CN114407875A - Engineering machinery hybrid power control method, hybrid power system and engineering machinery - Google Patents
Engineering machinery hybrid power control method, hybrid power system and engineering machinery Download PDFInfo
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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
- B60W20/40—Controlling the engagement or disengagement of prime movers, e.g. for transition between prime movers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/12—Arrangements of means for transmitting pneumatic, hydraulic, or electric power to movable parts of devices
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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
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/17—Construction vehicles, e.g. graders, excavators
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/24—Energy storage means
- B60W2510/242—Energy storage means for electrical energy
- B60W2510/244—Charge state
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- 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
- Y02T10/62—Hybrid vehicles
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Abstract
The disclosure relates to an engineering machinery hybrid power control method, a hybrid power system and engineering machinery, wherein the control method comprises the following steps: acquiring driver mode selection information, battery electric quantity information and power transmission state information, wherein the driver mode selection information comprises a pure electric mode, a pure oil mode and a hybrid mode; the power transmission state information comprises getting-on power transmission and getting-off power transmission; determining vehicle work task information according to the power transmission state information; under the conditions that the external charging is not connected and the driver selects the pure oil mode, the vehicle enters the pure oil mode to work; under the condition that external charging is not connected and a driver selects a pure electric mode, whether the current battery electric quantity meets the working requirement is judged according to the battery electric quantity information and the vehicle working task information, if the current battery electric quantity meets the working requirement, the vehicle enters the pure electric mode to work, and if the current battery electric quantity does not meet the working requirement, the vehicle enters the pure oil mode or the hybrid mode to work.
Description
Technical Field
The disclosure relates to the field of hybrid control, and in particular to a hybrid control method and a hybrid control system for an engineering machine and the engineering machine.
Background
The power source of the traditional engineering machinery is an engine which independently provides power for a running and operating system of the engineering machinery through fuel combustion; the disadvantages of engines as a single power source are becoming more apparent as emissions regulations require more stringent specifications and fuel costs increase year by year. The hybrid power wheel crane is one of new energy engineering machinery and is an important ring for national new energy industry planning. The hybrid power system has the advantages of energy conservation, environmental protection, low noise, quick response and the like, and can greatly reduce the energy consumption cost of engineering machinery, reduce the use cost and reduce the engine emission by using the hybrid power control system.
In the related technology known by the inventor, the storage battery based hybrid power system provides main power for the system by the storage battery, potential energy feedback in a working mechanism can be fully absorbed, and energy loss is reduced while electricity cost is saved. However, only the charge and discharge control strategy of the storage battery is considered, and it is difficult to simultaneously meet the requirements of the driver and the power performance for the engineering machinery with strong fluidity and complex operation working conditions.
Disclosure of Invention
The embodiment of the disclosure provides an engineering machine hybrid power control method, a hybrid power system and an engineering machine, which can meet the requirements of a driver and simultaneously give consideration to the dynamic property of the engineering machine.
According to a first aspect of the disclosure, a method for controlling hybrid power of a construction machine is provided, which includes:
acquiring driver mode selection information, battery electric quantity information and power transmission state information, wherein the driver mode selection information comprises a pure electric mode, a pure oil mode and a hybrid mode; the power transmission state information comprises getting-on power transmission and getting-off power transmission;
determining vehicle work task information according to the power transmission state information;
under the conditions that the external charging is not connected and the driver selects the pure oil mode, the vehicle enters the pure oil mode to work;
under the conditions that external charging is not connected and a driver selects a pure electric mode, judging whether the current battery electric quantity meets the working requirement or not according to the battery electric quantity information and the vehicle working task information, if so, enabling the vehicle to enter the pure electric mode for working, and if not, enabling the vehicle to enter the pure oil mode or the hybrid mode for working;
wherein, in the pure oil mode, the vehicle working power is provided by the engine only and the battery is not charged; in the pure electric mode, the working power of the vehicle is only provided by the battery; in the hybrid mode, vehicle operating power is provided by the engine and the battery, or vehicle operating power is provided by the engine and the battery is in a charged state.
In some embodiments, the mixing mode comprises: the hybrid charging mode is configured to drive the electric motor to charge the battery during the operation of the engine, and the engineering machinery hybrid power control method further comprises the following steps:
acquiring vehicle working state information;
and under the condition that the external charging is not connected and the driver selects the hybrid mode, determining the working mode of the vehicle according to the battery electric quantity information and the vehicle working state information so as to enable the vehicle to enter the pure electric mode or the hybrid mode to work.
In some embodiments, the mixing mode further comprises: a hybrid dual drive mode configured such that vehicle operating power is provided by both the engine and the battery; determining the operating mode of the vehicle according to the battery power information and the vehicle operating state information includes:
if the current battery electric quantity does not meet the working requirement, the vehicle enters a hybrid charging mode to work;
and if the current battery electric quantity meets the working requirement, judging the working mode of the vehicle according to at least one of the torque request and the current working speed, and enabling the vehicle to enter a hybrid dual-drive mode to work when the torque request is greater than the maximum torque of the current rotating speed of the engine.
