CN114407680B - Estimation method for remaining driving mileage of electric excavator - Google Patents

Estimation method for remaining driving mileage of electric excavator Download PDF

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Publication number
CN114407680B
CN114407680B CN202111668095.0A CN202111668095A CN114407680B CN 114407680 B CN114407680 B CN 114407680B CN 202111668095 A CN202111668095 A CN 202111668095A CN 114407680 B CN114407680 B CN 114407680B
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vehicle
current
walking
motor
travel
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CN114407680A (en
Inventor
刘伟
张波红
刘晓鹏
彭彦
黄崇科
陈彦兵
施露宇
吴振洲
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Guangxi Liugong Machinery Co Ltd
Liugong Changzhou Machinery Co Ltd
Liuzhou Liugong Excavators Co Ltd
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Guangxi Liugong Machinery Co Ltd
Liugong Changzhou Machinery Co Ltd
Liuzhou Liugong Excavators Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/54—Drive Train control parameters related to batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Abstract

The invention discloses a method for estimating the remaining driving mileage of an electric excavator, which comprises the steps of judging whether the walking pilot pressure is zero or not; if not, determining the driving distance of the vehicle in the acquisition time according to the current walking pilot pressure, the current gear, the current high-low speed zone bit, the outer diameter of the walking driving wheel and the acquisition time; determining the power consumption of the vehicle in the acquisition time according to the current walking motor power and the acquisition time; determining the remaining driving mileage of the vehicle according to the total electric quantity, the electric power consumption of the vehicle in the acquisition time and the driving distance of the vehicle in the acquisition time; if so, determining the power consumption of the running motor for one turn according to the running motor power and the time of the running motor for one turn when the vehicle is stopped before the current vehicle is electrified; and determining the remaining driving mileage of the vehicle according to the total electric quantity, the power consumption of the walking motor for one turn and the driving distance of the vehicle when the walking motor for one turn. The visualization of the remaining driving mileage of the electric excavator can be realized.

Description

Estimation method for remaining driving mileage of electric excavator
Technical Field
The invention relates to the technical field of engineering vehicles, in particular to a method for estimating the remaining driving mileage of an electric excavator.
Background
Along with the continuous improvement of the national requirements on energy conservation and environmental protection, engineering vehicles are also undergoing electric transformation, and electric excavators are produced at present. However, the current electric excavator only displays the residual electric quantity on the control panel, the residual mileage is not displayed, and when the electric excavator needs to be charged, a driver needs to drive the excavator to the fixed charging pile, if the distance between the excavator and the charging pile is far, the residual electric quantity cannot be met, and inconvenience is caused, so that the current electric excavator driver usually drives the excavator to charge the fixed charging pile by experience when the electric quantity is far enough to travel, and thus, the construction efficiency and the effective working time are adversely affected. The method for estimating the remaining driving range of the electric vehicle generally estimates the remaining driving range of the current electric quantity according to the total electric quantity consumed in the previous driving and the total driving distance. Because the motor of the electric excavator needs to drive the main pump to work, electric energy is converted into hydraulic energy and is supplied to the traveling motor, the rotary motor and the hydraulic cylinders at all parts, the motor of the electric automobile directly drives the traveling mechanism to convert the electric energy into mechanical energy, if the error of the simple method for estimating the residual mileage of the electric automobile is large, and the method for estimating the residual mileage of the electric automobile is not suitable for the electric excavator. However, there is currently no estimation method for the remaining mileage of the electric shovel.
Disclosure of Invention
The invention aims to provide an estimation method of the remaining driving mileage of an electric excavator, which aims to solve the problem that no estimation method of the remaining driving mileage of the electric excavator exists at present.
