CN112455425A - Torque fault control method for engine of hybrid electric vehicle - Google Patents

Torque fault control method for engine of hybrid electric vehicle Download PDF

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Publication number
CN112455425A
CN112455425A CN202011457816.9A CN202011457816A CN112455425A CN 112455425 A CN112455425 A CN 112455425A CN 202011457816 A CN202011457816 A CN 202011457816A CN 112455425 A CN112455425 A CN 112455425A
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torque
engine
fault
vehicle
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CN112455425B (en
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张鹏
宋辉
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Shanghai Synetec Power System Co ltd
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Shanghai Synetec Power System Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/50—Control strategies for responding to system failures, e.g. for fault diagnosis, failsafe operation or limp mode
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/11—Controlling the power contribution of each of the prime movers to meet required power demand using model predictive control [MPC] strategies, i.e. control methods based on models predicting performance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0666—Engine torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)

Abstract

The invention discloses a torque fault control method for an engine of a hybrid electric vehicle, which comprises the following steps: 1. after the engine is started, establishing a mathematical model of the real torque of the engine and decision-making of the fault level of the torque of the engine, and calculating the real torque of the engine according to the mathematical model; comparing the real torque of the engine with the theoretical torque, and judging whether a torque fault exists in the system or not to obtain the torque fault grade of the engine; 2. and implementing hierarchical fault-tolerant control aiming at the engine torque faults of all levels. By adopting the technical scheme, the engine torque faults caused by fuel oil exhaustion, poor fuel injection and the like can be diagnosed, and the problem that the driving capability of the vehicle can be rapidly deteriorated due to the engine torque faults such as insufficient torque output, no torque output and the like of the engine can be effectively solved.

Description

Torque fault control method for engine of hybrid electric vehicle
Technical Field
The invention belongs to the technical field of power systems of hybrid electric vehicles, and relates to a power system with an engine, a generator and a driving motor for a power split hybrid electric vehicle. More specifically, the invention relates to a method for controlling the torque fault of an engine of a hybrid electric vehicle.
Background
Usable driving motor of hybrid vehicle or engine are as the power supply, compare in can only rely on the engine as the traditional car of power supply, in the aspect of the driving experience, the motor has characteristics such as the moment of torsion response is fast, quiet for the engine, can greatly promote driver's driving enjoyment, and simultaneously, the energy saving has, reduce and discharge the pollution, advantages such as environmental protection more, at the oil consumption, it is strict that emission policy and regulation day, green is at the moment of the imperative, hybrid vehicle becomes the new trend of automobile industry technological development.
Engine torque faults such as insufficient engine torque, no torque output and the like caused by fuel exhaustion, poor fuel injection, unreasonable ignition energy and the like are common fault modes. The power split hybrid System generally uses an EMS (Engine Management System) to calculate a motor torque required for planetary torque balance from an Engine torque theoretical value obtained from a torque model. However, when the engine torque failure occurs, the true value of the engine torque is often lower than the theoretical value, so that it is difficult to achieve the desired torque balance, and the vehicle driving capability may be drastically deteriorated, so that it is necessary to diagnose and appropriately deal with it.
Disclosure of Invention
The invention provides a method for controlling the torque fault of an engine of a hybrid electric vehicle, and aims to solve the problem that the driving capability of the vehicle is rapidly deteriorated due to the torque fault of the engine.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention relates to a torque fault control method of a hybrid electric vehicle engine, which is applied to a power split hybrid electric vehicle; the gearbox of the hybrid electric vehicle adopts a double-row planetary gear structure, wherein a first sun gear is connected to a generator, and a second sun gear is connected to an engine.
The fault control method comprises the following steps:
1. after the engine is started, establishing a mathematical model of the real torque of the engine and decision-making of the fault level of the torque of the engine, and calculating the real torque of the engine according to the mathematical model; comparing the real torque of the engine with the theoretical torque, and judging whether a torque fault exists in the system or not to obtain the torque fault grade of the engine;
2. and implementing hierarchical fault-tolerant control aiming at the engine torque faults of all levels.
