CN114407875B - 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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- CN114407875B CN114407875B CN202210079273.4A CN202210079273A CN114407875B CN 114407875 B CN114407875 B CN 114407875B CN 202210079273 A CN202210079273 A CN 202210079273A CN 114407875 B CN114407875 B CN 114407875B
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Classifications
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
The disclosure relates to a hybrid power control method, a hybrid power system and engineering machinery of engineering machinery, wherein the control method comprises the following steps: acquiring driver mode selection information, battery power information and power transmission state information, wherein the driver mode selection information comprises a pure electric mode, a pure oil mode and a hybrid electric mode; the power transmission state information includes power transmission of getting on and off; determining vehicle work task information according to the power transmission state information; under the condition that external charging is not connected and a driver selects a pure oil mode, enabling the vehicle to enter the pure oil mode to work; under the condition 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 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 electric mode for working.
Description
Technical Field
The disclosure relates to the field of hybrid power control, and in particular relates to a hybrid power control method, a hybrid power control system and engineering machinery for engineering machinery.
Background
The power source of the traditional engineering machinery is an engine, and the engine independently provides power for a running and operating system of the engineering machinery through fuel combustion; with increasingly stringent emissions regulations and ever increasing fuel costs, the disadvantages of engines as a single power source are becoming more apparent. The hybrid power wheel crane is one new energy engineering machine and is an important part of 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 the energy consumption cost of engineering machinery can be greatly reduced through the use of the hybrid power control system, the use cost is reduced, and the emission of an engine is reduced.
In the related art known by the inventor, the hybrid power system based on the storage battery provides main power for the system by the storage battery, so that potential energy feedback in a working mechanism can be fully absorbed, and the energy consumption is reduced while the electricity cost is saved. However, only the charge and discharge control strategy of the storage battery is considered, and for engineering machinery with strong mobility and complex operation working conditions, it is difficult to simultaneously consider the requirements of a driver and meet the power performance.
Disclosure of Invention
The embodiment of the disclosure provides a hybrid power control method of engineering machinery, a hybrid power system and the engineering machinery, which can meet the requirements of a driver and simultaneously consider the dynamic performance of the engineering machinery.
According to a first aspect of the present disclosure, a method for controlling hybrid power of an engineering machine is provided, including:
acquiring driver mode selection information, battery power information and power transmission state information, wherein the driver mode selection information comprises a pure electric mode, a pure oil mode and a mixed electric mode; the power transmission state information includes power transmission of getting on and off;
determining vehicle work task information according to the power transmission state information;
under the condition that external charging is not connected and a driver selects a pure oil mode, enabling the vehicle to enter the pure oil mode to work;
under the condition 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 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 electric mode for working;
wherein, in the pure oil mode, vehicle operating power is provided by the engine only and the battery is not charged; in the pure electric mode, vehicle operating power is provided solely 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 blending mode includes: the hybrid charging mode is configured to drive the motor to charge the battery in the process of engine operation, and the engineering machinery hybrid power control method further comprises the following steps:
acquiring vehicle working state information;
and under the condition that external charging is not connected and the 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 so as to enable the vehicle to enter a pure electric mode or a hybrid mode to work.
In some embodiments, the blending mode further comprises: a hybrid dual drive mode configured to cause vehicle operating power to be provided by the engine and the battery together; determining the operating mode of the vehicle based on the battery charge information and the vehicle operating state information includes:
if the current battery electric quantity does not meet the working requirement, enabling the vehicle to enter a hybrid charging mode for working;
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 double-drive mode to work when the torque request is larger than the maximum torque of the current rotating speed of the engine.
In some embodiments, the work machine hybrid control method further comprises:
Under the condition of external charging connection, the vehicle is enabled to enter 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 select, judging whether the current battery electric quantity meets the working requirement according to the battery electric quantity information and the vehicle working task information, if so, enabling the vehicle to enter a pure-oil mode for working, and if not, enabling the vehicle to enter a pure-oil mode or a mixed-motion mode for working.
In some embodiments, determining vehicle work task information from the power delivery status information includes:
acquiring working state information of a power takeoff;
under the condition that the power is transmitted when the vehicle is off and the power takeoff is in a working state, entering a landing leg operation mode;
when the power is transmitted during the getting-off and the power takeoff is in an unoperated state, entering a driving mode;
and under the condition that the boarding power is transmitted and the power takeoff is in a working state, entering a boarding operation mode.