To achieve the purpose, the invention adopts the following technical scheme:
an estimation method of remaining driving mileage of an electric excavator, comprising:
powering on the vehicle, and judging whether the walking pilot pressure is zero;
if not, according to the current walking pilot pressure, the current gear, the current high-low speed zone, the outer diameter D of the walking driving wheel and the acquisition time t 1 Determining a vehicle at a time t of acquisition 1 Distance of travel L within 1 The method comprises the steps of carrying out a first treatment on the surface of the According to the current walking motor power P 1 And the acquisition time t 1 Determining a vehicle at a time t of acquisition 1 Internal power consumption S 1 The method comprises the steps of carrying out a first treatment on the surface of the According to the total electric quantity S Total (S) At the acquisition time t 1 Internal power consumption S 1 And the vehicle at the acquisition time t 1 Distance of travel L within 1 Determining remaining range L of a vehicle The remainder is ；
If yes, according to the power P of the traveling motor when the vehicle is stopped before the current vehicle is electrified 2 And time t of one revolution of the walking motor 2 Determining the power consumption S of the walking motor for one turn 2 The method comprises the steps of carrying out a first treatment on the surface of the According to the total electric quantity S Total (S) The power consumption S of the walking motor rotating one circle 2 And a travel distance L of the vehicle when the travel motor makes one revolution 2 Determining remaining range L of a vehicle The remainder is 。
As a preferable scheme of the method for estimating the remaining driving mileage of the electric excavator, the method is characterized in that the method comprises the following steps of according to the current walking pilot pressure, the current gear, the current high-low speed marker position, the outer diameter D of the walking driving wheel and the acquisition time t 1 Determining a vehicle at a time t of acquisition 1 Distance of travel L within 1 Comprising the following steps:
determining the current running motor rotating speed n according to the current running pilot pressure, the current gear and the current high-low speed zone bit;
determining a current walking motor speed V according to the current walking motor rotating speed n and the outer diameter D of the walking driving wheel;
according to the current walking motor speed V and the acquisition time t 1 Determining the time t of acquisition of the vehicle 1 Distance of travel L within 1 。
As the electric excavator in the surplus drivingAccording to the current walking pilot pressure, the current gear, the current high-low speed zone and the main pump pressure p when the vehicle walks, the method for estimating the stroke is a preferable scheme Pump with a pump body Determining the current travel motor power P 1 。
As a preferable mode of the above method for estimating the remaining driving range of the electric excavator, the present high-low speed flag and the main pump pressure p during the vehicle traveling are determined according to the present traveling pilot pressure, the present gear, the present high-low speed flag, and the main pump pressure p during the vehicle traveling Pump with a pump body Determining the current travel motor power P 1 Comprising the following steps:
determining the theoretical flow q of the walking motor according to the current walking pilot pressure, the current gear and the current high-low speed zone bit; based on the theoretical flow q of the travel motor and the main pump pressure p during travel of the vehicle Pump with a pump body Determining the current travel motor power P 1 。
As a preferable mode of the above estimation method of the remaining travel distance of the electric excavator, the main pump pressure p when the vehicle is traveling is the same as Pump with a pump body Measured by a pressure sensor mounted to the main pump.
As a preferable mode of the method for estimating the remaining travel distance of the electric excavator, the method is based on the total electric quantity S Total (S) At the acquisition time t 1 Internal power consumption S 1 And the vehicle at the acquisition time t 1 Distance of travel L within 1 Determining remaining range L of a vehicle The remainder is Comprising the following steps:
by the total electric quantity S Total (S) Divided by the time t the vehicle was acquired 1 Internal power consumption S 1 Then multiply the vehicle at acquisition time t 1 Distance of travel L within 1 Obtaining the remaining driving distance L of the vehicle The remainder is 。
As a preferable mode of the method for estimating the remaining travel distance of the electric excavator, the method is based on the total electric quantity S Total (S) The power consumption S of the walking motor rotating one circle 2 And a travel distance L of the vehicle when the travel motor makes one revolution 2 Determining remaining range L of a vehicle The remainder is Comprising the following steps:
by the total electric quantity S Total (S) Dividing the power consumption S of the walking motor by one turn 2 Then multiplying the travel distance L of the vehicle when the travel motor rotates once 2 Obtaining the remaining driving distance L of the vehicle The remainder is 。
As a preferable mode of the method for estimating the remaining driving distance of the electric excavator, the remaining driving distance L of the vehicle determined this time The remainder is Instead of the last determined remaining mileage L of the vehicle The remainder is And displayed on a display panel of the vehicle.
As a preferred scheme of the method for estimating the remaining driving range of the electric excavator, the total electric quantity S is determined according to the remaining electric quantity of the power battery, the electric quantity of the air conditioner and the electric quantity of the direct current transformer Total (S) 。
As a preferable scheme of the method for estimating the remaining driving mileage of the electric excavator, the power consumption of the air conditioner is obtained according to the power-on time and the output power of the air conditioner; and obtaining the power consumption of the direct current transformer according to the power-on time and the output power of the direct current transformer.
