CN116404710A - Power distribution method, device, engineering machine and computer readable storage medium - Google Patents

Power distribution method, device, engineering machine and computer readable storage medium Download PDF

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Publication number
CN116404710A
CN116404710A CN202310257734.7A CN202310257734A CN116404710A CN 116404710 A CN116404710 A CN 116404710A CN 202310257734 A CN202310257734 A CN 202310257734A CN 116404710 A CN116404710 A CN 116404710A
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power
mechanisms
maximum allowable
action
sum
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CN116404710B (en
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刘延斌
刘熙
欧彪
付玲
何强
李伟
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Priority to PCT/CN2024/081154 priority patent/WO2024188232A1/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0063—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with circuits adapted for supplying loads from the battery
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Supply And Distribution Of Alternating Current (AREA)

Abstract

The invention relates to the field of engineering machinery, and discloses a power distribution method, a power distribution device, engineering machinery and a computer readable storage medium. The method comprises the following steps: determining the maximum allowable discharge power of the power supply device according to the maximum allowable discharge current and voltage of the power supply device; obtaining the sum of the minimum starting power of a plurality of action mechanisms; under the condition that the sum of the minimum starting power of the plurality of actuating mechanisms is not smaller than the maximum allowable discharge power, prohibiting the actuating mechanism with the lowest priority from running, and executing the step of judging whether the sum of the minimum starting power of the plurality of actuating mechanisms is smaller than the maximum allowable discharge power; determining the residual distributable power of the power supply device according to the sum of the minimum starting power and the maximum allowable discharge power of the plurality of actuating mechanisms under the condition that the sum of the minimum starting power of the plurality of actuating mechanisms is smaller than the maximum allowable discharge power; the remaining dispensable power is dispensed to a plurality of action mechanisms. The motor controller can be prevented from being failed or damaging the power supply device when the power supply power is insufficient.

Description

Power distribution method, device, engineering machine and computer readable storage medium
Technical Field
The present invention relates to the field of engineering machinery technologies, and in particular, to a power distribution method, a power distribution device, an engineering machine, and a computer readable storage medium.
Background
Currently, engineering machinery, such as cranes, including truck cranes or crawler cranes, are equipped with a distributed drive system to implement pure electric. The distributed driving system adopts a power battery as an energy source, and the available power of the whole system is influenced by the discharging capacity of the power battery, namely the allowable discharging power of the power battery. When the allowable discharge power of the power battery only meets the action requirements of part of the action mechanisms, and the action requirements of a plurality of action mechanisms operated by the manipulator exceed the allowable discharge power of the power battery, the motor controllers corresponding to part or all of the action mechanisms can be caused to enter a fault state, or the battery is damaged by the overcurrent of the battery. For example, when the main winch and the auxiliary winch work simultaneously, if the auxiliary winch requests increased power, the distributable power of the main winch is pulled down, and even the motor controller of the main winch enters a fault state.
Therefore, the existing power distribution method has the technical problem that when the discharge power of the power battery is insufficient, the motor controllers corresponding to the plurality of action mechanisms are failed or the battery is damaged.
Disclosure of Invention
In view of the foregoing, an object of the embodiments of the present application is to provide a power distribution method, a device, an engineering machine, and a computer readable storage medium, which can solve the technical problem that the existing power distribution method causes a failure or damage to a battery of motor controllers corresponding to a plurality of operating mechanisms when the discharge power of the battery is insufficient.