The real torque of the engine based on the mathematical model is modeled according to the following steps:
1) modeling a power split hybrid power gearbox: according to the planetary gear equivalent lever principle, the rotating speed relationship of the planetary gear can be achieved as follows:
nS1-(i0+1)nS2+i0·nPC0 type (1)
In the formula:
i0is an equivalent planetary gear ratio;
nPC、nS1、nS2the rotating speeds of the planet carrier, the first sun gear and the second sun gear are respectively;
the torque balance relationship of the planetary gear is as follows:
TS1·(i0+1)＝－TS2formula (2)
TS1-TS1(i0+1)+TPC0 type (3)
TS1+TS2+TPC0 type (4)
TPC＝TS1·i0Formula (5)
In the formula:
i0is an equivalent planetary gear ratio;
TPC、TS1、TS2the torques of the planet carrier, the first sun gear and the second sun gear are respectively;
2) torque balance relationship based on planetary gear, provided that T is knownPC、TS1、TS2Any two of the values can be calculated according to the formulas (2) to (5) to obtain another value;
TENG_actl＝TS2＝－TS1－TPCformula (6)
eT＝TENG－TENGACTL type (7)
In the formula:
eT-the difference between the theoretical torque and the actual torque of the engine;
TENG——engine theoretical torque;
act — actual engine torque;
according to eTAnd TENGThe proportional relationship of (a) determines an engine torque fault level.
The engine torque fault level is judged according to the following modes:
10％TENGthe error range is within, and the diagnosis is normal;
if eTOut of the error range, but not reach 20% TENGA mild torque fault is diagnosed;
eT＞80％TENGjudging that the engine has major faults and diagnosing that the engine can not generate torque;
eTinsufficient torque is diagnosed between a light torque fault and a no-torque fault of the engine.
To prevent erroneous determination due to signal noise, the failure level is set after the same failure persists for 4 seconds.
The fault grading fault-tolerant control is divided according to fault grades and is carried out according to the following steps:
1. fault-tolerant control in the event of a slight torque failure of the engine:
firstly, the vehicle controller judges whether the vehicle is in a ramp state, if so, a climbing working condition flag bit is established, the fault-tolerant control is executed according to the fault-tolerant control when the torque of an engine is insufficient, and if not, the fault-tolerant control is executed according to a conventional hybrid power control program;
(1) when the engine has slight torque failure, the engine torque feedback is adopted to control the torque balance, and the engine torque feedback is the same as the engine state is normal; the torque demand calculation module is used for solving a torque demand THO according to the opening of an accelerator and the speed of the vehicle;
(2) the engine target torque calculation module calculates a target engine torque TENG according to the torque demand and the vehicle speed and sends the target engine torque TENG to the EMS for execution;
(3) the engine target rotating speed calculating module calculates the engine target rotating speed according to the torque demand and the vehicle speed;
in order to control the actual rotating speed of the engine to reach the target rotating speed of the engine, based on a PI control algorithm, adjusting according to the difference between the actual rotating speed and the target rotating speed;
2. fault-tolerant control when the engine output torque is insufficient:
when the output torque of the engine is insufficient, the system reduces the power to operate, and allows the engine to operate in power split hybrid power and fixed speed ratio hybrid power; however, if the engine torque theoretical value T is still usedENGCalculating TE1、TE2It is difficult to achieve the desired planetary torque balance; the T isE1Torque of an ISG motor; t isE2Driving motor torque; therefore, when the output torque of the engine is insufficient, the control precision of the change rate of the engine rotating speed is abandoned;
the main function of the driving motor E2 is to provide the driving force of the whole vehicle; calculating a driving motor torque according to equation (5) based on a torque balance relationship of the planetary gear;
3. processing when the engine does not output torque:
after the fault that the engine cannot output torque is diagnosed, controlling the engine to stop working and entering a pure electric mode to limp; the torque requirement of the limp home is met by independently driving the driving motor E2, and the independent driving motor is better in economy due to the fact that no electric power loop exists in the independent driving motor, so that the pure electric limp home is independently driven by the motor E2.
In the fault-tolerant control during the slight torque fault of the engine, in order to protect the battery, a driving capacity limit value THo _ BAT _ LIM within the battery capacity range is calculated by using the maximum allowable discharge power PBAT _ MAX of the battery based on a PI control algorithm; THO is limited by using THo _ BAT _ LIM, and output shaft torque THo actually executed by the hybrid power system is obtained.
By adopting the technical scheme, the invention diagnoses the engine torque faults caused by fuel oil exhaustion, poor fuel injection and the like, and can effectively solve the problem that the driving capability of the vehicle is rapidly deteriorated due to the engine torque faults caused by insufficient torque output, no torque output and the like of the engine.
Drawings
Fig. 1 is a schematic structural view of a power split hybrid transmission according to the present invention.