In some embodiments, the vehicle task information is a leg operation mode, and if the current battery level does not meet the operation requirement, the leg is enabled to enter a pure oil mode for operation if the driver does not select the leg operation mode, or if the external charging is not connected and the driver selects the pure oil mode.
In some embodiments, the vehicle task information is a driving mode, and if the current battery power does not meet the working requirement under the conditions that external charging is not connected and the driver selects a pure electric mode, the vehicle enters a hybrid charging mode to drive;
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, and under the condition that the current vehicle speed is lower than a preset vehicle speed threshold value, the vehicle enters a pure electric mode to run.
In some embodiments, the vehicle task information is a get-on operation mode, and if the current battery power does not meet the working requirement, the get-on is enabled to enter the hybrid charging mode for working under the condition that external charging is not connected and the driver selects the pure electric 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, entering an energy recovery mode;
the energy recovery mode comprises a first energy recovery mode which is entered after the brake pedal is triggered instantly and a second energy recovery mode which 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; the first energy recovery mode is entered if the brake pedal signal is a transient signal and the second energy recovery mode is entered if the brake pedal signal is a steady state signal.
According to a second aspect of the present 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 a power of the engine by controlling an opening degree of a throttle valve of the engine and an injection amount;
a second controller configured to control a rotational speed and a torque of the motor by controlling the rectifier to mutually convert the high-voltage direct current and the three-phase alternating current, so as to realize a driving and power generation function of the motor;
a third controller configured to control the battery to realize a charge and discharge function by controlling a state of the high-voltage relay and an internal battery management of the battery; and
and a fourth controller configured to achieve 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 device of the above embodiment, an engine, and a battery, 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, vehicle operating power is provided solely 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, there is provided a construction machine including the hybrid control apparatus of the above embodiment, or the hybrid system of the above embodiment.
In some embodiments, the work machine includes a wheeled crane.
Based on the above technical solution, the hybrid power control method for the construction machine according to the embodiment of the present disclosure determines vehicle work task information according to the power transmission status information, determines a work mode of the vehicle according to the driver mode selection information, the battery power information and the external charging connection status under a specific work task, and prioritizes the mode selected by the driver when determining the work mode of the vehicle. If the external charging is not connected, the vehicle is enabled to enter a pure electric mode to work preferentially when the battery electric quantity meets the working requirement, the fuel consumption is reduced, the emission pollution is reduced, and the vehicle is enabled to enter a pure oil mode or a mixed mode to work when the battery electric quantity does not meet the working requirement, so that the vehicle is ensured to have sufficient power performance. Therefore, the engineering machinery can smoothly enter corresponding landing leg operation, driving operation and boarding operation, and is suitable for engineering machinery with strong mobility and complex operation working conditions.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate and explain the present disclosure, and together with the description serve to explain the present disclosure. In the drawings:
FIG. 1 is a flow chart of some embodiments of a method of controlling a hybrid power of a work machine of the present disclosure.
FIG. 2 is a flow chart of some embodiments of determining vehicle work task information in a hybrid control method of a work machine of the present disclosure.
FIG. 3 is a flow chart of some embodiments of leg operation modes in the disclosed work machine hybrid control method.
FIG. 4 is a flow chart of some embodiments of a travel mode in a hybrid control method of a work machine of the present disclosure.
Fig. 5 is a flow diagram of some embodiments of a loading operation mode in a hybrid control method of a work machine according to the present disclosure.
Fig. 6 is a schematic diagram of electrical connections of some embodiments of the hybrid control device of the present disclosure.
Fig. 7 is a schematic diagram of some embodiments of a hybrid system of the present disclosure.
Detailed Description
The present disclosure is described in detail below. In the following paragraphs, the different aspects of the embodiments are defined in more detail. Aspects so defined may be combined with any other aspect or aspects unless explicitly stated to be non-combinable. In particular, any feature or features may be combined with one or more other features may be desired and advantageous.
The terms "first," "second," and the like in this disclosure are merely for convenience of description to distinguish between different constituent components having the same name, and do not denote a sequential or primary or secondary relationship.
In the description of the present disclosure, it should be understood that the terms "inner", "outer", "upper", "lower", "left" and "right", etc. indicate orientations or positional relationships are defined based on the driver sitting on the cab seat, and are merely for convenience in describing the present disclosure, and do not indicate or imply that the devices being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the scope of protection of the present disclosure.
