x ,i x ,j x ] wherein a x is the travel speed of the working machine; b x is the travel acceleration of the working machine; c x is the main pump pressure of the hydraulic system of the working machine; d x is the main pump flow rate; e x is the bucket cylinder displacement; f x is the boom cylinder displacement; g x is the steering cylinder displacement; h x is the bucket cylinder pressure; i x is the boom cylinder pressure; j x is the steering cylinder pressure.

3. The operating condition-adaptive power battery control method according to claim 1, characterized in that: said matrix database of working condition characterizing parameters N x : [a x1 ~a x2 ,b x1 ~b x2 ,c x1 ~c x2 ,d x1 ~d x2 ,e x1 ~e x2 ,f x1 ~f x2 ,g x1 ~g x2 ,h x1 ~h x2 ,i x1 ~i x2 ,j x1 ~j x2 ] wherein a x1 ~a x2 is a travel speed range value; b x1 ~b x2 is a travel acceleration range value; c x1 ~c x2 is a hydraulic system main pump pressure range value; d x1 ~d x2 is a main pump flow range value; e x1 ~e x2 is a bucket oil cylinder displacement range value; f x1 ~f x2 is a boom oil cylinder displacement range value; g x1 ~g x2 is a steering oil cylinder displacement range value; h x1 ~h x2 is a bucket oil cylinder pressure range value; i x1 ~i x2 is a boom oil cylinder pressure range value; j x1 ~j x2 is a steering oil cylinder pressure range value. 4.The power battery control method adaptive to working conditions according to claim 1, characterized in that: When the engineering machinery is in the empty lifting condition, the empty unloading condition, the full load lifting condition, the full load unloading condition, and the shovel digging condition, the engineering machinery adopts the pulse discharge method, according to the current battery SOC value and temperature to query the allowable discharge peak power P dmax , according to the allowable discharge peak power P dmax and the longest time t max allowed to discharge at the allowable discharge peak power P dmax , if the engineering machinery runs continuously at the peak discharge power P dmax for more than the longest time t max , then the maximum continuous discharge method is switched after the time t max .

5. The operating condition-adaptive power battery control method according to claim 4, characterized in that: When the engineering machinery is in standby condition, empty load forward condition, empty load backward condition, empty load steering condition, empty load climbing condition, full load forward condition, full load backward condition, full load steering condition, full load climbing condition, and bulldozing condition, the engineering machinery adopts continuous discharge method, and the battery continuous power Map corresponding to each condition is queried according to the current battery SOC value and temperature. The continuous discharge method of the engineering machinery is not limited by time; the battery continuous power P is set according to the power demand of each condition nmax Wherein the battery continuous power set in standby condition is the smallest, and the battery continuous power in full load climbing condition is the largest. when the battery temperature is 20-40℃ and the remaining SOC is above 30%, high-power output is maintained, and as the temperature decreases or increases, the discharging power decreases, the lower / higher the temperature, the lower the allowable discharging power, until the discharging stop limit, and when the remaining SOC is below 30%, the discharging power decreases.

6. The operating condition-adaptive power cell control method according to claim 5, characterized by: when the engineering machinery adopts the pulse discharging method or the continuous discharging method, the working condition parameters, operation handle opening and operation pedal opening at the first time are obtained, the working condition parameters, operation handle opening and operation pedal opening at the second time are obtained after an interval time Δt, the change rates of the working condition parameters, operation handle opening and operation pedal opening are calculated, and a comparison is made with the preset change rate thresholds of the working condition parameters, operation handle opening and operation pedal opening, and if the change rate thresholds are exceeded, the pulse discharging or continuous discharging is switched to the working condition corresponding to the working condition parameters at the second time.

7. The operating condition-adaptive power cell control method of claim 1, wherein, the charging control method includes: when the battery temperature is below 0℃ or above 60℃, charging is not allowed, and when the battery remaining SOC is 100%, charging is not allowed; when charging is allowed, the battery temperature and the remaining SOC are detected, high-power charging is allowed when the battery temperature is 20-40℃ and the remaining SOC is below 40%, and as the temperature decreases or increases, the charging power decreases, the lower / higher the temperature, the lower the allowable charging power, until the discharging stop limit, and the more the remaining SOC, the smaller the allowable charging power.

8. The operating condition-adaptive control method of a power battery according to claim 7, characterized in that, the charging control method further includes: When the charging braking power P e provided by the motor ≥ braking request power P b , then the charging is performed by the motor to the battery according to the braking power required by the driver, the maximum charging power P cmax allowed by the battery is inquired according to the current battery SOC value, and the charging power is taken as the smaller one of the charging braking power P e provided by the motor and the maximum charging power P cmax allowed by the battery; When the motor provides charging and braking power P e <Brake request power P b When the motor provides maximum braking power, it simultaneously activates the mechanical braking power P. m Additionally, calculate the maximum allowable charging power P of the battery based on the current battery SOC value. cmax Take the charging and braking power P provided by the motor e and the battery's maximum allowable charging power P cmax Both are charged using relatively low charging power.

9. The operating condition-adaptive power battery control method according to claim 8, characterized in that: The driver's braking request power P b = c1.m.v.k.f.c2.i wherein c1 is a dynamic load correction coefficient, m is the vehicle mass, k is a brake pedal opening coefficient, f is the engineering machinery tire rolling coefficient, v is the vehicle speed, c2 is a system correction coefficient, and i is a slope coefficient, the braking working condition on flat ground being 1 and the braking working condition on downhill being valued according to the actual slope.

10. The method of claim 8, wherein: Switching to the charging control method corresponding to the working condition: Obtain the working condition parameters, operating handle opening, and operating pedal opening at the first time, and obtain the working condition parameters, operating handle opening, and operating pedal opening at the second time after the interval time Δt. Calculate the change rates of the working condition parameters, operating handle opening, and operating pedal opening, and compare them with the preset change rate thresholds of the working condition parameters, operating handle opening, and operating pedal opening. If the thresholds are exceeded, switch to the working condition corresponding to the third-time working condition parameters. When the working condition corresponding to the third-time working condition parameters is switched, the charging control method is used.

11. A power cell control system that is adaptive to operating conditions, characterized by, Comprise: A working condition parameter acquisition module for acquiring real-time working condition parameters of the engineering machinery; An operating handle signal acquisition module for acquiring operating handle signals; An operating pedal signal acquisition module for acquiring operating pedal signals; A working condition analysis module for generating a working condition parameter matrix according to real-time working condition parameters and synchronously establishing a working condition parameter matrix database, the database including parameter ranges corresponding to each working condition, determining the working condition according to the parameter range where the real-time working condition parameters are located, and switching the working condition according to the change rates of working condition parameters, operating handle signals, and operating pedal signals at different times; A battery management system for adjusting the power battery control method according to the working condition type: if the working condition is identified as standby, empty forward, empty backward, empty steering, empty climbing, empty lifting, empty descending, empty unloading, full forward, full backward, full steering, full climbing, full lifting, full descending, full unloading, digging, or pushing, use the discharge control method; If the working condition is identified as empty braking, empty descending braking, full braking, or full descending braking, use the charging control method. The working condition adaptive power battery control system as claimed in claim 11 further comprises:

12. An electrically powered loader characterized by A loader vehicle controller for obtaining the working condition identified by the working condition adaptive power battery control system and the corresponding power battery control method; A battery energy distribution unit for distributing battery energy to the traveling motor and the working motor according to the power battery control method; A micro control unit for controlling the traveling motor and the working motor to operate according to the distributed battery energy, respectively. ​

Images