The invention has the beneficial effects that:
the invention provides a method for estimating the remaining driving mileage of an electric excavator, which can realize the visualization of the remaining driving mileage of the electric excavator, provide auxiliary reference for a driver to drive the electric excavator, enable the driver to drive the excavator to charge at a fixed charging pile when the electric quantity meets the walking distance properly, and improve the construction efficiency and the effective working time. And the method for estimating the remaining driving mileage of the electric excavator does not need to add any hardware on the electric excavator and does not need to increase the cost.
Drawings
Fig. 1 is a flowchart of a method for estimating remaining driving range of an electric excavator according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "right", and the like are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.
The invention provides an estimation method of the remaining driving mileage of an electric excavatorAs shown in fig. 1, the method for estimating the remaining driving range of the electric excavator comprises the following steps: powering on the vehicle, and judging whether the walking pilot pressure is zero; if the walking pilot pressure is not zero, namely the walking pilot pressure is greater than zero, when the vehicle walks, the vehicle walks according to the current walking pilot pressure, the current gear, the current high-low speed zone bit, the outer diameter D of the walking driving wheel and the acquisition time t 1 Determining a vehicle at a time t of acquisition 1 Distance of travel L within 1 The method comprises the steps of carrying out a first treatment on the surface of the According to the current walking motor power P 1 And acquisition time t 1 Determining a vehicle at a time t of acquisition 1 Internal power consumption S 1 The method comprises the steps of carrying out a first treatment on the surface of the Finally according to the total electric quantity S Total (S) At the time t of collection of the vehicle 1 Internal power consumption S 1 And the vehicle at the acquisition time t 1 Distance of travel L within 1 Determining remaining range L of a vehicle The remainder is 。
Specifically, the current traveling pilot pressure, the current gear, the current high-low speed zone, the outer diameter D of the traveling driving wheel and the acquisition time t are used for 1 Determining a vehicle at a time t of acquisition 1 Distance of travel L within 1 The specific process is as follows:
the current running motor rotating speed n is determined according to the current running pilot pressure, the current gear and the current high-low speed zone bit. According to the formula:
wherein n is the rotation speed of the walking motor; q is theoretical flow, and is determined by walking pilot pressure, gear and high-low speed zone bit; the V row is the motor displacement and is determined by the high-low speed zone bit.
The running motor rotation speed is determined by the running pilot pressure, the gear and the high-low speed flag. The controller of the vehicle stores running motor rotating speed curves corresponding to different gears, different high and low speed marks and different running pilot pressures, the curves are drawn by data obtained by actual running tests of the vehicle, and when the vehicle actually runs, the controller reads the values of the input gears, the high and low speed marks and the running pilot pressures in real time to directly obtain the current running motor rotating speed n.
The high-low speed zone bit determines low-speed walking or high-speed walking of the excavator, the walking speed of the excavator is only two, one is low-speed walking, the other is high-speed walking, the high-low speed walking is controlled by a walking high-low speed switching valve, the motor displacement is large when the high-low speed zone bit is low-speed walking, the motor displacement is small when the high-low speed zone bit is high-speed walking, the displacement values of the motors in the two walking states are fixed, namely, the displacement value corresponds to one fixed displacement when the excavator walks at low speed, the displacement value corresponds to the other fixed displacement when the excavator walks at high speed, and the displacement value is determined when a hydraulic motor manufacturer leaves a factory.
After the current running motor rotating speed n is determined according to the current running pilot pressure, the current gear and the current high-low speed zone bit, the current running motor speed V is determined according to the current running motor rotating speed n and the running driving wheel outer diameter D. According to the formula:
wherein V is the speed of the walking motor; d is the outer diameter of the walking driving wheel; n is the rotation speed of the walking motor.
It can be seen that the current travel motor speed V can be calculated from the current travel motor speed n and the travel drive wheel outer diameter D.
After the current walking motor speed V is obtained, according to the current walking motor speed V and the acquisition time t 1 By the formula L 1 ＝V*t 1 Determining a vehicle at a time t of acquisition 1 Distance of travel L within 1 。
In this embodiment, the acquisition time t 1 500ms.
According to the current walking motor power P 1 And acquisition time t 1 Through formula S 1 ＝P 1 *t 1 Determining a vehicle at a time t of acquisition 1 Internal power consumption S 1 . Wherein, the current walking motor power P 1 According to the current walking pilot pressure, the current gear, the current high-low speed zone and the main pump pressure p when the vehicle walks Pump with a pump body And (3) determining.