The present disclosure proposes a hybrid control method for an engineering machine, hereinafter referred to as a "control method" for short, where the control method may be used for controlling a wheeled crane, and may also be used for any other equipment or engineering machine having a traveling function and an operation function, such as an overhead working truck, a pump truck, a concrete mixer truck, etc., and some of the following embodiments will be described with reference to control of a wheeled crane. To make the disclosure clearer, and also to facilitate the description of the disclosure, definitions of certain abbreviations and key terms are provided herein, these definitions of certain terms do not limit the scope of protection of the present disclosure.
Engineering machinery: is an important component of the equipment industry, and is comprehensive mechanical equipment used in construction engineering, pavement construction maintenance, lifting and unloading operation, building 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, the current battery capacity which can be released according to the specified conditions, is the percentage of the available capacity.
Increasing the range: one form of configuration of the hybrid, the typical configuration of the series hybrid. The motor is the only power source, and the range extender consisting 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 region: the higher efficiency region in the engine operating section.
Range of endurance: also referred to as cruising ability, the present disclosure may refer to the total mileage that a wheel crane can continuously travel under fuel and electricity reserves.
A power takeoff: one or more groups of speed change gears, also called power output devices, are generally formed by combining a gear box, a clutch and a controller, are connected with the output shaft of a low-gear or a secondary gear of the gearbox, and output power to an external working device, such as a lifting pump or a hydraulic pump.
Leg operation: in order to ensure the stability of the crane body during operation, the crane is provided with four telescopic supporting legs. The landing leg operation means that an operator manipulates the landing leg to complete the telescopic action.
And (3) loading operation: the crane is used as a lifting operation part, and the crane lifting operation refers to lifting operation actions such as lifting, luffing, telescoping, rotating and the like by operating personnel to operate the crane.
In some exemplary embodiments, as shown in the flow chart of fig. 1, in combination with fig. 6 and fig. 7, the hybrid control method includes:
step 110, obtaining driver mode selection information, battery power information and power transmission state information;
step 120, determining vehicle work task information according to the power transmission state information;
step 130, judging whether external charging is connected, if yes, executing step 131 to enable the vehicle to enter a pure electric mode for operation, and if no, executing step 140;
step 140, judging a mode selected by the driver, if the driver selects the pure oil mode, executing step 141 to enable the vehicle to enter the pure oil mode to work, and if the driver selects the pure oil mode, executing step 150;
step 150, judging whether the current battery electric quantity meets the working requirement according to the battery electric quantity information and the vehicle working task information, if so, entering step 131 to enable the vehicle to work in a pure mode, and if not, entering step 151 to enable the vehicle to work in a pure oil mode or a mixed mode.
The driver mode selection information comprises a pure electric mode, a pure oil mode and a mixed electric mode, and the driver can select the mode independently according to the actual working requirements of the engineering machinery and the combination wish; the battery electric quantity information is used for judging whether the current battery electric quantity meets the working state or not, and the current battery SOC value can be compared with corresponding preset thresholds under different working tasks to judge; the power transmission state information includes an upper power transmission and a lower power transmission corresponding to the upper cabin power transmission and the chassis cab power transmission, respectively.
Wherein, when the vehicle is in a working state, in the pure oil mode, the vehicle working power is provided by the engine 15 only and the battery 17 is not charged; in the pure electric mode, vehicle operating power is provided solely 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 charge mode. In a specific embodiment, the battery 17 may be charged in any manner, for example, the motor 15 may charge the battery 17 through the motor 16 during operation, or the battery 17 may be charged by using a fuel cell.
Steps 110 and 120 are used to obtain the determination conditions, and steps 130, 140 and 150 thereafter perform the determination according to the external charging connection state, the driver mode selection information, the battery level information and the vehicle operation task information and make the vehicle enter the mode operation corresponding to steps 131, 141 or 151.
According to the hybrid power control method for the engineering machinery, vehicle working task information is determined according to power transmission state information, under a specific working task, a working mode of a vehicle is determined according to driver mode selection information, battery electric quantity information and external charging connection state, when the working mode of the vehicle is determined, the mode selected by the driver is preferentially considered, if external charging is not connected, the vehicle is enabled to be preferentially operated in a pure mode when the battery electric quantity meets working requirements, fuel consumption is reduced, emission pollution is reduced, fuel cost is saved, and the vehicle is enabled to be operated in a pure oil mode or a hybrid mode when the battery electric quantity does not meet the working requirements, so that the vehicle has sufficient power performance.