In some embodiments, the work machine hybrid control method further comprises:
and under the condition of external charging connection, the vehicle enters a pure electric mode to work.
In some embodiments, the work machine hybrid control method further comprises:
under the condition that a driver does not make a selection, whether the current battery electric quantity meets the working requirement is judged according to the battery electric quantity information and the vehicle working task information, if yes, the vehicle is enabled to enter a pure electric mode to work, and if not, the vehicle is enabled to enter a pure oil mode or a hybrid mode to work.
In some embodiments, determining the vehicle job task information from the power delivery status information includes:
acquiring the working state information of the power takeoff;
under the conditions of power transmission of a lower vehicle and working state of a power takeoff, entering a supporting leg operation mode;
entering a running mode under the conditions that the power takeoff is in a non-working state when the lower vehicle is powered on;
and entering the getting-on operation mode under the conditions that the getting-on vehicle is powered on and the power takeoff is in the working state.
In some embodiments, the vehicle work task information is a support leg work mode, and when a driver does not make a selection, or external charging is not connected and the driver selects a pure electric mode, the support leg is enabled to enter a pure oil mode to work if the current battery electric quantity does not meet the work requirement.
In some embodiments, the vehicle work task information is a running mode, and under the condition that external charging is not connected and a driver selects a pure electric mode, if the current battery electric quantity does not meet the work requirement, the vehicle enters a hybrid charging mode to run;
under the condition that external charging is not connected and a driver selects a hybrid mode, if the current battery electric quantity meets the working requirement, the vehicle enters a pure electric mode to run under the condition that the current vehicle speed is lower than a preset vehicle speed threshold value.
In some embodiments, the vehicle work task information is a get-on work mode, and under the condition that external charging is not connected and a driver selects a pure electric mode, if the current battery power does not meet the work requirement, the get-on work mode is enabled to work in a hybrid charging mode.
In some embodiments, the operating modes of the vehicle further include an energy recovery mode; the hybrid control method further includes:
in the working process of the vehicle, if a brake pedal signal is received and the current battery electric quantity is smaller than an energy recovery threshold value, an energy recovery mode is entered;
the energy recovery mode comprises a first energy recovery mode and a second energy recovery mode, wherein the first energy recovery mode is entered after the brake pedal is triggered instantly, the second energy recovery mode is entered after the brake pedal is triggered continuously, and the energy recovery utilization rate of the first energy recovery mode is lower than that of the second energy recovery mode; and if the brake pedal signal is a transient signal, entering a first energy recovery mode, and if the brake pedal signal is a steady-state signal, entering a second energy recovery mode.
According to a second aspect of the disclosure, a hybrid control device is provided for implementing the hybrid control method of the construction machine of the above embodiment.
In some embodiments, the hybrid control apparatus includes:
a first controller configured to control a rotation speed and power of the engine by controlling an opening degree of a throttle valve of the engine and an amount of fuel injection;
a second controller configured to control a rotation speed and a torque of the motor by controlling the rectifier to convert the high-voltage direct current and the three-phase alternating current into each other, so as to realize a driving and power generation function of the motor;
a third controller configured to control the battery to implement a charge-discharge function by controlling a state of the high-voltage relay and an internal cell management of the battery; and
and a fourth controller configured to implement power transmission by controlling engagement or disengagement of the transmission gear, the clutch, and the synchronizer.
According to a third aspect of the present disclosure, there is provided a hybrid system including the hybrid control apparatus, the engine, and the battery of the above embodiment, wherein:
in the pure oil mode, vehicle operating power is provided only by the engine and the battery is not charged;
in the pure electric mode, the working power of the vehicle is only provided by the battery;
in the hybrid mode, vehicle operating power is provided by the engine and the battery, or vehicle operating power is provided by the engine and the battery is in a charged state.
According to a fourth aspect of the present disclosure, a construction machine is provided, which includes the hybrid control device of the above embodiment or the hybrid system of the above embodiment.
In some embodiments, the work machine comprises a wheeled crane.
Based on the technical scheme, the engineering machinery hybrid power control method determines the work task information of the vehicle according to the power transmission state information, determines the work mode of the vehicle according to the driver mode selection information, the battery capacity information and the external charging connection state under the specific work task, and preferentially considers the mode selected by the driver when determining the work mode of the vehicle. If external charging is not connected, make the vehicle preferentially get into pure electric mode work when battery power satisfies the working requirement, reduce the fuel and use, reduce and discharge the pollution, make the vehicle get into pure oil mode or mix mode work when battery power does not satisfy the working requirement to guarantee that the vehicle has sufficient dynamic behavior. Therefore, the engineering machine can smoothly enter corresponding supporting leg operation, running and getting-on operation, and is suitable for engineering machines with strong mobility and complex operation conditions.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and not to limit the disclosure. In the drawings:
fig. 1 is a flow chart diagram of some embodiments of a work machine hybrid control method of the present disclosure.
FIG. 2 is a schematic flow chart diagram illustrating some embodiments of determining vehicle job task information in the disclosed work machine hybrid control method.