In order to solve the technical problems, the application is realized as follows:
in a first aspect, an embodiment of the present application provides a power distribution method, applied to a construction machine, where the construction machine includes a plurality of operating mechanisms, a plurality of actuating mechanisms, and a power supply device, where the operating mechanisms are used to control the actuating mechanisms to actuate, and the power supply device is used to supply power to the actuating mechanisms, and the method includes:
determining the maximum allowable discharge power of the power supply device according to the maximum allowable discharge current and the maximum allowable discharge voltage of the power supply device;
obtaining the sum of the minimum starting power of a plurality of action mechanisms;
whether the sum of the minimum starting power of the plurality of actuating mechanisms is smaller than the maximum allowable discharge power;
under the condition that the sum of the minimum starting powers of the plurality of actuating mechanisms is not smaller than the maximum allowable discharge power, prohibiting the actuating mechanism with the lowest priority from running, and executing the step of judging whether the sum of the minimum starting powers of the plurality of actuating mechanisms is smaller than the maximum allowable discharge power;
Determining the residual distributable power of the power supply device according to the sum of the minimum starting power of the plurality of actuating mechanisms and the maximum allowable discharge power under the condition that the sum of the minimum starting power of the plurality of actuating mechanisms is smaller than the maximum allowable discharge power;
and distributing the residual distributable power to a plurality of action mechanisms.
According to one embodiment disclosed in the present application, the obtaining the sum of the minimum starting powers of the plurality of actuating mechanisms includes:
determining the actual action displacement of the operation mechanism corresponding to each operation mechanism according to the corresponding relation between the operation mechanism and the operation mechanism, and constructing an intermediate displacement variable;
acquiring the minimum starting power of the action mechanism corresponding to each actual action displacement larger than a preset value, and determining the sum of the minimum starting powers of a plurality of action mechanisms;
the distributing the remaining dispensable power to a plurality of action mechanisms includes:
and distributing the residual distributable power to a plurality of action mechanisms according to the intermediate displacement variable.
According to one embodiment disclosed herein, the distributing the remaining dispensable power to the plurality of actuating mechanisms according to the intermediate displacement variable includes:
And distributing the residual distributable power to a plurality of action mechanisms according to the intermediate displacement variable and a preset weight.
According to a specific embodiment disclosed in the present application, the preset weight includes a maximum working power of each of the actuating mechanisms.
According to one embodiment disclosed herein, the preset value is zero.
According to one specific embodiment disclosed in the present application, the determining the remaining allocable power of the power supply device according to the sum of the minimum starting powers of the plurality of actuating mechanisms and the maximum allowable discharge power includes:
and determining the residual distributable power of the power supply device according to the sum of the minimum starting power of the actuating mechanisms, the sum of the required power of the electric loads and the maximum allowable discharge power.
According to one embodiment of the disclosure, the determining whether the sum of the minimum starting powers of the plurality of actuating mechanisms is smaller than the maximum allowable discharge power includes:
and judging whether the sum of the minimum starting powers of the actuating mechanisms is smaller than the maximum allowable discharge power or not under the condition that the maximum allowable discharge power is changed or the actual actuating displacement is changed.
According to a specific embodiment disclosed in the present application, the determining process of the priority of the action mechanism includes:
determining the average power and the average rotating speed of each actuating mechanism according to the power and the rotating speed of each actuating mechanism in a preset time period, and constructing an average vector of each actuating mechanism;
calculating the distance between the average value vector of each action mechanism and the corresponding working condition center point feature vector;
and determining the priority according to the distance.
According to one embodiment of the disclosure, the priority of the action mechanisms is determined according to a preset risk level of each action mechanism.
According to one specific embodiment disclosed in the application, the priority of the actuating mechanism is determined according to the ratio of the actual actuating displacement of the actuating mechanism corresponding to the actuating mechanism to the maximum allowable displacement of the actuating mechanism.