FIG. 2 is a block diagram of an engine torque fault diagnosis and fault tolerant control strategy of the present invention.
The labels in the figure are:
e1, a generator, E2, a driving motor, S1, a sun gear, S2, a sun gear, a PC, a planet carrier and ICE (internal combustion engine); EMS-Engine management System.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
The structure of the invention as shown in fig. 1 is a power split hybrid transmission structure, and is applied to a power split hybrid vehicle; the transmission of the hybrid vehicle described employs a double-row planetary gear configuration in which a first sun gear S1 is connected to a generator E1 and a second sun gear S2 is connected to an engine ICE.
The invention provides a diagnosis method based on a planetary gear torque balance mathematical model for the engine torque fault of a power split-flow type hybrid electric vehicle, which estimates the true value of the engine torque by using the mathematical model and determines the fault grade according to the difference between the true value and the theoretical value; providing hierarchical fault-tolerant control, and controlling the torque balance of the planetary gear without using the torque of the engine when the output torque of the engine is insufficient; and when the diagnosis result is that the engine does not output torque, controlling the engine to stop working and entering pure electric limp running.
In order to solve the problems in the prior art and achieve the purpose of solving the problem of rapid deterioration of the driving capability of a vehicle caused by the torque fault of an engine, the invention adopts the following technical scheme:
as shown in FIG. 2, the method for controlling the engine torque fault of the hybrid electric vehicle comprises the following steps:
1. after the engine is started, establishing a mathematical model of the real torque of the engine and decision-making of the fault level of the torque of the engine, and calculating the real torque of the engine according to the mathematical model; comparing the real torque of the engine with the theoretical torque, and judging whether a torque fault exists in the system or not to obtain the torque fault grade of the engine;
2. and implementing hierarchical fault-tolerant control aiming at the engine torque faults of all levels.
The engine torque fault diagnosis control strategy diagnoses the engine torque faults caused by fuel oil exhaustion, poor fuel injection and the like, and can effectively solve the problem that the driving capability of a vehicle is rapidly deteriorated due to the engine torque faults caused by insufficient torque output, no torque output and the like of the engine.
The real torque of the engine based on the mathematical model is modeled according to the following steps:
1) modeling a power split hybrid power gearbox: according to the planetary gear equivalent lever principle, the rotating speed relationship of the planetary gear can be achieved as follows:
nS1-(i0+1)nS2+i0·nPC0 type (1)
In the formula:
i0is an equivalent planetary gear ratio;
nPC、nS1、nS2the rotational speeds of the planet carrier PC, the first sun gear S1, and the second sun gear S2, respectively;
the torque balance relationship of the planetary gear is as follows:
TS1·(i0+1)＝－TS2formula (2)
TS1-TS1(i0+1)+TPC0 type (3)
TS1+TS2+TPC0 type (4)
TPC＝TS1·i0Formula (5)
In the formula:
i0is an equivalent planetary gear ratio;
TPC、TS1、TS2the torques of the planet carrier PC, the first sun gear S1, and the second sun gear S2, respectively;
2) torque balance relationship based on planetary gear, provided that T is knownPC、TS1、TS2Any two of the values can be calculated according to the formulas (2) to (5) to obtain another value;
TENG_actl＝TS2＝－TS1－TPCformula (6)
eT＝TENG－TENGACTL type (7)
In the formula:
eT-the difference between the theoretical torque and the actual torque of the engine;
TENG-engine theoretical torque;
act — actual engine torque;
according to eTAnd TENGThe proportional relationship of (a) determines an engine torque fault level.
The engine torque fault level is judged according to the following modes:
10％TENGthe error range is within, and the diagnosis is normal;
if eTOut of the error range, but not reach 20% TENGA mild torque fault is diagnosed;
eT＞80％TENGjudging that the engine has major faults and diagnosing that the engine can not generate torque;
eTinsufficient torque is diagnosed between a light torque fault and a no-torque fault of the engine.
To prevent erroneous determination due to signal noise, the failure level is set after the same failure persists for 4 seconds.