Fig. 3 is a flow chart illustrating some embodiments of the operation modes of the support legs in the hybrid control method for the construction machine according to the disclosure.
FIG. 4 is a flow chart illustrating some embodiments of travel modes in the disclosed work machine hybrid control method.
Fig. 5 is a flow chart of some embodiments of the boarding operation mode in the hybrid control method for the construction machine according to the disclosure.
Fig. 6 is a schematic diagram of electrical connections of some embodiments of the hybrid control unit of the present disclosure.
FIG. 7 is a schematic diagram of some embodiments of the hybrid powertrain system of the present disclosure.
Detailed Description
The present disclosure is described in detail below. In the following paragraphs, different aspects of the embodiments are defined in more detail. Aspects so defined may be combined with any other aspect or aspects unless clearly indicated to the contrary. In particular, any feature considered to be preferred or advantageous may be combined with one or more other features considered to be preferred or advantageous.
The terms "first", "second", and the like in the present disclosure are merely for convenience of description to distinguish different constituent elements having the same name, and do not denote a sequential or primary-secondary relationship.
In the description of the present disclosure, it is to be understood that the terms "inner", "outer", "upper", "lower", "left" and "right", etc., indicate orientations or positional relationships that are defined with reference to a driver sitting in a cab seat, are merely for convenience in describing the present disclosure, and do not indicate or imply that the devices referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be taken as limiting the scope of the present disclosure.
The disclosure provides a hybrid power control method of an engineering machine, which is hereinafter referred to as a "control method" for short, and the control method can be used for controlling a wheel crane, and can also be used for other equipment or engineering machines with any traveling function and operation function, such as an overhead working truck, a pump truck, a concrete mixer truck and the like. For the purposes of making the present disclosure clearer and for more convenient description of the present disclosure, definitions of some abbreviations and key terms are given herein together, and the definitions of these specific terms do not constitute a limitation on the scope of protection of the present disclosure.
Engineering machinery: is an important component of equipment industry, and is comprehensive mechanical equipment used in construction engineering, pavement construction and maintenance, hoisting, unloading, assembling and disassembling operation, construction engineering and the like.
Hybrid power: fuel (diesel, gasoline, etc.) and electrical energy.
State of Charge (State of Charge, SOC) of the battery: the ratio of the remaining capacity of the battery to the total available capacity, and the percentage of the capacity that can be released in the current storage battery according to the specified conditions to the available capacity.
Increasing the range: one configuration of the hybrid, the typical configuration of the series hybrid. The motor is the only power source, and the range extender composed of the engine and the generator is used as a device for providing additional electric energy so as to improve the endurance mileage of the automobile.
High-efficiency area: the region of higher efficiency in the engine operating region.
Endurance mileage: also referred to as endurance, may refer in this disclosure to the total mileage a wheeled crane may travel continuously under fuel, electricity reserve.
Power takeoff: the power output device is generally composed of a gear box, a clutch and a controller, is connected with a low-gear or an auxiliary box output shaft of the gear box, and outputs power to an external working device, such as a lifting pump or a hydraulic pump.
Supporting leg operation: in order to ensure the stability of the crane body during operation, the crane is provided with four telescopic supporting legs. The leg support operation means that an operator operates the leg support to complete the telescopic action.
Getting on the vehicle: the crane boarding is a hoisting operation part, and the boarding operation refers to that an operator operates the crane boarding to complete hoisting operation actions such as lifting, amplitude variation, stretching, rotation and the like.
In some exemplary embodiments, the flow chart shown in fig. 1, in conjunction with fig. 6 and 7, the hybrid control method includes:
step 120, determining vehicle work task information according to the power transmission state information;
and 150, judging whether the current battery power meets the working requirement or not according to the battery power information and the vehicle working task information, if so, entering a step 131 to enable the vehicle to enter a pure electric mode to work, and if not, entering a step 151 to enable the vehicle to enter a pure oil mode or a hybrid mode to work.
The driver mode selection information comprises a pure electric mode, a pure oil mode and a hybrid mode, and is automatically selected by a driver according to the actual working requirement of the engineering machinery and the intention; the battery power information is used for judging whether the current battery power meets the working state or not, and the judgment can be carried out by comparing the current battery SOC value with corresponding preset thresholds under different working tasks; the power transmission state information includes an on-board power transmission and an off-board power transmission, which correspond to an on-board cab power transmission and a chassis cab power transmission, respectively.
Wherein, when the vehicle is in the working state, in the pure oil mode, the working power of the vehicle is only provided by the engine 15 and the battery 17 is not charged; in the pure electric mode, the vehicle operating power is provided only by the battery 17; in the hybrid mode, vehicle operating power is provided by the engine 15 and the battery 17, which may be referred to as a hybrid dual drive mode, or vehicle operating power is provided by the engine 15 and the battery 17 is in a charged state, which may be referred to as a hybrid charging mode. In the specific embodiment, the battery 17 can be charged in any manner, for example, the battery 17 can be charged by the motor 16 during the operation of the engine 15, or the battery 17 can be charged by a fuel cell.