In a second aspect, an embodiment of the present application provides a power distribution device, which is applied to a construction machine, where the construction machine includes a plurality of operating mechanisms, a plurality of actuating mechanisms, and a power supply device, where the operating mechanisms are used to control the actuating mechanisms to actuate, and the power supply device is used to supply power to the actuating mechanisms, and the device includes:
The maximum allowable discharge power determining module is used for determining the maximum allowable discharge power of the power supply device according to the maximum allowable discharge current and the maximum allowable discharge voltage of the power supply device;
the acquisition module is used for acquiring the sum of the minimum starting power of the plurality of action mechanisms;
the judging module is used for judging whether the sum of the minimum starting power of the actuating mechanisms is smaller than the maximum allowable discharge power;
a setting module, configured to prohibit operation of the action mechanisms with the lowest priority, and perform the step of determining whether the sum of the minimum starting powers of the action mechanisms is smaller than the maximum allowable discharge power, when the sum of the minimum starting powers of the action mechanisms is not smaller than the maximum allowable discharge power;
the residual distributable power determining module is used for determining the residual distributable power of the power supply device according to the sum of the minimum starting power of the plurality of actuating mechanisms and the maximum allowable discharge power under the condition that the sum of the minimum starting power of the plurality of actuating mechanisms is smaller than the maximum allowable discharge power;
and the power distribution module is used for distributing the residual distributable power to a plurality of action mechanisms.
In a third aspect, an embodiment of the present application provides an engineering machine, including a plurality of operating mechanisms, a plurality of actuating mechanisms, and a power supply device, where the operating mechanisms are used to control the actuating mechanisms to actuate, and the power supply device is used to supply power to the actuating mechanisms;
the work machine further comprises a processor and a memory, the memory having stored thereon a program or instructions which, when executed by the processor, implement the steps of the method according to the first aspect.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium having stored thereon a program or instructions which, when executed by a processor, implement the steps of the method according to the first aspect.
According to the power distribution method, the device, the engineering machinery and the computer readable storage medium, when the working power of the action mechanism requested to act by the manipulator exceeds the maximum allowable discharge power of the power supply device, the action mechanism is limited, the motor controller fault caused by insufficient power supply is avoided, and the reliability of the action mechanism is ensured; meanwhile, the residual distributable power of the power supply device is distributed, the power requirement of a manipulator on the actuating mechanism is met within the maximum allowable discharge power range of the power supply device, the action integrity of the actuating mechanism is guaranteed, the discharge power of the power supply device is fully utilized, the power supply device is prevented from being damaged, and the action is still ordered under the condition that the power does not meet the action requirement of the mechanism.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are required for the embodiments will be briefly described, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope of the present invention. Like elements are numbered alike in the various figures.
Fig. 1 shows a flowchart of a power allocation method provided in an embodiment of the present application;
fig. 2 shows a schematic structural diagram of a power distribution device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
The terms "comprises," "comprising," "including," or any other variation thereof, are intended to cover a specific feature, number, step, operation, element, component, or combination of the foregoing, which may be used in various embodiments of the present invention, and are not intended to first exclude the presence of or increase the likelihood of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the invention belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having a meaning that is the same as the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in connection with the various embodiments of the invention.
First, the composition of the construction machine provided in the embodiment of the present application will be described. The construction machine in the present application is described by taking a crane as an example, and the crane includes a plurality of operating mechanisms, for example, 7 main hoisting mechanisms, auxiliary hoisting mechanisms, amplitude changing mechanisms, turning mechanisms, left traveling mechanisms, right traveling mechanisms, and oil pumps. Each actuating mechanism is provided with an independent driving motor and a motor controller, the driving motor is used for driving the corresponding actuating mechanism to actuate, and the motor controller is used for controlling the driving motor. The specific corresponding relation comprises: 1) The main winch driving motor and the first motor controller are used for driving the main winch mechanism to act; 2) The auxiliary winch driving motor and the second motor controller are used for driving the auxiliary winch mechanism to act; 3) The amplitude variation driving motor and the third motor controller are used for driving the amplitude variation mechanism to act; 4) The rotary driving motor and the fourth motor controller are used for driving the rotary mechanism to act; 5) The left walking driving motor and the sixth motor controller are used for driving the left walking mechanism to act; 6) The right walking driving motor and the seventh motor controller are used for driving the right walking mechanism to act; 7) The oil pump driving motor and the fifth motor controller drive the oil pump to work, and hydraulic oil is provided for the brake of each action mechanism.