According to the current walking pilot pressure, the current gear, the current high-low speed zone and the main pump pressure p when the vehicle walks Pump with a pump body Determining current travel motor power P 1 The process of (1) is as follows: the method comprises the steps of determining theoretical flow q of a traveling motor according to current traveling pilot pressure, current gear and current high-low speed flag bits, and then determining the theoretical flow q of the traveling motor and main pump pressure p when a vehicle travels according to the theoretical flow q of the traveling motor and the main pump pressure p when the vehicle travels Pump with a pump body By the formulaDetermining current travel motor power P 1 。
The controller of the vehicle stores theoretical flow curves of the walking motor under the correspondence of different gears, different high-low speed zone bits and different walking pilot pressures, the curves are drawn by data obtained by actual walking tests of the vehicle, and when the vehicle actually walks, the controller reads the values of the input gears, the high-low speed zone bits and the walking pilot pressures in real time to directly obtain the theoretical flow q of the current walking motor.
Wherein the main pump pressure p when the vehicle is traveling Pump with a pump body Measured by a pressure sensor mounted to the main pump.
At the acquisition time t of the obtained vehicle 1 Internal power consumption S 1 And the vehicle at the acquisition time t 1 Distance of travel L within 1 Then according to the total electric quantity S Total (S) At the time t of collection of the vehicle 1 Internal power consumption S 1 And the vehicle at the acquisition time t 1 Distance of travel L within 1 By the formulaDetermining remaining range L of a vehicle The remainder is I.e. by total electric quantity S Total (S) Dividing the power consumption S of the vehicle in the acquisition time t1 1 Then multiply the vehicle at acquisition time t 1 Distance of travel L within 1 Obtaining the remaining driving distance L of the vehicle The remainder is 。
Wherein the total electricity is obtained by subtracting the electricity consumption of the air conditioner and the electricity consumption of the direct-current transformer from the remaining electricity of the power batteryQuantity S Total (S) . The power consumption of the air conditioner is obtained by multiplying the power-on time by the output power of the air conditioner, wherein the power-on time is the time when the vehicle is powered on to the current time; the power consumption of the dc transformer is obtained by multiplying the power-on time by the output power of the dc transformer, which is used to convert the dc high voltage into the dc low voltage.
If the traveling pilot pressure is zero, when the vehicle is not traveling, the traveling motor power P is used for stopping the vehicle before the current vehicle is electrified 2 And time t of one revolution of the walking motor 2 Through formula S 2 ＝P 2 *t 2 Determining the power consumption S of the walking motor for one turn 2 The method comprises the steps of carrying out a first treatment on the surface of the According to the total electric quantity S Total (S) Power consumption S of one turn of walking motor 2 And a travel distance L of the vehicle when the travel motor makes one revolution 2 By the formulaDetermining remaining range L of a vehicle The remainder is I.e. by total electric quantity S Total (S) Power consumption S divided by one revolution of the travel motor 2 Then multiply the travel distance L of the vehicle when the travel motor rotates one turn 2 Obtaining the remaining driving distance L of the vehicle The remainder is 。
Wherein, the time t of one circle of the walking motor 2 And a travel distance L of the vehicle when the travel motor makes one revolution 2 The constant values are determined by the delivery of the walking motor. Running motor power P when vehicle is stopped before power-on of vehicle 2 The method is determined according to the traveling pilot pressure, the gear, the high-low speed zone bit and the main pump pressure when the vehicle is stopped before the current power-up, namely when the vehicle is stopped in the last traveling. Total electric quantity S Total (S) And determining according to the residual electric quantity of the power battery, the electric power consumption of the air conditioner and the electric power consumption of the direct-current transformer.
The remaining driving mileage L of the vehicle determined at this time is determined The remainder is Instead of the last determined remaining range L of the vehicle The remainder is And displayed on a display panel of the vehicle. The method can realize the visualization of the remaining driving mileage of the electric excavator and provide auxiliary reference for a driver to drive the electric excavator.
It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the scope of the invention. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.