The engineering machinery hybrid power control method determines vehicle work task information according to power transmission state information, determines a work mode of a vehicle according to driver mode selection information, battery power information and an external charging connection state under a specific work task, preferentially considers the mode selected by a driver when determining the work mode of the vehicle, and preferentially enters a pure electric mode to work when the battery power meets work requirements if external charging is not connected, so that fuel oil consumption is reduced, emission pollution is reduced, fuel cost is saved, and the vehicle enters a pure oil mode or a hybrid mode to work when the battery power does not meet the work requirements, so that the vehicle has sufficient power performance.
Therefore, the engineering machine can smoothly enter corresponding supporting leg operation, running and getting-on operation, is suitable for the engineering machine with strong mobility and complex operation conditions, meets the functional requirements of drivers and engineering operators, and simultaneously relates to a power distribution method of the engine 15 and the motor 16 in hybrid power, the engine 15 directly participates in the operation of the crane, the energy flow does not need to be subjected to secondary conversion of the engine 15, the generator, the battery 17 and the motor 16, the comprehensive efficiency is higher, and the power performance and the economical efficiency of the engineering machine are comprehensively considered by preferentially using electric energy.
On the premise of meeting the working requirements, the control method also has the following advantages: electric energy is preferentially used as one of clean energy, so that the electric energy is cleaner and more environment-friendly, and the use cost is lower; the working state of the engine 15 is regulated and controlled by controlling the motor 16, and the use frequency of a high-efficiency area of the engine is increased, so that the aims of energy conservation and emission reduction are fulfilled; the endurance mileage and the power performance are increased through reasonable use of the engine 15, the use of the crane in different environments is met, and the control method has wider adaptability; by preferentially using the electric energy, the noise of the engineering machinery in the working process can be obviously reduced, so that the engineering machinery is suitable for wider working scenes.
In some embodiments, the mixing mode comprises: a hybrid charging mode configured to drive the electric motor 16 to charge the battery 17 during operation of the engine 15, wherein the construction machine hybrid control method further includes:
and acquiring the working state information of the vehicle.
The vehicle working state information, namely the state information of the vehicle during working, comprises the current vehicle speed, the gear position of a gear box, the road surface gradient, the size of an accelerator and the like, and further comprises a torque request converted according to the current vehicle speed, the gear position of the gear box, the road surface gradient, the size of the accelerator and the like.
And under the condition that the external charging is not connected and the driver selects the hybrid mode, determining the working mode of the vehicle according to the battery electric quantity information and the vehicle working state information so as to enable the vehicle to enter the pure electric mode or the hybrid mode to work.
This embodiment can be under the condition that the driver selects the mode of mixing, through comprehensive judgement battery power information and vehicle operating condition information, can make the vehicle use the electric energy preferentially when battery power satisfies the working requirement, get into pure electric mode work, and when power demand is great under partial vehicle operating condition moreover, engine 15 can provide power jointly when battery 17 is driven, realizes energy-concerving and environment-protective when satisfying the driver demand.
In some embodiments, the mixing mode further comprises: a hybrid dual drive mode configured such that vehicle operating power is provided by both the engine 15 and the battery 17; under the condition that external charging is not connected and a driver selects a hybrid mode, determining the working mode of the vehicle according to the battery electric quantity information and the vehicle working state information comprises the following steps:
if the current battery electric quantity does not meet the working requirement, the vehicle enters a hybrid charging mode to work;
and if the current battery electric quantity meets the working requirement, judging the working mode of the vehicle according to at least one of the torque request and the current working speed, and enabling the vehicle to enter a hybrid dual-drive mode to work when the torque request is greater than the maximum torque of the current rotating speed of the engine.
The torque request is converted according to the current vehicle speed, the gear of the gearbox, the road gradient, the size of the accelerator and the like.
In the embodiment, under the condition that the driver selects the hybrid mode, if the current battery electric quantity does not meet the working requirement, the vehicle enters the hybrid charging mode to work, the motor 16 is driven to charge the battery 17 in the working process of the engine 15 so as to increase the battery electric quantity, and the battery electric quantity meets the working requirement as soon as possible, so that the vehicle is switched to the pure electric mode with energy conservation and environmental protection in the subsequent process. If the current battery electric quantity meets the working requirement, the electric energy can be preferentially used by the vehicle when the battery SOC is sufficient by comprehensively judging at least one of the torque request and the current working speed and the battery electric quantity information, and the hybrid dual-drive mode is entered when the power requirement is large, so that the engine 15 provides power jointly when the battery 17 drives, and the energy conservation and the environmental protection are realized while the requirement of a driver is met.
In some embodiments, as shown in the flowchart of fig. 1, the control method further includes:
in the case of external charging connection, step 131 is executed to enable the vehicle to enter the pure electric mode.
Under the condition of external charging connection, the external power supply can continuously provide electric energy for the battery 17, clean electric energy is preferentially used under the condition, fuel oil emission pollution is reduced, and economical efficiency is improved.