The crane also includes a plurality of operating mechanisms, such as a left handle, a right handle, a left pedal, and a right pedal, for a total of 4. The manipulator controls the operation mechanism to move, so that the operation mechanism can operate. The corresponding relation between the operating mechanism and the action mechanism comprises: 1) When the left handle is operated to move in the front-back direction, the auxiliary hoisting mechanism is controlled to act; 2) When the left handle is operated to move in the left-right direction, the rotary mechanism is controlled to act; 3) When the right handle is operated to move in the front-back direction, the main hoisting mechanism is controlled to act; 4) When the right handle is operated to move left and right, the amplitude changing mechanism is controlled to act; 5) When the left walking pedal is operated to move, the left walking mechanism is controlled to act; 6) When the right walking pedal is operated to move, the right walking mechanism is controlled to act. In order to ensure braking required by the crane operation, the oil pump motor needs to be kept in a continuous operation state.
And a driving control unit and a power supply device are arranged between the operating mechanism and the motor controllers, the power supply device is used for supplying power to each motor controller and each driving motor, and the driving control unit is used for distributing the power of the power supply device based on the action request of the operating mechanism. The machine hand controls the operating mechanism to generate an opening signal to the drive control unit; the driving control unit obtains a target speed of the corresponding actuating mechanism according to the opening signal, sends the target speed to the corresponding motor controller, and controls the motor to run to the target speed by the motor controller so as to drive the actuating mechanism to actuate. The power supply device comprises a battery, a high-voltage distribution box and a high-voltage slip ring. The battery and the high-voltage distribution box are arranged on the crane upper trolley, and the high-voltage slip ring is used for conducting a high-voltage circuit between the crane upper trolley and the crane lower trolley.
It should be understood that the number of the actuating mechanisms and the operating mechanisms and the corresponding correspondence are merely exemplary, and in actual application, the number may be different according to the construction machine.
The power distribution method provided in the present application is described below.
Referring to fig. 1, fig. 1 is a flowchart of a power distribution method provided in an embodiment of the present application, and as shown in fig. 1, the method is applied to a construction machine, where the construction machine includes a plurality of operating mechanisms, a plurality of actuating mechanisms, and a power supply device, the operating mechanisms are used for controlling the actuating mechanisms to act, and the power supply device is used for supplying power to the actuating mechanisms, and includes the following steps:
and 110, determining the maximum allowable discharge power of the power supply device according to the maximum allowable discharge current and the voltage of the power supply device.
Specifically, the maximum allowable discharge power calculation formula of the power supply device is as follows:
P BatAlw ＝U×I BatAlw
wherein P is BatAlw Represents the maximum allowable discharge power of the power supply device, U represents the voltage of the power supply device, I BatAlw Indicating the maximum allowable discharge current of the power supply device.
In the embodiment of the present application, the power supply device is taken as a battery for example, and U may be the internal voltage of the battery. It is understood that the power supply device may be other devices that can implement a power supply function, which is not limited in this embodiment of the present application.
The power adjustment is carried out according to the maximum allowable discharge power of the power supply device, so that the engineering machinery can be ensured to work in the maximum allowable discharge power, and the power supply device is prevented from being over-current, so that the power supply device is damaged.
Step 120, obtaining the sum of the minimum starting powers of the actuating mechanisms.
In particular, the sum of the minimum actuation powers of a plurality of said actuation mechanisms is obtained to ensure that all actuation mechanisms are allowed to actuate, if possible.
And 130, judging whether the sum of the minimum starting power of the actuating mechanisms is smaller than the maximum allowable discharge power.
Specifically, the common working condition of the crane is compound action, namely, a plurality of action mechanisms work simultaneously. Therefore, there are often cases where a plurality of operating mechanisms are operated simultaneously, that is, the left handle, the right handle, the left pedal and the right pedal can all be combined to act; the operation is performed corresponding to the plurality of operation mechanisms.