Therefore, the engineering machinery can smoothly enter corresponding landing leg operation, driving and getting-on operation, is suitable for engineering machinery with strong mobility and complex operation working conditions, meets the functional requirements of drivers and engineering operators, and simultaneously relates to a power distribution method of an engine 15 and a motor 16 in hybrid power, the engine 15 directly participates in driving a crane to work, energy sources do not need to be secondarily converted through the engine 15, a generator, a battery 17 and the motor 16, the comprehensive efficiency is higher, and the dynamic property and the economical efficiency of the engineering machinery are comprehensively considered by preferentially using electric energy.
The control method has the following advantages on the premise of meeting the working requirements: the electric energy is preferentially used as one of clean energy sources, so that the electric energy is cleaner and 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 is increased, so that the purposes of energy conservation and emission reduction are achieved; the reasonable use of the engine 15 increases the endurance mileage and the power performance, so that the crane can be used in different environments, 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 blending mode includes: hybrid charging mode configured to drive the motor 16 to charge the battery 17 during operation of the engine 15, the construction machine hybrid control method further includes:
and acquiring the vehicle working state information.
The vehicle working state information, namely state information of the vehicle when the vehicle works, comprises a current vehicle speed, a gear box gear, a road surface gradient, an accelerator size and the like, and further comprises a torque request which is converted according to the current vehicle speed, the gear box gear, the road surface gradient, the accelerator size and the like.
And under the condition that external charging is not connected and the 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 so as to enable the vehicle to enter a pure electric mode or a hybrid mode to work.
According to the embodiment, under the condition that a driver selects a hybrid mode, by comprehensively judging battery electric quantity information and vehicle working state information, the vehicle can use electric energy preferentially when the battery electric quantity meets working requirements, and the vehicle enters a pure electric mode to work, and when the power requirement is large in part of vehicle working states, the engine 15 can jointly provide power while being driven by the battery 17, so that energy conservation and environmental protection are realized while the requirements of the driver are met.
In some embodiments, the blending mode further comprises: a hybrid dual drive mode configured such that vehicle operating power is supplied by the engine 15 and the battery 17 together; 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 power information and the vehicle working state information comprises:
if the current battery electric quantity does not meet the working requirement, enabling the vehicle to enter a hybrid charging mode for working;
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 double-drive mode to work when the torque request is larger than the maximum torque of the current rotating speed of the engine.
The torque request is obtained through conversion according to the current vehicle speed, the gear of the gearbox, the gradient of the road surface, the size of the accelerator and the like.
In this embodiment, if the current battery power does not meet the working requirement under the condition that the driver selects the hybrid mode, the vehicle is made to enter the hybrid charging mode to work, and the motor 16 is driven to charge the battery 17 to increase the battery power in the working process of the engine 15, so that the battery power meets the working requirement as soon as possible, so that the vehicle is subsequently switched to the energy-saving and environment-friendly pure electric mode. If the current battery power meets the working requirement, the vehicle can use the electric energy preferentially when the battery SOC is sufficient by comprehensively judging at least one of the torque requirement and the current working speed and the battery power information, and enters a hybrid double-drive mode when the power requirement is large, the engine 15 provides power together while the battery 17 drives, and the energy conservation and the environmental protection are realized while the requirements of a driver are met.
In some embodiments, as shown in the flowchart of fig. 1, the control method further includes:
in the case of an external charging connection, step 131 is performed to bring the vehicle into operation in the pure electric mode.
In the case of an external charging connection, the external power source can continuously supply power to the battery 17, in which case clean power is preferentially used, reducing fuel emission pollution and improving economy.
In some embodiments, the control method further comprises:
under the condition that a driver does not select, judging whether the current battery electric quantity meets the working requirement according to the battery electric quantity information and the vehicle working task information, if so, enabling the vehicle to enter a pure-oil mode for working, and if not, enabling the vehicle to enter a pure-oil mode or a mixed-motion mode for working.
If the vehicle does not receive the driver mode selection information in the previous embodiment, namely the driver does not select, if the electric quantity of the battery meets the working requirement, from the aspect of selecting electric energy preferentially, entering control flow logic similar to the mode of selecting the pure electric mode by the driver; if the electric quantity of the battery does not meet the requirement, the vehicle enters a pure oil mode or a mixed mode so as to ensure the power required by the operation of the vehicle.