In some embodiments, the control method further comprises:
under the condition that a driver does not make a selection, whether the current battery electric quantity meets the working requirement is judged according to the battery electric quantity information and the vehicle working task information, if yes, the vehicle is enabled to enter a pure electric mode to work, and if not, the vehicle is enabled to enter a pure oil mode or a hybrid mode to work.
If the vehicle does not receive the driver mode selection information in the previous embodiment, namely the driver does not make a selection, if the battery electric quantity meets the working requirement, starting from the angle of preferentially selecting electric energy, entering a control flow logic similar to the pure electric mode selected by the driver; and if the electric quantity of the battery does not meet the requirement, the vehicle enters a pure oil mode or a hybrid mode so as to ensure the power required by the vehicle to work.
In some embodiments, as shown in some exemplary embodiments of fig. 2, determining the vehicle job task information from the power transmission status information at step 120 of fig. 1 includes:
and step 240, entering the boarding operation mode when the power is supplied to the boarding vehicle and the power takeoff 19 is in the working state.
Wherein, step 210 is executed firstly, and one of steps 220-240 is executed according to the power transmission state information and the power takeoff working state information selected by the driver. The output end of the engine 15 is connected with a hydraulic pump through a gearbox 18 and a power takeoff 19, under the condition that the power takeoff 19 is in a working state, the power of the engine 15 is transmitted to the hydraulic pump through the gearbox 18 and the power takeoff 19, the hydraulic pump serves as a hydraulic system for supplying oil, and the support leg operation and the boarding operation can be driven; with the power take-off 19 in the inactive state, the power of the engine 15 powers the vehicle directly through the gearbox 18.
In step 210, the vehicle acquires power transmission state information and power takeoff operation state information by the driver selecting the power transmission state and operating the power takeoff switch 7.
In step 220, when the vehicle is powered on and the power take-off 19 is in the operating state, the hydraulic power of the engine 15 is transmitted to the outriggers, and the vehicle enters the outrigger operation mode.
In step 230, when the vehicle is powered on and the power take-off 19 is not in operation, the hydraulic power of the engine 15 is transmitted to the transmission 18, and the vehicle enters a running mode.
In step 240, when the power is supplied to the upper vehicle and the power takeoff 19 is in the operating state, the hydraulic power of the engine 15 is transmitted to the upper vehicle operating device, and the vehicle enters the upper vehicle operating mode, for example, when a crane can perform a lifting operation such as lifting, luffing, telescoping, and slewing. In order to ensure the safety of the crane, if the crane is on-board and powered on, the crane shields off-board signals, enters an on-board operation mode and prohibits driving; when the power takeoff 19 is not operated during power feeding on the vehicle, the operation is prohibited.
In some embodiments, the vehicle work task information is a support leg work mode, and when a driver does not select the support leg work mode, or when external charging is not connected and the driver selects a pure electric mode, the support leg work mode is enabled to work in the pure oil mode if the current battery power does not meet the work requirement.
When the vehicle is getting off and the power is transmitted, if the power takeoff 19 is in a working state, the landing leg is enabled to enter a pure electric or pure oil mode to work according to the electric quantity of the battery and the mode selection of a driver.
This embodiment can be when the landing leg operation, if the battery power can not satisfy the work demand, then directly make the landing leg get into pure oil mode work to guarantee that the landing leg stretches out and possesses sufficient power. Because the supporting leg action time is short, the control process can be simplified by directly adopting a pure oil mode without adopting a hybrid mode.
In some illustrative embodiments of the leg work mode as shown in fig. 3, the control method comprises:
310, when a driver selects the pure electric mode, entering 311, judging whether the current battery SOC is greater than a landing leg operation threshold value of the battery 17, if so, executing 312, enabling the landing leg to work in the pure electric mode, and if not, executing 313, enabling the landing leg to work in the pure oil mode;
and 330, when the driver does not make a selection, entering 331, judging whether the current battery SOC is greater than the support leg operation threshold value of the battery 17, if so, executing 332, enabling the support leg to work in a pure electric mode, otherwise, executing 333, and enabling the support leg to work in a pure electric mode.
The mix mode is not provided in the exemplary embodiment of the leg work mode in consideration of the extremely fast completion speed of the leg work. However, in the leg operation mode of the above embodiment, the leg may be operated in the hybrid mode.
In some embodiments, the vehicle work task information is a running mode, and under the condition that external charging is not connected and a driver selects a pure electric mode, if the current battery electric quantity does not meet the work requirement, the vehicle enters a hybrid charging mode to run;
under the condition that external charging is not connected and a driver selects a hybrid mode, if the current battery electric quantity meets the working requirement, the vehicle enters a pure electric mode to run under the condition that the current vehicle speed is lower than a preset vehicle speed threshold value.
