101 results about "Power difference" patented technology

The invention discloses a control method of a flat wire motor. The method comprises the following steps: constructing an optimal current instruction table taking a rotating speed and a torque as indexes; if the motor is in the dynamic working condition, directly looking up a table to obtain a current optimal current instruction; if in a steady-state working condition, performing online search by taking a table look-up result as an initial point: generating two-dimensional Bernoulli random disturbance, and sequentially applying positive and negative disturbances to the initial point; respectively measuring the input power under the two disturbances; according to the ratio of the positive and negative input power difference to the corresponding disturbance component, synchronously calculating gradient estimation vectors of the system input power to d-axis and q-axis current; according to a steepest descent method, the current instruction is updated in the reverse direction of the gradient, an optimal instruction enabling the input power to be minimized is obtained, and an inverter is driven to control a motor to operate. According to the method, through a hybrid control strategy combining dynamic table look-up and steady-state online search, the total loss minimization of the flat wire motor under all working conditions in consideration of alternating current copper loss is realized, and the rapidity of dynamic response is ensured.

The invention relates to the technical field of energy storage systems, in particular to an energy storage system power smoothing method and system based on model predictive control. By introducing the adaptive prediction model and combining with the dynamic frequency decomposition module, the power signal can automatically adjust the frequency decomposition threshold according to the dynamic change of the signal, so that the flexibility and precision of frequency decomposition are remarkably improved, and the accuracy of frequency decomposition is improved by automatically adjusting the frequency decomposition threshold on the basis of the dynamic change information. Therefore, the power difference value sequence is decomposed into a plurality of dynamic frequency components, the change trend of each frequency component is predicted, the future power requirement can be estimated more accurately, the charging and discharging strategy of the energy storage equipment is adjusted in real time, it is guaranteed that the energy storage system can provide efficient and accurate power compensation in practical application, and the energy storage efficiency is improved. According to the invention, the parameters of the adaptive prediction model can be corrected in real time, and the continuous smoothing of the power of the energy storage system is realized by continuously optimizing the frequency decomposition precision and the power prediction accuracy.

This application relates to the field of predictive control technology, specifically a distribution network load balancing dispatching method and system based on model predictive control, including the following steps: collecting voltage, current, power, photovoltaic irradiance, and wind speed, normalizing them to form predictive inputs and constructing a collaborative relationship; solving for power distribution and voltage levels based on power balance, energy storage, and line constraints to generate control quantities; correcting the rolling step size based on continuous periodic errors and time-series correlations; adjusting energy storage charging and discharging and adjustable load start-up and shutdown according to the difference between load forecast and baseline power to generate instructions; comparing dispatching and forecasting and adjusting the step size weights with mean square error to generate load balancing results. In this application, load and power supply are collaboratively characterized by unified processing of multi-dimensional electrical and environmental quantities; optimization quantities that can be updated with data changes are generated by combining constraint relationships; the rolling rhythm is calibrated in error evaluation; and energy storage and adjustable loads are adjusted under the drive of power difference to keep power flow and voltage stable, thereby improving load balance.

The invention provides an intelligent network connection reactive power energy management system, which belongs to the technical field of power system energy conservation and comprises an original low-voltage power supply system in a power grid, and I-type reactive power difference compensation equipment, II-type reactive power difference compensation equipment and III-type reactive power difference compensation equipment which are connected with the original low-voltage power supply system, the difference compensation results of the three reactive difference compensation devices are transmitted to the intelligent network connection technology platform through the remote transmission terminal; the I-type reactive compensation equipment is used for low-load compensation in a system transformer and reactive compensation of excitation and copper loss of the transformer; the II-type reactive compensation equipment is used for high-load reactive compensation in the system transformer; and the III-type reactive power difference compensation equipment is connected with the single electric equipment of which the load reactive power is greater than a specific value, and is used for reactive power in-situ difference compensation of the single electric equipment. Layered precise energy compensation is realized from the transformer to the terminal equipment, extensibility of macroscopic compensation is avoided, and compensation precision is greatly improved. Compared with the traditional problem that missing compensation is not easy to perceive, equipment abnormity and a compensation gap can be found in time, a fault point can be rapidly positioned, the pain point that maintenance is difficult to carry out in time is solved, and compensation continuity and stability are guaranteed.