After the engine is started, establishing various mathematical models according to the modeling process, carrying out logic judgment according to an engine torque fault diagnosis strategy, judging whether a system has a torque fault or not, dividing according to fault grades, and respectively executing the following control flows:
1. fault-tolerant control in the event of a slight torque failure of the engine:
firstly, the vehicle controller judges whether the vehicle is in a ramp state, if so, a climbing working condition flag bit is established, the fault-tolerant control is executed according to the fault-tolerant control when the torque of an engine is insufficient, and if not, the fault-tolerant control is executed according to a conventional hybrid power control program;
(1) when the engine has slight torque failure, the engine torque feedback is adopted to control the torque balance, and the engine torque feedback is the same as the engine state is normal; the torque demand calculation module is used for solving a torque demand THO according to the opening of an accelerator and the speed of the vehicle;
(2) the engine target torque calculation module calculates a target engine torque TENG according to the torque demand and the vehicle speed and sends the target engine torque TENG to the EMS for execution;
(3) the engine target rotating speed calculating module calculates the engine target rotating speed according to the torque demand and the vehicle speed;
in order to control the actual rotating speed of the engine to reach the target rotating speed of the engine, based on a PI control algorithm, adjusting according to the difference between the actual rotating speed and the target rotating speed;
2. fault-tolerant control when the engine output torque is insufficient:
when the output torque of the engine is insufficient, the system reduces the power to operate, and allows the engine to operate in power split hybrid power and fixed speed ratio hybrid power; however, if the engine torque theoretical value T is still usedENGCalculating TE1(ISG Motor Torque), TE2(drive motor torque), it is difficult to achieve the desired planetary gear torque balance; therefore, when the output torque of the engine is insufficient, the control precision of the change rate of the engine rotating speed is abandoned;
the main function of the driving motor E2 is to provide the driving force of the whole vehicle; calculating a driving motor torque according to equation (5) based on a torque balance relationship of the planetary gear;
3. processing when the engine does not output torque:
the reason why the engine does not output torque is that the oil circuit, the gas circuit and the fire circuit have major faults or the fuel is exhausted, and the engine is not suitable to continue to work at the moment. For this reason, after the fault that the engine can not output torque is diagnosed, the engine is controlled to stop working and the pure electric mode is entered for limp running; the pure electric limp home is driven by the driving motor E2 alone, because the driving motor E2 alone can meet the torque requirement of the limp home, and the driving motor E2 alone has no electric power loop and is better in economy.
Table 1-engine torque fault level decision results:
condition Diagnosis result Failure class
eT≤10％TENG Is normal 1
10％TENG＜eT≤20％TENG Slight torque fault 2
20％TENG＜eT≤80％TENG Insufficient output torque of engine 3
eT＞80％TENG No torque output of engine 4
Table 2-engine torque fault tolerant control strategy:
Figure BDA0002829752380000071
in the fault-tolerant control during the slight torque fault of the engine, in order to protect the battery, a driving capacity limit value THo _ BAT _ LIM within the battery capacity range is calculated by using the maximum allowable discharge power PBAT _ MAX of the battery based on a PI control algorithm; THO is limited by using THo _ BAT _ LIM, and output shaft torque THo actually executed by the hybrid power system is obtained.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.

Claims (6)

1. A torque fault control method of a hybrid electric vehicle engine is applied to a power split hybrid electric vehicle; the gearbox of the hybrid electric vehicle adopts a double-row planetary gear structure, wherein a first sun gear (S1) is connected to a generator (E1), a second sun gear (S2) is connected to an engine (ICE), and the gearbox is characterized in that: the fault control method comprises the following steps:
1) after the engine is started, establishing a mathematical model of the real torque of the engine and decision-making of the fault level of the torque of the engine, and calculating the real torque of the engine according to the mathematical model; comparing the real torque of the engine with the theoretical torque, and judging whether a torque fault exists in the system or not to obtain the torque fault grade of the engine;
2) and implementing hierarchical fault-tolerant control aiming at the engine torque faults of all levels.
2. The engine torque failure control method of a hybrid vehicle according to claim 1, characterized in that: the real torque of the engine based on the mathematical model is modeled according to the following steps:
1) modeling a power split hybrid power gearbox: according to the planetary gear equivalent lever principle, the rotating speed relationship of the planetary gear can be achieved as follows:
nS1-(i0+1)nS2+i0·nPC0 type (1)
In the formula:
i0is an equivalent planetary gear ratio;
nPC、nS1、nS2the rotational speeds of the Planet Carrier (PC), the first sun gear (S1), and the second sun gear (S2), respectively;
the torque balance relationship of the planetary gear is as follows:
TS1·(i0+1)＝－TS2formula (2)
TS1-TS1(i0+1)+TPC0 type (3)
TS1+TS2+TPC0 type (4)
TPC＝TS1·i0Formula (5)
In the formula:
i0is an equivalent planetary gear ratio;
TPC、TS1、TS2torque of the Planet Carrier (PC), the first sun gear (S1), the second sun gear (S2), respectively;
2) torque balance relationship based on planetary gear, provided that T is knownPC、TS1、TS2Any two of the values can be calculated according to the formulas (2) to (5) to obtain another value;
TENG_actl＝TS2＝－TS1－TPCformula (6)
eT＝TENG－TENGACTL type (7)
In the formula:
eT-the difference between the theoretical torque and the actual torque of the engine;
TENG-engine theoretical torque;
act — actual engine torque;
according to eTAnd TENGIn a ratio ofThe relationship determines an engine torque fault level.