When the power takeoff 19 is in a non-working state during power supply of a vehicle, the vehicle is selected to enter a pure electric mode, a pure oil mode, a hybrid dual-drive mode or a hybrid charging mode for running according to the battery power, the current vehicle speed, a torque request and a driver mode. In the driving state of the vehicle, the pure electric mode is adopted only when the driver selects the pure electric mode and the electric quantity of the battery meets the working requirement, or the pure electric mode is adopted under the condition that the vehicle speed is smaller, the pure oil mode or the hybrid mode is adopted under the other conditions, and the engine 15 preferentially provides power so as to increase the endurance mileage of the vehicle during the transition. And when the power demand is high, the hybrid mode can be selected, and the requirements of high-speed running or obstacle crossing of the engineering machinery are met.
In some exemplary embodiments of the driving mode as shown in fig. 4, the control method includes:
In some embodiments, it may also be provided that when the driver makes no selection, the driving mode enters control flow logic similar to the driver selecting the electric-only mode.
In some embodiments, the vehicle work task information is a get-on work mode, and under the condition that external charging is not connected and a driver selects a pure electric mode, if the current battery power does not meet the work requirement, the get-on work mode is enabled to work in a hybrid charging mode.
When getting on the bus and transmitting power, if the power takeoff 19 is in a working state, the getting on bus is selected to enter a pure electric mode, a pure oil mode, a hybrid dual-drive mode or a hybrid charging mode to work according to external charging, battery power, current speed, torque request and a driver mode. Under the condition that the driver selects pure electric mode, if current battery power can not satisfy the work demand, charge for battery 17 when engine 15 works, both satisfied the required power demand of the operation of getting on the bus, can charge for battery 17 simultaneously again, need not extra battery charge time to follow-up selection and entering pure electric mode or the hybrid-driven mode of more environmental protection.
In some exemplary embodiments of the boarding mode, as shown in fig. 5, the control method includes:
In the exemplary embodiment of the boarding operation mode, when the external charging is not connected, when the driver selects the hybrid mode and the battery SOC is greater than the second boarding operation threshold value of the battery 17, it is considered that the boarding operation always requires high power, so that the entering of the pure electric mode when the operating speed is low is omitted, but in the boarding operation mode of the above-described embodiment, the entering of the pure electric mode when the operating speed is low may be set.
In some embodiments, control flow logic similar to the driver selection of the electric-only mode may also be provided for the boarding mode when the driver makes no selection.
In some embodiments, the operating modes of the vehicle further include an energy recovery mode; the hybrid control method further includes:
and in the working process of the vehicle, if a brake pedal signal is received and the current battery electric quantity is smaller than an energy recovery threshold value, entering an energy recovery mode.
If the current battery capacity is less than the energy recovery threshold, the battery 17 may be charged in the energy recovery mode, and if the current battery capacity is not less than the energy recovery threshold, the current battery capacity is sufficient and does not need to be charged in the energy recovery mode. The energy recovery mode comprises a first energy recovery mode and a second energy recovery mode, wherein the first energy recovery mode is entered after the brake pedal is triggered instantly, the second energy recovery mode is entered after the brake pedal is triggered continuously, and the energy recovery utilization rate of the first energy recovery mode is lower than that of the second energy recovery mode; and if the brake pedal signal is a transient signal, entering a first energy recovery mode, and if the brake pedal signal is a steady-state signal, entering a second energy recovery mode. When the vehicle brakes, no matter the brake pedal is triggered instantly or continuously, the regenerative braking power is recovered to the battery 17, so that the energy can be effectively saved, and the endurance time of the battery 17 is prolonged.
The control method in the embodiment can effectively identify and analyze the power requirement of the engineering machinery according to the current state of the engineering machinery, enter the corresponding working mode, control the working states of the engine 15 and the motor 16, and fully exert the advantages of powerful power, low oil consumption, low emission, low noise, quick response and the like of the hybrid power system while meeting the requirement of a driver.
The control method in the above embodiment can also control the working mode of the construction machine according to the power takeoff state, the torque request and other factors, and has various torque distribution modes of the engine 15 and the motor 16. When the engineering machinery runs or works, if the power required by a driver is large, the engine 15 directly participates in driving the engineering machinery to work, the secondary energy conversion of the power generation and the re-driving of the range extender can be omitted, the system efficiency is improved, and the engine 15 and the motor 16 simultaneously provide power for the engineering machinery, so that the engineering machinery has strong power.
Next, as shown in fig. 6 and 7, the present disclosure provides a hybrid control device 3 for implementing the control method in the above-described embodiment.
The hybrid power control device 3 is mainly a vehicle control device integrating a programmable, reading and storing computer system, compares the inputs of the detection module 1 and the driver demand module 2 with preset values according to the control method in the above embodiment, determines the current working state of the power system, and outputs a control signal to the execution mechanism 4.
Fig. 6 shows the electrical connection relationship between the hybrid control device 3 and the detection module 1, the driver demand module 2, and the actuator 4. The working states of the power system comprise an engine working state, a motor working state, a battery working state, a gearbox working state, a power takeoff working state and the like.
In some embodiments, the hybrid control device 3 includes: a first controller 11, a second controller 12, a third controller 13, and a fourth controller 14.
The first controller 11 is configured to control the rotation speed and power of the engine 15 by controlling the engine throttle opening and the fuel injection amount.