The invention relates to the technical field of mode recognition, in particular to a method and system for detecting the shielding state of a photovoltaic array, and the method comprises the following steps: judging output compression caused by maximum power point offset, constructing disturbance distribution quantity through voltage sorting deviation, and recognizing a power difference trend abrupt change branch. And extracting power reduction abnormal points to establish shielding evolution monitoring, and judging response consistency and state verification in combination with temperature rise and power trend. According to the method, multi-dimensional perception and cross validation of the shielding state are realized by constructing compression degree representation, combining voltage output sequence disturbance analysis and power difference trend identification, establishing a continuous evolution process expression mechanism of the shielding signal under a physical layout dimension and combining a directivity matching relation of temperature and power change; the local identification capability and the dynamic monitoring capability of the shielding influence area are improved, the judgment interference caused by environment fluctuation and non-shielding abnormity is avoided, and the stability and the robustness under the complex operation working condition are enhanced.

Systems and methods for operating hydraulic fracturing units, each including a hydraulic fracturing pump to pump fracturing fluid into a wellhead and an internal combustion engine to drive the hydraulic fracturing pump, may include receiving signals indicative of operational parameters. The systems and methods also may include determining an amount of required fracturing power sufficient to perform the hydraulic fracturing operation, determining an available power to perform the hydraulic fracturing operation and a difference between the available power and the required power, and controlling operation of the hydraulic fracturing units based at least in part on the power difference. When the power difference is indicative of excess power available, the system and methods may include causing at least one of the hydraulic fracturing units to idle, and when the power difference is indicative of a power deficit, increasing a power output of at least one of the hydraulic fracturing units.

The invention belongs to the technical field of stable control of a power system, and particularly discloses a power angle compensation-based method for quickly recovering active power after a fault of a network-forming converter, which comprises the following steps of: monitoring a voltage amplitude and a power difference value at a grid-connected point of the network-forming converter in real time; according to the voltage amplitude and the power difference value, identifying whether the network-forming converter is in an unstable state of active power oscillation after the fault is cleared; if the state is identified as an unstable state, calculating a power angle compensation amount used for counteracting power angle deviation caused by a fault based on detected voltage drop information and system impedance parameters; and superposing the power angle compensation value to a power angle generated by a power control ring of the network-forming type converter, and generating a compensated power angle instruction for controlling pulse modulation of the converter so as to realize active power recovery after the fault is cleared. The method can adapt to different power grid impedance conditions, quickly suppress power oscillation and realize quick recovery of active power, so as to improve the transient stability and reliability of a novel power system.

The invention provides a grid-connected and off-grid switching method and a power converter, and relates to the field of power conversion. And in response to the abnormal state of the power grid, obtaining the inversion power of the alternating current side of the inversion circuit and the load power of the load port, and adjusting the output power of the direct current source under the condition that the inversion power is not matched with the load power so as to reduce the power difference value between the inversion power and the load power, thereby reducing the power difference value between the inversion power and the load power. At the moment, the load power is gradually provided by the power converter, and the current between the alternating-current power grid and the power converter is reduced, so that when the switch between the alternating-current power grid and the power converter is switched off, the degree of arc discharge of the switch can be reduced, damage to switch contacts is reduced, and the service life of the switch is prolonged.

The application discloses a kind of based on double motor redundancy architecture's steer-by-wire control optimization method and system, it is related to steer-by-wire control technical field, including: according to the meshing angle amount of second sun gear in double sun gear different teeth meshing differential mechanism and the meshing angle amount of first sun gear, calculate instantaneous meshing phase;According to the first mechanical power of first motor in steer-by-wire vehicle, the second mechanical power of second motor, calculate internal power difference;According to internal power difference and instantaneous meshing phase, calculate asymmetry coefficient.The application improves the overall efficiency and responsiveness of redundant motor collaborative output.

This invention discloses a method and system for static reconfiguration of photovoltaic (PV) modules based on energy storage unit compensation, relating to the field of PV power generation technology. The method includes: statically reconfiguring an initial PV array with rows and columns of PV module strings according to column-cycle rules to obtain a fixed electrical connection topology; acquiring the output power data of each row of PV module strings based on this topology and calculating the power difference between rows; determining a target compensation row based on the power difference and a preset distribution level, and determining the corresponding number of distributed energy storage units using an indicator function, where , , and are positive integers; setting a number of distributed energy storage units at the corresponding positions of the target compensation row; and controlling the discharge of the distributed energy storage units at the corresponding positions during operation to compensate for the power difference. This invention optimizes the electrical connection layout through column-cycle static reconfiguration under a TCT structure, combined with precise compensation from energy storage units, effectively solving the maximum power point tracking failure problem.