Therefore, it is necessary to determine whether or not the sum of the minimum starting powers of the plurality of operating mechanisms is smaller than the maximum allowable discharge power, wherein the minimum starting power of the operating mechanism is stored after being measured in advance, and is generally measured based on the operating mechanism when operating at the maximum resistance and the minimum operable speed.
And 140, prohibiting the operation of the action mechanism with the lowest priority when the sum of the minimum starting powers of the action mechanisms is not smaller than the maximum allowable discharge power, and executing the step of judging whether the sum of the minimum starting powers of the action mechanisms is smaller than the maximum allowable discharge power.
Specifically, the sum of the minimum starting powers of the actuating mechanisms is not smaller than the maximum allowable discharge power, which means that the maximum allowable discharge power cannot guarantee the actuating mechanisms to operate, so that the actuating mechanism with the lowest priority is forbidden to operate, and the actuating mechanism should not continue to operate in the process of subsequent power distribution. Repeating the above determinationAnd (3) a process until the sum of the minimum starting power of the actuating mechanisms is smaller than the maximum allowable discharge power. It will be appreciated that Priority (Priority) i ) When the representative power is not satisfied, the shutdown sequence of the action mechanisms is that the lower the priority is, the shutdown is performed earlier, and the action priorities of different action mechanisms can be set according to the characteristics or the needs of the equipment.
Several methods for determining the priority of the actuating mechanism provided in the embodiments of the present application will be described below, and the specific determination manner may be set according to actual requirements.
In an alternative embodiment, the determining the priority of the action mechanism includes:
determining the average power and the average rotating speed of each actuating mechanism according to the power and the rotating speed of each actuating mechanism in a preset time period, and constructing an average vector of each actuating mechanism;
calculating the distance between the average value vector of each action mechanism and the corresponding working condition center point feature vector;
and determining the priority according to the distance.
Specifically, because the crane has differences in working conditions in different time and places, the situation that the hoisting mechanism is frequently used in a certain period of time and the slewing mechanism is frequently used in another period of time exists, and therefore the actual working condition of each action mechanism in the past preset period of time needs to be recorded. In the embodiment of the present application, the preset time period may be a time period from 10 minutes before the current time to the current time. It can be appreciated that the preset time period may be set according to actual requirements, which is not limited in this embodiment of the present application.
The working condition center point represents the working condition point that a single action mechanism works at the maximum power of the maximum rotating speed, and the characteristic vector represents a vector formed by the maximum rotating speed and the maximum power. The distance between the average value vector of each action mechanism and the corresponding characteristic vector of the working condition center point can be used for representing the strength of the action to be executed by each action mechanism under the current working condition, and the smaller the distance between the vectors is, the higher the action requirement is, so that the higher the priority is.
In an alternative embodiment, the priority of the action mechanisms is determined according to a preset risk level of each of the action mechanisms.
Specifically, the manipulator can determine the dangerous degree of the actuating mechanism based on actual experience and combining factors such as the volume, the actuating amplitude and the like of the actuating mechanism, and then input the determined result into the engineering machinery through the input equipment and store the determined result as a preset dangerous degree. It will be appreciated that the higher the preset risk level, the higher the priority should be.
In an alternative embodiment, the priority of the actuating mechanism is determined according to the ratio of the actual actuating displacement of the actuating mechanism corresponding to the actuating mechanism to the maximum allowable displacement of the actuating mechanism.
Specifically, the ratio of the actual motion displacement of the operating mechanism corresponding to the actuating mechanism to the maximum allowable displacement of the operating mechanism can be used for representing the strength of the manipulator request corresponding to each actuating mechanism under the current working condition. The maximum allowable displacement of the operating mechanism refers to the maximum displacement when pushing the operating mechanism to the bottom. It will be appreciated that the greater the ratio, the greater the degree of action request, and therefore, the higher the priority should be.