The second controller 12 is configured to control the rotation speed and torque of the motor 16 by controlling the rectifier to interconvert the high-voltage direct current and the three-phase alternating current to realize the driving and generating functions of the motor 16.
And a third controller 13 configured to control the battery 17 to realize a charge and discharge function by controlling the state of the high-voltage relay and the internal cell management of the battery.
And a fourth controller 14 configured to implement power transmission by controlling engagement or disengagement of the transmission gear, the clutch, and the synchronizer.
The four controllers in this embodiment may be integrated in the hybrid control device 3, or may be separately provided according to actual use conditions.
Again, the present disclosure also provides a hybrid system, as shown in fig. 7, including the hybrid control device 3, the engine 15, and the battery 17 in the above embodiment. Wherein:
in the pure oil mode, vehicle operating power is provided only by the engine 15 and the battery 17 is not charged;
in the pure electric mode, the vehicle operating power is provided only by the battery 17;
in the hybrid mode, vehicle operating power is provided by the engine 15 and the battery 17, or vehicle operating power is provided by the engine 15 and the battery 17 is in a charged state.
The hybrid system may further include the detection module 1, the driver demand module 2, the actuator 4, and the like in the above-described embodiments. An exemplary embodiment of a hybrid powertrain is shown in FIG. 7.
The detection module 1 mainly comprises a part sensor, a vehicle body sensor 5 and a decoding calculation system thereof, wherein the decoding calculation system can be arranged in a first controller 11, a second controller 12, a third controller 13 and a fourth controller 14 and is used for detecting the working state of a power system and the working state information of a vehicle.
The hybrid power control system in the above embodiment can be used for controlling a hybrid power wheeled crane, and the control system controls the mode of the power system according to the requirements of the driver and the lifting operator, so that the power performance and the economy of the power system of the crane are comprehensively considered while the functional requirements of the driver and the lifting operator of the crane are met.
The driver demand module 2 mainly comprises a man-machine interaction mechanism, and specifically comprises a pedal signal unit, a mode selection unit 8, a gearbox operation unit 9, a power takeoff operation unit and the like.
The pedal signal unit comprises an accelerator, a brake pedal 6, a hand brake 10 and the like.
The mode selection unit 8 comprises a pure electric mode switch, a pure oil mode switch, a hybrid mode switch, an external charging mode switch and the like, and a driver can select the modes according to own requirements. The driver demand module 2 sends its output signal to the hybrid control device 3 in the above-described embodiment as its judgment basis.
The transmission operating unit 9 includes a transmission gear selecting mechanism, a transmission mode selecting mechanism.
The power take-off operating unit comprises a power take-off switch 7.
In addition, the present disclosure also provides a construction machine, as shown in fig. 6 and 7, including the hybrid control device 3 in the above embodiment, or the hybrid system in the above embodiment. The construction machine mentioned in this embodiment may be any equipment or machine having a traveling function and a working function, such as a wheel crane, an aerial work vehicle, a pump truck, a concrete mixer truck, or the like.
In some embodiments, the work machine comprises a wheeled crane.
In some embodiments, the control device described above can be a general purpose Processor, a Programmable Logic Controller (PLC), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable Logic device, discrete Gate or transistor Logic, discrete hardware components, or any suitable combination thereof for performing the functions described in this disclosure.
The construction machine hybrid power control method, the hybrid power control system and the construction machine provided by the disclosure are described in detail above. The principles and embodiments of the present disclosure are explained herein using specific examples, which are set forth only to help understand the method and its core ideas of the present disclosure. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present disclosure without departing from the principle of the present disclosure, and such improvements and modifications also fall within the scope of the claims of the present disclosure.
Claims (15)
1. A hybrid control method for a construction machine, comprising:
acquiring driver mode selection information, battery electric quantity information and power transmission state information, wherein the driver mode selection information comprises a pure electric mode, a pure oil mode and a hybrid mode; the power transmission state information comprises getting-on power transmission and getting-off power transmission;
determining vehicle work task information according to the power transmission state information;
under the conditions that external charging is not connected and a driver selects the pure oil mode, enabling the vehicle to enter the pure oil mode to work;
under the condition that the external charging is not connected and a driver selects the pure electric mode, judging whether the current battery electric quantity meets the working requirement or not according to the battery electric quantity information and the vehicle working task information, if so, enabling the vehicle to enter the pure electric mode for working, and if not, enabling the vehicle to enter the pure oil mode or the hybrid mode for working;
wherein, in the pure oil mode, vehicle operating power is provided only by the engine and the battery is not charged; in the pure electric mode, the vehicle working power is provided by the battery only; in the hybrid mode, the vehicle operating power is provided by the engine and the battery, or the vehicle operating power is provided by the engine and the battery is in a charged state.
2. The construction machine hybrid control method according to claim 1, wherein the hybrid mode includes: a hybrid charging mode configured to drive an electric motor to charge the battery during operation of the engine, the construction machine hybrid control method further comprising:
acquiring vehicle working state information;
and under the condition that the external charging is not connected and a driver selects the hybrid mode, determining the working mode of the vehicle according to the battery electric quantity information and the vehicle working state information so as to enable the vehicle to enter the pure electric mode or the hybrid mode to work.