In some embodiments, as shown in some exemplary embodiments of fig. 2, step 120 of fig. 1 determining vehicle work task information from the power delivery status information includes:
step 210, acquiring power transmission state information and power takeoff operation state information;
step 220, entering a landing leg operation mode when the power is transmitted during the getting-off and the power takeoff 19 is in a working state;
step 230, when the power is transmitted and the power takeoff 19 is in an inactive state, entering a driving mode;
Step 240, entering a boarding operation mode when the boarding power is transmitted and the power take-off 19 is in an operating state.
Wherein step 210 is first performed, one of steps 220-240 is performed based on the driver selected power delivery status information and the power take-off operating status information. The output end of the engine 15 is connected with a hydraulic pump through a gearbox 18 and a power takeoff 19, and 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, and the hydraulic pump is used for supplying oil for a hydraulic system and can drive landing leg operation and boarding operation; with the power take-off 19 in the inactive state, the power of the engine 15 directly powers the vehicle running through the gearbox 18.
In step 210, the vehicle acquires power transmission state information and power take-off operation state information by the driver selecting the power transmission state and operating the power take-off switch 7.
In step 220, with the power being supplied to the vehicle and the power take-off 19 in the operating state, the hydraulic power of the engine 15 is transmitted to the leg, and the vehicle enters the leg operation mode.
In step 230, when the power is transmitted from the vehicle to the power take-off 19 and the power take-off 19 is in the inactive state, the hydraulic power of the engine 15 is transmitted to the transmission 18, and the vehicle enters the running mode.
In step 240, when the boarding vehicle transmits power and the power take-off 19 is in an operating state, the hydraulic power of the engine 15 is transmitted to the boarding vehicle operating device, and for example, lifting operation such as lifting, luffing, telescoping, turning and the like can be performed on the crane, and the vehicle enters the boarding vehicle operating mode. In order to ensure the safety of the crane, if the upper vehicle transmits power, shielding the lower vehicle signal, entering an upper vehicle operation mode, and prohibiting the driving; when power is transmitted during boarding, the power take-off 19 is disabled when it is in an inactive state.
In some embodiments, the vehicle task information is a leg operation mode, and if the current battery power does not meet the operation requirement, the leg is enabled to enter a pure oil mode for operation under the two conditions that the driver does not select the leg operation mode, or the external charging is not connected and the driver selects the pure oil mode.
When the vehicle is powered down, if the power take-off 19 is in an operating state, the leg is put into a pure or pure oil mode for operation according to the battery level and the driver mode selection.
According to the embodiment, when the support legs work, if the electric quantity of the battery does not meet the working requirement, the support legs are directly made to enter a pure oil mode to work, so that the support legs are ensured to extend out and have enough power. Because the action time of the supporting leg is shorter, the control process can be simplified by directly adopting the pure oil mode, and the mixed mode is not needed.
In some illustrative embodiments of leg modes of operation as shown in fig. 3, the control method includes:
step 220, when the power takeoff 19 is in a working state during power transmission of the vehicle, the vehicle enters a landing leg operation mode;
step 310, when the driver selects the pure mode, go to step 311, judge whether the current battery SOC is greater than the leg operation threshold of the battery 17, if yes, go to step 312, the leg goes to the pure mode operation, if no, go to step 313, the leg goes to the pure oil mode operation;
step 320, when the driver selects the pure oil mode, entering step 321, wherein the supporting legs enter the pure oil mode to work;
step 330, when the driver does not select, go to step 331, determine whether the current battery SOC is greater than the leg operation threshold of the battery 17, if yes, go to step 332, and if no, go to step 333, and go to pure oil mode.
In view of the extremely high speed of completion of the leg work, the hybrid mode is not provided in the exemplary embodiment of the leg work mode. However, in the leg operation mode of the above embodiment, the leg may also be operated in the hybrid mode.
In some embodiments, the vehicle task information is a driving mode, and if the current battery power does not meet the working requirement under the conditions that external charging is not connected and the driver selects a pure electric mode, the vehicle enters a hybrid charging mode to drive;
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, and under the condition that the current vehicle speed is lower than a preset vehicle speed threshold value, the vehicle enters a pure electric mode to run.