And 150, determining the residual distributable power of the power supply device according to the sum of the minimum starting power of the plurality of actuating mechanisms and the maximum allowable discharge power under the condition that the sum of the minimum starting power of the plurality of actuating mechanisms is smaller than the maximum allowable discharge power.
Specifically, the calculation formula of the remaining distributable power of the power supply device is as follows:
P A ＝P BatAlw -ΣP start_i
wherein P is A Indicating the remaining allocatable power of the power supply device, P BatAlw Indicating the maximum allowable discharge power of the power supply device, P start_i Represents the minimum actuation power required for the ith actuation mechanism, Σp start_i Representing the sum of minimum actuation requirements of a plurality of actuation mechanisms.
Step 160, distributing the residual distributable power to a plurality of action mechanisms.
Specifically, the remaining allocable power is allocated according to the proportion of the intermediate displacement variable. It will be appreciated that the remaining dispensable power is dispensed to the drive motor for each of the operating mechanisms and that the operating mechanisms that are disabled are no longer operating and are not involved in the power dispensing. For each action mechanism, the allocated power is the minimum starting power of that action mechanism plus the proportionally allocated remaining allocable power. The power allocation calculation formula is as follows:
Figure BDA0004130232430000111
wherein P is i Indicating the effective action distribution power of the ith action mechanism, P start_i Represents the minimum starting required power, P, of the ith operating mechanism A Indicating the remaining allocatable power of the power supply device, Σx s,i The sum of intermediate displacement variables of a plurality of actuating mechanisms is represented.
In an alternative embodiment, step 120 includes:
determining the actual action displacement of the operation mechanism corresponding to each operation mechanism according to the corresponding relation between the operation mechanism and the operation mechanism, and constructing an intermediate displacement variable;
acquiring the minimum starting power of the action mechanism corresponding to each actual action displacement larger than a preset value, and determining the sum of the minimum starting powers of a plurality of action mechanisms;
step 160 comprises:
and distributing the residual distributable power to a plurality of action mechanisms according to the intermediate displacement variable.
Specifically, in the embodiments of the present application, an intermediate displacement variable x is constructed s,i And the device is used for guiding the judgment of whether the action mechanism is started or not and the distribution of power.
It will be appreciated that the initial assignment of the intermediate displacement variable is the actual movement displacement of the operating mechanism to which each movement mechanism corresponds, namely:
[x s,1 ,x s,2 ,…x s,i ]＝[x 1 ,x 2 ,…x i ]
wherein x is s,i Represents the ith intermediate displacement variable, x i The actual movement displacement of the operating mechanism corresponding to the i-th operating mechanism is shown. In the embodiment of the present application, the value of i is 7.
It will be appreciated that after the lowest priority action mechanism is disabled, the intermediate displacement variable that is subsequently disabled by that action mechanism is modified to zero. For example, if the priority of the sub hoisting mechanism is lowest, the intermediate displacement becomes [ x ] s,1 ,x s,2 ,…x s,n ]＝[0,x 2 ,…x n ]。
X is according to the corresponding relation between the operating mechanism and the actuating mechanism 1 Can represent the actual motion displacement of the left handle corresponding to the auxiliary hoisting mechanism in the front-back direction, x 2 Can represent the actual motion displacement of the left handle corresponding to the slewing mechanism in the left-right direction, x 3 Can represent the actual motion displacement of the right handle corresponding to the main hoisting mechanism in the front-back direction, x 4 Can represent the actual motion displacement of the right handle corresponding to the amplitude variation mechanism in the left-right direction, x 5 Can represent the actual motion displacement of the left walking pedal corresponding to the left walking mechanism, x 6 Can represent the actual movement displacement of the right walking pedal corresponding to the right walking mechanism, x 7 The actual movement displacement of the operating mechanism corresponding to the oil pump can be indicated.