The invention discloses a low-voltage power distribution network user-transformer relation identification method and system based on multi-dimensional index fusion, and belongs to the technical field of power system data processing and analysis. Sequentially analyzing the synchronism of the user and the distribution transformer on the power abrupt change event through the power abrupt change event, calculating the linear correlation degree, quantifying the load contribution degree of the user to the distribution transformer, and respectively obtaining the event correlation degree, the event coincidence degree, the power reconstruction degree, the global correlation degree and the energy distribution degree; and performing weighted calculation on the five indexes according to a preset index weight to obtain a matching score of the user and the distribution transformer, and identifying the user-transformer relationship between the user and the distribution transformer through the matching score. Therefore, by implementing the application, the problems that the identification precision of the user change relation is easily interfered by the external environment and the user change relation is difficult to adapt to various scenes due to excessive dependence on single electrical data in the prior art can be solved.

The invention relates to the technical field of power grid control, in particular to a new energy converter voltage frequency supporting method and system based on fractional order matching control, and the method comprises the steps: configuring rated operation parameters of a converter; collecting operation data of the new energy converter, and calculating an instantaneous power difference of a DC bus; constructing a fractional order transfer function, calculating an additional frequency regulating variable according to the instantaneous power difference, generating an AC port output frequency reference value, and transmitting the AC port output frequency reference value to an outer loop controller to generate a PWM signal; calculating the current available reactive capacity of the converter according to the operation data in combination with the converter, and calculating a reactive voltage droop coefficient; a reactive current reference value is calculated through a second fractional order controller; and adjusting the active power output of the converter according to the PWM signal, and controlling the reactive power of the converter according to the reactive current reference value. According to the invention, by introducing the fractional order control and the adaptive strategy, the dynamic stability and the adaptive capability of the voltage frequency support of the converter are significantly improved.

The invention relates to the technical field of battery detection, in particular to a battery health state online detection method and system, and the method comprises the steps: obtaining the current electric quantity of a target battery, the time node and the remaining electric quantity of the last charging end, and the time node and the remaining electric quantity of initial discharging; calculating a time difference value and an electric quantity difference value of the two stages to obtain first unit power consumption, judging whether the first unit power consumption exceeds a threshold value or not, and directly judging that the battery health is abnormal if the first unit power consumption exceeds the threshold value; if not, calculating the time and electric quantity difference between the current discharge stage and the initial discharge stage to obtain second unit power consumption, obtaining ideal unit power consumption in combination with the average output power of the stage, and judging the health state of the battery through the difference. According to the invention, the precision and real-time performance of the online detection of the health state of the battery are improved, and the problem that the traditional method depends on a single parameter and is weak in anti-interference capability is solved.

The invention discloses an energy storage control method and system for a distributed energy storage system, and belongs to the technical field of distributed energy storage, and the method comprises the steps: monitoring a power difference value between the total output power of power generation equipment and a load demand in real time, and intelligently controlling the charging and discharging behaviors of energy storage equipment based on dynamically adjusted positive and negative thresholds. Efficient energy management of the distributed energy storage system is realized; according to the method, by combining a dynamic adjustment mechanism of the threshold along with the charge state and the temperature, the number of invalid actions of the energy storage equipment is remarkably reduced, the service life of the energy storage equipment is prolonged while the power supply reliability of the system is ensured, and source-storage-charge collaborative optimization and multi-time scale energy balance are integrally realized.

A method and apparatus for configuring spinning contingency reserve capacity are disclosed. The method includes: obtaining the difference between the active power deficit shared by the secondary control area and the spinning contingency reserve reserved for the secondary control area in response to a fault, based on the maximum active power deficit caused by a fault in the primary control area and the generation load ratio of the secondary control area to the primary control area; thereby obtaining the active power deficit shared by the secondary control area, the spinning contingency reserve capacity of the secondary control area, and the spinning contingency reserve capacity of the primary control area. The method and apparatus provided by this invention enable the power system's contingency reserve configuration to meet both the requirements of system operational safety and economy.