When the power takeoff 19 is in an inactive state during power transmission of the lower vehicle, the vehicle is selected to enter a pure electric mode, a pure oil mode, a hybrid double-drive mode or a hybrid charging mode according to the battery power, the current vehicle speed, the torque request and the driver mode. In this embodiment, in the running state of the vehicle, the pure mode is only adopted when the driver selects the pure mode and the battery power meets the working requirement, or the pure mode or the hybrid mode is adopted when the vehicle speed is small, and the engine 15 preferably provides power to increase the endurance mileage when the vehicle transitions. Moreover, when the power demand is higher, the hybrid mode can be selected, so that the requirements of high-speed running or obstacle crossing of engineering machinery and the like are met.
In an exemplary embodiment of some of the travel patterns shown in fig. 4, the control method includes:
step 230, when the power takeoff 19 is in an inactive state during power transmission of the vehicle, the vehicle enters a driving mode;
step 410, when the driver selects the pure electric mode, go to step 411, judge whether the current battery SOC is greater than the first running threshold of the battery 17, if yes, go to step 412, go to the pure electric mode, if no, go to step 413, go to the hybrid charging mode;
step 420, when the driver selects the pure oil mode, entering step 421, and running into the pure oil mode;
step 430, when the driver selects the hybrid mode, go to step 431, determine whether the current battery SOC is greater than the second running threshold of the battery 17, if yes, execute step 432 or step 434, if the current vehicle speed is lower than the preset vehicle speed threshold in step 432, execute step 433, run to the pure electric mode, if the torque request is greater than the maximum torque of the current engine speed in step 434, execute step 435, and run to the hybrid dual-drive mode; if not, then step 436 is performed to drive into hybrid charge mode.
In some embodiments, control flow logic may also be provided that enters a travel mode similar to the driver selecting the pure mode when the driver does not select.
In some embodiments, the vehicle task information is a get-on operation mode, and if the current battery power does not meet the working requirement, the get-on is enabled to enter the hybrid charging mode for working under the condition that external charging is not connected and the driver selects the pure electric mode.
When the get-on vehicle is powered on, if the power takeoff 19 is in a working state, the get-on vehicle is selected to enter a pure electric mode, a pure oil mode, a hybrid double-drive mode or a hybrid charging mode according to external charging, battery power, current vehicle speed, torque request and driver mode. Under the condition that the driver selects the pure electric mode, if the current battery electric quantity does not meet the working requirement, the battery 17 is charged while the engine 15 works, so that the power requirement required by the boarding operation is met, the battery 17 can be charged at the same time, and additional battery charging time is not needed, so that the following selection is facilitated, and the more environment-friendly pure electric mode or the hybrid double-drive mode is entered.
In some exemplary embodiments of the get-on mode of operation as shown in fig. 5, the control method includes:
step 240, when the get-on vehicle transmits power, if the power takeoff 19 is in a working state, the vehicle enters a get-on operation mode;
step 250, judging whether external charging is connected, if so, executing step 252, and entering a pure electric mode for operation; if not, then one of steps 510, 520 or 530 is entered according to the driver mode selection;
Step 510, when the driver selects the pure electric mode, go to step 511, judge whether the current battery SOC is greater than the first get-on operation threshold of the battery 17, if yes, go to step 512, get-on to the pure electric mode, if no, go to step 513, get-on to the hybrid charging mode;
step 520, when the driver selects the pure oil mode, entering step 521, and entering the pure oil mode for operation;
step 530, when the driver selects the hybrid mode, go to step 531, determine whether the current battery SOC is greater than the second get-on operation threshold of the battery 17, if not, execute step 534, and get-on to the hybrid charging mode; if yes, step 532 is executed to determine whether the torque request is greater than the maximum torque of the current rotational speed of the engine, if yes, step 533 is executed, and the get-on vehicle enters the hybrid dual-drive mode operation.
In the exemplary embodiment of the get-on 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 get-on operation threshold of the battery 17, the case of entering the pure electric mode when the operation speed is low is omitted in consideration of the fact that higher power is always required for the get-on operation, but in the get-on operation mode of the above embodiment, the case of entering the pure electric mode when the operation speed is low may be set.
In some embodiments, control flow logic may also be provided that enters the get-on mode of operation when the driver does not select the pure mode similar to the driver selecting the pure mode.
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 capacity is smaller than an energy recovery threshold value, entering an energy recovery mode.