3. The work machine hybrid control method according to claim 2, characterized in that the hybrid mode further includes: a hybrid dual drive mode configured to cause the vehicle operating power to be provided by both the engine and the battery; determining the working mode of the vehicle according to the battery power information and the vehicle working state information comprises:
if the current battery electric quantity does not meet the working requirement, the vehicle enters the hybrid charging mode to work;
and if the current battery electric quantity meets the working requirement, judging the working mode of the vehicle according to at least one of the torque request and the current working speed, and enabling the vehicle to enter the hybrid dual-drive mode to work when the torque request is greater than the maximum torque of the current rotating speed of the engine.
4. The construction machine hybrid control method according to claim 1, characterized by further comprising:
and under the condition of external charging connection, the vehicle enters the pure electric mode to work.
5. The construction machine hybrid control method according to claim 1, characterized by further comprising:
and under the condition that a driver does not select, judging whether the current battery electric quantity meets the working requirement or not according to the battery electric quantity information and the vehicle working task information, if so, enabling the vehicle to enter the pure electric mode for working, and if not, enabling the vehicle to enter the pure oil mode or the hybrid mode for working.
6. The construction machine hybrid control method according to claim 1, wherein determining the vehicle work task information from the power transmission state information includes:
acquiring the working state information of the power takeoff;
under the condition that the power takeoff is in a working state when the lower vehicle is powered on, entering a supporting leg operation mode;
entering a running mode under the condition that the power takeoff is in a non-working state when the lower vehicle is powered on;
and entering a boarding operation mode under the condition that the boarding power is supplied and the power takeoff is in a working state.
7. The engineering machinery hybrid power control method according to any one of claims 1 to 6, wherein the vehicle work task information is a support leg work mode, and when a driver does not select the support leg work mode, or the external charging is not connected and the driver selects the pure electric mode, the support leg work is enabled to enter the pure oil mode if the current battery power does not meet the work requirement.
8. The engineering machinery hybrid power control method according to any one of claims 1 to 6, wherein the vehicle work task information is a driving mode, and under the condition that the external charging is not connected and the driver selects the pure electric mode, if the current battery power does not meet the work requirement, the vehicle is driven in a hybrid charging mode;
under the condition that the external charging is not connected and the driver selects the hybrid mode, if the current battery electric quantity meets the working requirement, under the condition that the current vehicle speed is lower than a preset vehicle speed threshold value, the vehicle enters the pure electric mode to run.
9. The engineering machinery hybrid power control method according to any one of claims 1 to 6, wherein the vehicle work task information is a get-on work mode, and under the condition that the external charging is not connected and the driver selects the pure electric mode, the get-on work is enabled to enter the hybrid charging mode for work if the current battery power does not meet the work requirement.
10. The hybrid control method for the construction machine according to any one of claims 1 to 6, wherein the working mode of the vehicle further includes an energy recovery mode; the hybrid control method further includes:
in the working process of the vehicle, if a brake pedal signal is received and the current battery electric quantity is smaller than an energy recovery threshold value, entering an energy recovery mode;
the energy recovery mode comprises a first energy recovery mode and a second energy recovery mode, wherein the first energy recovery mode is entered after a brake pedal is triggered instantly, the second energy recovery mode is entered after the brake pedal is triggered continuously, and the energy recovery utilization rate of the first energy recovery mode is lower than that of the second energy recovery mode; and if the brake pedal signal is a transient signal, entering the first energy recovery mode, and if the brake pedal signal is a steady-state signal, entering the second energy recovery mode.
11. A hybrid control apparatus for implementing the hybrid control method according to any one of claims 1 to 10.
12. The hybrid control apparatus according to claim 11, characterized by comprising:
a first controller configured to control a rotation speed and power of the engine by controlling an engine throttle opening and an oil injection amount;
a second controller configured to control a rotation speed and a torque of the motor by controlling the rectifier to convert the high-voltage direct current and the three-phase alternating current into each other to realize a driving and power generation function of the motor;
a third controller configured to control the battery to implement a charge-discharge function by controlling a high-voltage relay state and battery internal cell management; and
and a fourth controller configured to implement power transmission by controlling engagement or disengagement of the transmission gear, the clutch, and the synchronizer.
13. A hybrid system characterized by comprising the hybrid control apparatus of claim 11 or 12, an engine, and a battery, wherein:
in the pure oil mode, the vehicle operating power is provided only by the engine and the battery is not charged;
in the pure electric mode, the vehicle working power is provided by the battery only;
in the hybrid mode, the vehicle operating power is provided by the engine and the battery, or the vehicle operating power is provided by the engine and the battery is in a charged state.
14. A working machine comprising the hybrid control apparatus of claim 11 or 12 or the hybrid system of claim 13.
15. A working machine according to claim 14, characterized in that the working machine comprises a wheel crane.
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