The invention discloses an adaptive virtual inertia VSG parallel system transient power distribution optimization method, and belongs to the technical field of power electronic converter control. The method comprises the following steps: acquiring line impedance and initial virtual inertia of each VSG; constructing a VSG parallel system and normally operating the VSG parallel system; during load step disturbance, transient active power data are monitored, and a per-unit transient value and a power difference maximum value are calculated; judging whether the impedance difference is a main cause or not; and if yes, adaptively adjusting the virtual inertia of the target VSG until the power difference meets the requirement. The system correspondingly comprises a parameter acquisition module, a system construction module, a data monitoring and calculation module, a judgment module and an inertia adjustment module. The method does not need to change line impedance or depend on accurate parameters, realizes power distribution optimization by dynamically adjusting the virtual inertia, greatly reduces transient power difference, guarantees system stability, improves micro-grid operation reliability, and is suitable for a micro-grid scene in which multiple VSGs are connected in parallel.

A method for detecting a clamping condition of a seat assembly for use in a motor vehicle comprises determining a rotational speed of an output shaft of an electric motor, determining a new time constant TCnew for the rotational speed, and detecting the clamping condition if the new time constant TCnew is greater than a calibrated calibration factor G multiplied by a predetermined time constant TCn. A second method for detecting a clamping condition comprises determining a power difference between an electrical power provided to the motor and a mechanical power delivered by the motor, and calculating an amount of energy E by integrating the power difference over a period of time. A second method determines that a gripping condition has occurred based on the amount of energy E and based on an energy threshold TH.

The application relates to a residual power display method of an electric vehicle and the electric vehicle. The method comprises the following steps: when the battery management system is woken up, determining a first power difference between an initial display power and a real residual power of the electric vehicle; if the first power difference is greater than a first threshold, determining residual power information and current information of the electric vehicle; according to the residual power information and the current information, using a preset coefficient determination function to calculate an adjustment coefficient; according to the adjustment coefficient and the current information, using a preset power determination algorithm to calculate and display a target display power. By using the application, the residual power can follow the real residual power at a change rate closest to the user's expectation before the battery is fully charged or emptied, and the accuracy of the residual power display is improved.

The invention discloses an energy consumption device control method and system suitable for symmetric monopole-bipolar direct current, which are applied to the technical field of direct current control, and the method comprises the steps: obtaining the electrical quantity data of a target direct current system; performing abrupt change analysis on the electrical quantity data, and determining a fault event signal based on an obtained analysis result; based on the fault event signal, determining an energy consumption branch input by the target direct current system; a corresponding energy consumption branch is reconstructed, a reconstruction result is executed, and the voltage of the direct-current bus, the current of the sound pole converter and the temperature of the energy consumption resistor are obtained; processing by utilizing a multivariable decoupling control technology to obtain energy consumption power difference data; and based on the energy consumption power difference data, a cooperative control strategy is generated by adjusting an offshore wind plant in the target direct current system. According to the method provided by the invention, the technical problem that the transient stability of the system is influenced due to control target conflict caused by the fact that the independent action of the traditional energy consumption device is not deeply coordinated with other control structures of the direct current system can be solved.

This invention provides a diesel generator set speed control method based on power feedforward, characterized by the following steps: Step M1: The generator set controller reads the current speed N and rated speed n of the diesel generator set from the speed sensor; reads the current active power P of the pulse load. t The active power P at the previous sampling time t' The current active power P t and the calculated power differential signal P e The signal is transmitted to the feedforward controller; Step M2: Calculate the feedback control signal; Step M3: Calculate the feedforward control signal Y. a Step M4: Feedback control signal and feedforward control signal Y a A voltage signal is generated by superimposing these signals using a specific algorithm and output to the electronic speed governor. This changes the oil supply, thereby altering the engine speed and bringing the power and speed deviations close to zero. This invention enables generator sets to achieve high-precision and rapid response to fast-dynamic loads such as pulse loads, and improves system stability.

The invention discloses a power grid power flow flexible control method, system and equipment based on a direct current technology, and the method comprises the steps: firstly, calculating the power flow data of each direct current transmission line in real time, and generating a standardized direct current power flow real-time data set; then calculating an adjustment power difference value of each line based on the direct current power flow real-time data set, and screening an overrun line based on the adjustment power difference value; and finally, calculating an adjustment voltage deviation value of each over-limit line, and generating a power grid power flow flexible control instruction. Aiming at the problem of non-uniform power distribution of a power grid under an extra-high voltage main transformer, multi-source data are integrated in real time to construct a dynamic monitoring system, an abnormal section is quickly positioned, voltage stability and power transmission requirements are synchronously balanced, the risk of oscillation adjustment is reduced, cross-regional power coordination efficiency is improved, and the disturbance rejection capability under new energy fluctuation is enhanced; dynamic stability and transmission reliability of a power grid are guaranteed.