If the current battery charge is less than the energy recovery threshold, the battery 17 may be charged in the energy recovery mode, and if the current battery charge is not less than the energy recovery threshold, the current battery charge is sufficient and no charging in the energy recovery mode is required. The energy recovery mode comprises a first energy recovery mode which is entered after the brake pedal is triggered instantly and a second energy recovery mode which 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; the first energy recovery mode is entered if the brake pedal signal is a transient signal and the second energy recovery mode is entered if the brake pedal signal is a steady state signal. When the vehicle brakes, whether the brake pedal is triggered instantaneously or continuously, the regenerative braking power is recovered to the battery 17, so that energy can be effectively saved, and the endurance time of the battery 17 is prolonged.
The control method in the above embodiment can effectively identify and analyze the power demand 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 strong power, low oil consumption, low emission, low noise, quick response and the like of the hybrid power system while meeting the demand of a driver.
The control method in the above embodiment is also capable of controlling the operation mode of the construction machine according to the power take-off 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 driver needs larger power, the engine 15 directly participates in driving the engineering machinery to work, so that the secondary conversion of energy sources for power generation and redrive 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 stronger power performance.
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 integrated with a programmable, read and store computer system, and compares the input of the detection module 1 and the driver demand module 2 with a preset value according to the control method in the above embodiment, determines the working state of the current power system, and outputs a control signal to the execution mechanism 4.
The electrical connection relationship between the hybrid control device 3 and the detection module 1, the driver demand module 2, and the actuator 4 is shown in fig. 6. 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 means 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 rotational speed and torque of the motor 16 by controlling the rectifier to mutually convert the high-voltage direct current and the three-phase alternating current to realize the driving and power generation functions of the motor 16.
The third controller 13 is configured to control the battery 17 to realize a charge and discharge function by controlling the high-voltage relay state and the battery internal electric core management.
A fourth controller 14 configured to effect power transmission by controlling engagement or disengagement of the transmission gear, clutch, and synchronizer.
The four controllers in this embodiment may be integrated in the hybrid control means 3 or may be provided separately according to actual use.
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-described 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, vehicle operating power is provided solely 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 and calculating system thereof, wherein the decoding and calculating system can be built in the first controller 11, the second controller 12, the third controller 13 and the fourth controller 14 and is used for detecting the working state of the power system and the working state information of the vehicle.
The hybrid power control system in the embodiment can be used for controlling the hybrid power wheel crane, and the control system can control the mode of the power system according to the requirements of a driver and a hoisting operator, and comprehensively considers the dynamic property and the economical efficiency of the crane power system while meeting the functional requirements of the driver and the hoisting operator of the crane.
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 operating unit 9, a power takeoff operating 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 includes a pure mode switch, a pure oil mode switch, a hybrid mode switch, an external charging mode switch, and the like, and a driver can select a mode according to his own needs. The driver demand module 2 sends its output signal to the hybrid control means 3 in the above embodiment as a basis for its judgment.
The transmission operating unit 9 includes a transmission gear selection mechanism and a transmission mode selection mechanism.
The power take-off handling 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 working machine mentioned in this embodiment may be any equipment or machine having a traveling function and a working function, such as a wheeled crane, an overhead working truck, a pump truck, a concrete mixer truck, or the like.
In some embodiments, the work machine includes a wheeled crane.
In some embodiments, the control device described above may be a general purpose processor, a programmable logic controller (Programmable Logic Controller, abbreviated as PLC), a digital signal processor (Digital Signal Processor, abbreviated as DSP), an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC), a Field programmable gate array (Field-Programmable Gate Array, abbreviated as FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or any suitable combination thereof for performing the functions described in the present disclosure.
The engineering machinery hybrid power control method, the hybrid power control system and the engineering machinery provided by the disclosure are described in detail. Specific examples are set forth herein to illustrate the principles and embodiments of the present disclosure, and the above examples are merely intended to aid in understanding the methods of the present disclosure and the core ideas thereof. It should be noted that it would be apparent to those skilled in the art that various improvements and modifications could be made to the present disclosure without departing from the principles of the present disclosure, and such improvements and modifications would be within the scope of the claims of the present disclosure.