Acquiring the minimum starting power of the action mechanism corresponding to each actual action displacement larger than the preset value, and determining the sum of the minimum starting powers of a plurality of action mechanisms, namely sigma P start_i ，{x s,i > N }, where P start_i Indicating the minimum actuation power of the ith actuation mechanism,
Figure BDA0004130232430000122
is expressed as satisfying x s,i Sum of minimum starting powers of operating mechanisms of > N condition, x s,i Represents the ith intermediate displacement variable, and N represents a preset value.
When judging whether the sum of the minimum starting powers of the actuating mechanisms is smaller than the maximum allowable discharge power, the following formula is adopted:
P BatAlw -∑P start_i ，{x s，i ＞N}＞0
Wherein P is BatAlw Indicating the maximum allowable discharge power of the power supply device, P start_i Indicating the minimum actuation power of the ith actuation mechanism,
Figure BDA0004130232430000121
is expressed as satisfying x s，i Sum of minimum starting powers of operating mechanisms of > N condition, x s，i Represents the ith intermediate displacement variable, and N represents a preset value. In an alternative embodiment, the preset value is zero.
Taking the preset value equal to zero as an example, if the intermediate displacement variable [ x ] s，1 ，x s，2 ，...x s，7 ]＝[1，2，1,0,0,0,0]The explanation left handle has the actual motion displacement of 1 unit in the fore-and-aft direction, and simultaneously, left handle has the actual motion displacement of 2 units in the left-and-right direction, and right handle has the actual motion displacement of 1 unit in the fore-and-aft direction. The minimum starting powers of the auxiliary winding mechanism, the slewing mechanism and the main winding mechanism are obtained, for example, 10W, 30W and 50W respectively, and the sum of the minimum starting powers of the plurality of actuating mechanisms is 90W.
If the maximum allowable discharge power is 170W, the remaining allocatable power is 80W. And then the surplus distributable power is distributed to a plurality of action mechanisms according to the intermediate displacement variable, and the auxiliary hoisting mechanism, the slewing mechanism and the main hoisting mechanism respectively obtain 20W, 40W and 20W of power.
If the maximum allowable discharge power is 80W, the sum of the minimum start powers of the plurality of operating mechanisms is larger than the maximum allowable discharge power, and if the operating mechanism with the lowest priority is a swing mechanism, the swing mechanism is prohibited from operating. And continuously calculating the minimum starting power of the auxiliary hoisting mechanism and the main hoisting mechanism, wherein the sum of the minimum starting powers of the plurality of actuating mechanisms is 60W. At this time, if the remaining distributable power is 20W, the sub-winding mechanism and the main winding mechanism obtain power of 10W and 10W, respectively.
After the intermediate displacement variable corresponding to one action mechanism is set to zero, the actual displacement of the action mechanism needs to be reset to zero again to judge whether the mechanism allows the action to be added again. For example, the manipulator operates the handle to request the two actuating mechanisms of the main hoisting mechanism and the amplitude variation mechanism to act simultaneously, the starting power is judged, the maximum allowable discharging power cannot meet the requirement that the two actuating mechanisms are started simultaneously at the moment, and if the priority of the slewing mechanism is lower than that of the main hoisting mechanism, the corresponding intermediate displacement variable of the slewing mechanism is set to zero, and the starting of the slewing mechanism is forbidden. It will be appreciated that the intermediate displacement variable is set to zero, but in practice the actual movement displacement of the handle is non-zero, as the handle remains in the initial requested displacement position. And if the operator wants to request the turning mechanism to be added to the action again, the operator needs to put the handle back into the middle position to push the handle again to request the turning action, and then the step of starting the power judgment is performed again in response to the new request. Thus, the working reliability of the engineering machinery is ensured.
On this basis, in an alternative embodiment, the distributing the remaining distributable power to a plurality of actuating mechanisms according to the intermediate displacement variable includes:
And distributing the residual distributable power to a plurality of action mechanisms according to the intermediate displacement variable and a preset weight.