The invention discloses a bidirectional three-port MMC topological architecture and a power balancing method for offshore wind power collection, and aims to solve the problems that a degraded battery has differences in the aspects of SOH, capacity, SOC and the like, so that sub-module power in a traditional MMC-BESS is inconsistent, and circulation and capacitor voltage fluctuation are generated. The invention provides a novel system structure based on a bidirectional three-port converter (BTPC). The BTPC is composed of a battery port, an output port and a low voltage direct current (LVDC) port, and decoupling of battery charging and discharging control and output power adjustment is achieved through staggered Buck / Boost and DAB combined topology and a duty ratio-phase shift double closed-loop control strategy. Each BTPC module can perform bidirectional energy flow through the LVDC bus, so that unmatched power among batteries is automatically adjusted through the equalization channel, thereby ensuring that the power sent to each sub-module of the post-stage MMC is consistent, and communication among the modules is not needed. The system can maintain power balance and normal operation under the conditions of battery SOH degradation, power difference and even partial battery quit operation.

The application discloses a kind of distribution network measurement data driven voltage sensitivity fitting method and system, the method is first based on the injection power of certain operating state distribution network node, has measurement voltage and neighborhood characteristics to construct node input feature matrix, and input to variational autoencoder model, estimate the voltage of all network nodes;Subsequently, around the operating state, construct multiple groups of small power reference disturbance samples, and again utilize the model to generate corresponding voltage response;Finally, the power difference and voltage difference between each disturbance sample and reference state are calculated, to construct overdetermined equation group, least square method is used to fit voltage sensitivity matrix, and the fitting result is averaged to improve the estimation accuracy.The application can still achieve high-precision voltage estimation and voltage sensitivity fitting under the condition of lacking topological structure and line parameters, and sparse voltage measurement, and is suitable for state estimation, voltage management and operation optimization tasks in typical distribution network scenarios such as sparse voltage measurement and incomplete topological information.

This utility model discloses a high-speed motor electric braking mechanism, relating to the field of motor connection technology. It includes an expansion unit, a compression unit, and a generator. The expansion unit and compression unit are coaxially arranged, and the generator is connected between and to both units. The expansion unit includes an expansion end volute and an expansion end impeller, and the compression unit also includes a compression end volute and a compression end impeller. The expansion end impeller is located inside the expansion end volute and rotatably connected to it, while the compression end impeller is located inside the compression end volute near the generator and rotatably connected to it. This expander, with its power balancing function, facilitates balancing the power difference between the expansion and compression units by adding a generator, thereby improving transmission efficiency and overall work efficiency.

The invention relates to the technical field of data processing, in particular to a remote power outage and transmission method and system based on multi-dimensional monitoring and control of a power loop. The method comprises the following steps: acquiring a voltage sequence and a current sequence of an incoming line side of a circuit breaker and an outgoing line side of a contactor in each power frequency period, and acquiring an instantaneous active power difference value and a current effective value of each sampling point in each power frequency period; based on the instantaneous active power difference value and the current effective value, static equivalent resistance of a contactor contact in each power frequency period is obtained; and obtaining a micro-arc risk index of each power frequency period based on the instantaneous active power difference value, obtaining a thermal safety residual capacity of each power frequency period according to the static equivalent resistance, the current effective value and the micro-arc risk index, and controlling remote power cut and power transmission of the contactor according to the thermal safety residual capacity. According to the invention, accurate identification and safe locking of loop hidden dangers are realized.

The invention relates to a network construction type energy storage power distribution area voltage treatment method for adaptively adjusting active and reactive output based on reactive negative feedback. The method comprises the following steps: dynamically adjusting a voltage reference value according to the voltage of an energy storage grid-connected point; calculating a difference value between a reactive power actual output value and a given value of the energy storage converter; generating active and reactive output adjustment values under different conditions according to the absolute value of the reactive power difference value and the voltage excessive treatment condition; and updating the given values of the active and reactive power of the energy storage converter according to the generated output adjustment value. The terminal voltage of the power distribution network can be effectively supported and controlled, the power quality of a power distribution area is improved, and the power supply capacity is improved.