Claims (14)
1. The method for controlling the hybrid power of the engineering machinery is characterized by comprising the following steps of:
acquiring driver mode selection information, battery power information, vehicle working state information, power takeoff working state information and power transmission state information, wherein the driver mode selection information comprises a pure electric mode, a pure oil mode and a mixed electric mode; the power transmission state information comprises upper power transmission and lower power transmission which correspond to upper control room power transmission and chassis cab power transmission respectively;
determining vehicle working task information according to the power transmission state information, and entering a landing leg working mode under the condition that the power takeoff is in a working state when the power transmission is carried out during the off-vehicle; when the get-off is powered on and the power takeoff is in an unoperated state, entering a driving mode; entering a boarding operation mode under the condition that the boarding power is transmitted and the power takeoff is in a working state;
under the condition that external charging is not connected and the driver selects the pure oil mode, enabling the vehicle to enter the pure oil mode to work;
judging whether the current battery electric quantity meets the working requirement according to the battery electric quantity information and the vehicle working task information under the condition that the external charging is not connected and the driver selects the pure electric mode, 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 electric mode for working;
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;
wherein in the pure oil mode, vehicle operating power is provided only by the engine and the battery is not charged; in the battery-only mode, the vehicle operating 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.
3. The construction machine hybrid control method according to claim 2, wherein the hybrid mode further includes: a hybrid dual drive mode configured to cause the vehicle operating power to be provided by the engine and the battery together; determining the working mode of the vehicle according to the battery power information and the vehicle working state information comprises the following steps:
If the current battery electric quantity does not meet the working requirement, enabling the vehicle to enter the hybrid charging mode for working;
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 double-drive mode to work when the torque request is larger 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, enabling the vehicle to enter 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 according to the battery electric quantity information and the vehicle working task information, if so, enabling the vehicle to enter the pure-oil mode for working, and if not, enabling the vehicle to enter the pure-oil mode or the hybrid mode for working.
6. The hybrid power control method according to any one of claims 1 to 5, wherein the vehicle task information is a leg operation mode, and the leg is put into the pure oil mode for operation if the current battery level does not meet the operation requirement, if the driver does not select the leg operation mode, or if the external charging is not connected and the driver selects the pure electric mode.
7. The hybrid power control method according to any one of claims 1 to 5, characterized in that the vehicle work task information is a running mode, and in the case where the external charging is not connected and the driver selects the pure electric mode, if the current battery level does not meet the work requirement, the vehicle is caused to enter a hybrid charging mode to run;
and 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 and the current vehicle speed is lower than a preset vehicle speed threshold value, enabling the vehicle to enter the pure electric mode for running.
8. The hybrid power control method according to any one of claims 1 to 5, wherein the vehicle task information is a get-on operation mode, and if the external charging is not connected and the driver selects the pure electric mode, the get-on is operated in the hybrid charging mode if the current battery level does not satisfy the operation requirement.
9. The construction machine hybrid control method according to any one of claims 1 to 5, characterized in that the operation 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 which is started after the brake pedal is triggered instantly and a second energy recovery mode which is started 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 entering the first energy recovery mode if the brake pedal signal is a transient signal, and entering the second energy recovery mode if the brake pedal signal is a steady signal.
10. A hybrid control apparatus for implementing the hybrid control method according to any one of claims 1 to 9.
11. The hybrid control device according to claim 10, characterized by comprising:
a first controller configured to control a rotation speed and a power of an engine by controlling an opening degree of a throttle valve of the engine and an injection amount;
a second controller configured to control a rotational speed and a torque of the motor by controlling the rectifier to mutually convert the high-voltage direct current and the three-phase alternating current so as to realize a driving and power generating function of the motor;
A third controller configured to control the battery to realize a charge and discharge function by controlling a high-voltage relay state and a battery internal electric core management; and
and a fourth controller configured to achieve power transmission by controlling engagement or disengagement of the transmission gear, the clutch, and the synchronizer.
12. A hybrid system comprising the hybrid control device according to claim 10 or 11, 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 battery-only mode, the vehicle operating 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.
13. A construction machine comprising the hybrid control apparatus according to claim 10 or 11, or the hybrid system according to claim 12.
14. The work machine of claim 13, wherein the work machine comprises a wheeled crane.
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| CN115179750A (en) * | 2022-07-27 | 2022-10-14 | 徐州重型机械有限公司 | Range-extending type hybrid power system, control method and crane |
| CN115199254A (en) * | 2022-08-15 | 2022-10-18 | 上海中联重科桩工机械有限公司 | Rotary drilling rig power system, rotary drilling rig control method and rotary drilling rig |
| CN219031556U (en) * | 2023-01-31 | 2023-05-16 | 三一汽车起重机械有限公司 | Driving system, crane driving system, working machine and crane |
| CN116552489B (en) * | 2023-05-23 | 2024-09-17 | 中联重科股份有限公司 | Hybrid power system and engineering machinery |
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