3. The engine torque failure control method of a hybrid vehicle according to claim 2, characterized in that: the engine torque fault level is judged according to the following modes:
10％TENGthe error range is within, and the diagnosis is normal;
if eTOut of the error range, but not reach 20% TENGA mild torque fault is diagnosed;
eT＞80％TENGjudging that the engine has major faults and diagnosing that the engine can not generate torque;
eTinsufficient torque is diagnosed between a light torque fault and a no-torque fault of the engine.
4. The engine torque failure control method of a hybrid vehicle according to claim 2, characterized in that: to prevent erroneous determination due to signal noise, the failure level is set after the same failure persists for 4 seconds.
5. The engine torque failure control method of a hybrid vehicle according to claim 1, characterized in that: the fault grading fault-tolerant control is divided according to fault grades and is carried out according to the following steps:
1) fault-tolerant control in case of slight torque failure of an engine:
firstly, the vehicle controller judges whether the vehicle is in a ramp state, if so, a climbing working condition flag bit is established, the fault-tolerant control is executed according to the fault-tolerant control when the torque of an engine is insufficient, and if not, the fault-tolerant control is executed according to a conventional hybrid power control program;
firstly, the vehicle controller judges whether the vehicle is in a ramp state, if so, a climbing working condition flag bit is established, the fault-tolerant control is executed according to the fault-tolerant control when the torque of an engine is insufficient, and if not, the fault-tolerant control is executed according to a conventional hybrid power control program;
(1) when the engine has slight torque failure, the engine torque feedback is adopted to control the torque balance, and the engine torque feedback is the same as the engine state is normal; the torque demand calculation module is used for solving a torque demand THO according to the opening of an accelerator and the speed of the vehicle;
(2) the engine target torque calculation module calculates a target engine torque TENG according to the torque demand and the vehicle speed and sends the target engine torque TENG to the EMS for execution;
(3) the engine target rotating speed calculating module calculates the engine target rotating speed according to the torque demand and the vehicle speed;
in order to control the actual rotating speed of the engine to reach the target rotating speed of the engine, based on a PI control algorithm, adjusting according to the difference between the actual rotating speed and the target rotating speed;
2) fault-tolerant control when engine torque is insufficient:
when the output torque of the engine is insufficient, the system reduces the power to operate, and allows the engine to operate in power split hybrid power and fixed speed ratio hybrid power; however, if the engine torque theoretical value T is still usedENGCalculating TE1、TE2It is difficult to achieve the desired planetary torque balance; the T isE1Torque of an ISG motor; t isE2Driving motor torque; therefore, when the output torque of the engine is insufficient, the control precision of the change rate of the engine rotating speed is abandoned;
the main function of the driving motor (E2) is to provide the driving force of the whole vehicle; calculating a driving motor torque according to equation (5) based on a torque balance relationship of the planetary gear;
3) and when the engine does not output torque:
after the fault that the engine cannot output torque is diagnosed, controlling the engine to stop working and entering a pure electric mode to limp; the pure electric limp home is driven by the driving motor (E2) alone, because the driving motor (E2) alone can meet the torque requirement of limp home, and the driving motor (E2) alone is driven without electric power loop and is better in economy.
6. The engine torque failure control method of a hybrid vehicle according to claim 5, characterized in that: in the fault-tolerant control during the slight torque fault of the engine, in order to protect the battery, a driving capacity limit value THo _ BAT _ LIM within the battery capacity range is calculated by using the maximum allowable discharge power PBAT _ MAX of the battery based on a PI control algorithm; THO is limited by using THo _ BAT _ LIM, and output shaft torque THo actually executed by the hybrid power system is obtained.
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CN114294110A (en) * 2021-12-22 2022-04-08 三一汽车制造有限公司 Engine power detection method, device and system and working machine
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