This application discloses a multi-motor distributed drive energy management method and system, belonging to the field of electric vehicle drive control technology. This application aims to solve the problems of fixed power allocation and energy waste and uneven distribution caused by the lack of consideration for the actual power utilization differences of each wheel in existing technologies. The method includes: obtaining the total available power of the drive system, the real-time torque demand of each wheel, and the actual power utilization of each wheel motor; determining the torque allocation ratio of each wheel based on the real-time torque demand, and allocating basic available power accordingly; calculating the difference between the basic available power and the actual utilization power of each wheel as the remaining power; distributing the remaining power of each wheel evenly to the other wheels to adjust the final available power of each wheel; and controlling the output of the corresponding motor based on the final available power. This application can dynamically recover and redistribute underutilized power, improving the overall vehicle energy utilization efficiency.

The invention discloses a microgrid scheduling method and system fused with new energy consumption. The method comprises the following steps: predicting new energy power generation and load power of a microgrid in a rolling manner; performing day-ahead economic dispatching by taking the minimum total operating cost of the micro-grid as a target, and generating a reference charging and discharging plan of the energy storage equipment; periodically executing intra-day rolling scheduling on a scheduling day, tracking and correcting a reference charging and discharging plan deviation based on the updated ultra-short-term prediction data and an actual energy storage state, and refreshing a rolling charging and discharging plan; in the operation process of the dispatching day, second-level real-time control is executed independent of a rolling charging and discharging plan, and energy storage charging and discharging are directly controlled according to the instantaneous power difference value of the new energy and the load so as to respond to second-level power fluctuation. Compared with the prior art, by constructing a scheduling framework of day-ahead economic scheduling, intra-day rolling optimization and independent parallel second-level real-time control coordination, the problems of insufficient consumption and economic loss caused by short-term sudden change of new energy and load are effectively solved.

The invention relates to a method for operating a power converter (10) for exchanging electrical power (PDC,PAC) between a DC unit (11) and an AC grid (13). The DC unit (11) is connected to a DC connection (12) of the power converter (10) and exchanges a DC power (PDC) with the power converter (10) on the basis of a DC voltage (UDC) at the DC connection (12), and the AC grid (13) is connected to an AC connection (14) of the power converter (10) and exchanges an AC power (PAC) with the power converter (10) via the AC connection (14) on the basis of a voltage curve deviation between an AC voltage curve (UAC) generated by a clocked bridge circuit (15) of the power converter (10) and a grid voltage curve (Ugrid). The power converter (10) adjusts the AC voltage curve (UAC) on the basis of an AC power control value (PAC,set) by means of a grid-forming AC controller (20) and varies the AC power (PAC) by means of an adjustable induced power response for network events. The induced power response comprises a dynamic AC power deviation between the AC power (PAC) and a power setpoint value. The method is characterized in that the induced power response to a network event is adjusted using an asymmetry characteristic curve (50, 51, 52, 53). The asymmetry characteristic curve (50, 51, 52, 53) specifies different increases of a parameter (p) of the AC controller (20) and / or a DC controller (30) as a function of the sign of a deviation (p-plim) of the parameter (p) from a parameter limit value (plim), wherein the parameter (p) comprises in particular a DC voltage difference (ΔUDC) between the DC voltage (UDC) and a DC setpoint voltage (UDC,set) and / or an AC power difference (ΔPAC) between the AC power (PAC) and the AC power control value (PAC,set). The invention further relates to a power converter and to an energy supply

The invention relates to a compensation method and device for extended range charging power and a vehicle. The method comprises the steps that from the accumulation starting moment, the difference value between the range extending charging power of a range extender and the driving power of a driving motor is accumulated when a vehicle is in a preset acceleration state, and the current power accumulation difference of the vehicle is obtained; determining whether the current power accumulative difference meets a preset compensation condition or not and whether an accumulative end moment is reached or not; and when the current power accumulative difference meets a preset compensation condition and the accumulative end moment is reached, compensating the current range extending charging power of the range extender according to the current power accumulative difference. By adopting the method, when the range extending charging power needs to be compensated, the current range extending charging power can be timely and accurately compensated according to the current power accumulated difference, so that the range extending charging power can be effectively compensated, and the cruising ability of the vehicle can be improved.