Claims (6)

1. A method for estimating remaining driving range of an electric excavator, comprising:
powering on the vehicle, and judging whether the walking pilot pressure is zero;
if not, according to the current walking pilot pressure, the current gear, the current high-low speed zone, the outer diameter D of the walking driving wheel and the acquisition time t 1 Determining a vehicle at a time t of acquisition 1 Distance of travel L within 1 The method comprises the steps of carrying out a first treatment on the surface of the According to the current walking motor power P 1 And the acquisition time t 1 Determining a vehicle at a time t of acquisition 1 Internal power consumption S 1 The method comprises the steps of carrying out a first treatment on the surface of the According to the total electric quantity S Total (S) At the acquisition time t 1 Internal power consumption S 1 And the vehicle at the acquisition time t 1 Distance of travel L within 1 Determining remaining range L of a vehicle The remainder is ；
If yes, according to the power P of the traveling motor when the vehicle is stopped before the current vehicle is electrified 2 And time t of one revolution of the walking motor 2 Determining the power consumption S of the walking motor for one turn 2 The method comprises the steps of carrying out a first treatment on the surface of the According to the total electric quantity S Total (S) The power consumption S of the walking motor rotating one circle 2 And a travel distance L of the vehicle when the travel motor makes one revolution 2 Determining remaining range L of a vehicle The remainder is ；
According to the current walking pilot pressure, the current gear, the current high-low speed zone bit, the outer diameter D of the walking driving wheel and the acquisition time t 1 Determining a vehicle at a time t of acquisition 1 Inner rowDistance of travel L 1 Comprising the following steps:
determining the current running motor rotating speed n according to the current running pilot pressure, the current gear and the current high-low speed zone bit,
the calculation formula is as follows:
wherein n is the rotation speed of the walking motor; q is the theoretical flow; v (V) Row of rows Is the motor displacement;
after the current running motor rotating speed n is determined, the current running motor speed V is determined according to the current running motor rotating speed n and the running driving wheel outer diameter D,
the calculation formula is as follows:
wherein V is the speed of the walking motor; d is the outer diameter of the walking driving wheel; n is the rotation speed of the walking motor;
after the current walking motor speed V is obtained, according to the current walking motor speed V and the acquisition time t 1 Determining the time t of acquisition of the vehicle 1 Distance of travel L within 1 ，
The calculation formula is as follows: l (L) 1 ＝V*t 1 ；
According to the current walking pilot pressure, the current gear, the current high-low speed zone and the main pump pressure p when the vehicle walks Pump with a pump body Determining the current travel motor power P 1 The method specifically comprises the following steps:
determining the theoretical flow q of the walking motor according to the current walking pilot pressure, the current gear and the current high-low speed zone bit; based on the theoretical flow q of the travel motor and the main pump pressure p during travel of the vehicle Pump with a pump body Determining the current travel motor power P 1 ，
The calculation formula is as follows:
wherein the main pump pressure p when the vehicle is traveling Pump with a pump body Measured by a pressure sensor mounted to the main pump.
2. The method for estimating remaining driving range of an electric excavator according to claim 1, wherein the total electric power S is calculated by Total (S) At the acquisition time t 1 Internal power consumption S 1 And the vehicle at the acquisition time t 1 Distance of travel L within 1 Determining remaining range L of a vehicle The remainder is Comprising the following steps:
by the total electric quantity S Total (S) Divided by the time t the vehicle was acquired 1 Internal power consumption S 1 Then multiply the vehicle at acquisition time t 1 Distance of travel L within 1 Obtaining the remaining driving distance L of the vehicle The remainder is 。
3. The method for estimating remaining driving range of an electric excavator according to claim 1, wherein the total electric power S is calculated by Total (S) The power consumption S of the walking motor rotating one circle 2 And a travel distance L of the vehicle when the travel motor makes one revolution 2 Determining remaining range L of a vehicle The remainder is Comprising the following steps:
by the total electric quantity S Total (S) Dividing the power consumption S of the walking motor by one turn 2 Then multiplying the travel distance L of the vehicle when the travel motor rotates once 2 Obtaining the remaining driving distance L of the vehicle The remainder is 。
4. The method for estimating a remaining driving range of an electric shovel according to claim 1, wherein the remaining driving range L of the vehicle determined this time The remainder is Instead of the last determined remaining mileage L of the vehicle The remainder is And displayed on a display panel of the vehicle.
5. The estimation of remaining driving range of an electric shovel according to claim 1The method is characterized in that the total electric quantity S is determined according to the residual electric quantity of the power battery, the electric consumption of the air conditioner and the electric consumption of the direct-current transformer Total (S) 。
6. The method for estimating a remaining driving range of an electric excavator according to claim 5, wherein the power consumption of the air conditioner is obtained based on the already powered-on time and the output power of the air conditioner; and obtaining the power consumption of the direct current transformer according to the power-on time and the output power of the direct current transformer.
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