Specifically, the application also provides a power distribution mode, namely, distribution is performed according to the intermediate displacement variable and the preset weight. The manipulator can input preset weights into engineering machinery through input equipment in advance for storage. The preset weight may be a fixed value, or may include the maximum working power of each actuating mechanism, that is, the power distribution is performed according to the following formula:
Figure BDA0004130232430000141
wherein P is i Indicating the effective action distribution power of the ith action mechanism, P start_i Represents the minimum starting required power, P, of the ith operating mechanism A Representation ofSurplus allocatable power of power supply device, P max_i Represents the maximum operating power of the ith operating mechanism, Σ (x s，i ×P max_i ，{x s，i > N }) means that x is satisfied s，i The sum of the maximum operating powers of the operating mechanisms for the > N condition.
In the crane, the maximum working power of the hoisting motor is far greater than the maximum working power of the rotating motor, so that the maximum working power of each action mechanism can be used as a preset weight for power distribution in cooperation with an intermediate displacement variable during distribution.
In an alternative embodiment, step 150 includes:
And determining the residual distributable power of the power supply device according to the sum of the minimum starting power of the actuating mechanisms, the sum of the required power of the electric loads and the maximum allowable discharge power.
Specifically, during the operation of the construction machine, other electrical loads, such as a control system, a temperature control system, etc., exist in addition to the action mechanism. Since the normal use of other electric loads needs to be ensured, when the remaining distributable power is determined, the sum of the required power of the electric complexity needs to be subtracted again on the basis of subtracting the minimum starting power of a plurality of action mechanisms from the maximum allowable discharge power.
For example, when the crane needs to ensure the braking hydraulic pressure of the actuating mechanism and the oil pump needs to ensure a certain rotation speed to work, a part of power needs to be reserved for the oil pump. In actual work, the distributable power of the main hoisting mechanism, the auxiliary hoisting mechanism, the amplitude changing mechanism, the slewing mechanism and the travelling mechanism is smaller than the maximum allowable discharge power of the power supply device, and the calculation formula of the residual distributable power of the power supply device is as follows:
P A ＝P BatAlw -P Pump -∑P start_i
wherein P is A Indicating the remaining allocatable power of the power supply device, P BatAlw Indicating the maximum allowable discharge power of the power supply device, P Pump Indicating the working power of the oil pump, P start_i Indicating the ith actuating mechanismSigma P, the minimum start-up required power of (1) start_i Representing the sum of minimum actuation requirements of a plurality of actuation mechanisms.
Through the embodiment, the normal operation of the action mechanism of the engineering machinery can be ensured, the normal operation of the power load can be ensured, and the operation stability of the engineering machinery is improved.
In an alternative embodiment, step 130 includes:
and judging whether the sum of the minimum starting powers of the actuating mechanisms is smaller than the maximum allowable discharge power or not under the condition that the maximum allowable discharge power is changed or the actual actuating displacement is changed.
Specifically, when the maximum allowable discharge power changes, for example, the maximum allowable discharge power decreases, that is, when the allowable discharge power of the battery at the previous time is greater than the allowable discharge power of the battery at the current time, the remaining allocable power correspondingly changes; when the actual motion displacement changes, the instruction manipulator applies new control to the operating mechanism to enable the new operating mechanism to be added or withdrawn, i.e. x exists i Satisfy the last time x i M, but at the current time x i >M, or x i Satisfy the last time x i >M, and at the current time x i When M is less than or equal to, the power needs to be redistributed, and then the judging step is executed, so that the working reliability of the engineering machinery is ensured. In addition, judgment can not be carried out at any time, so that the working energy consumption of the engineering machinery is reduced. It can be appreciated that the value of M can be set according to actual requirements, for example, 0; the time difference between the previous time and the current time can be set according to the actual requirement, for example, 2s.
According to the power distribution method provided by the embodiment of the application, under the condition that the working power of the action mechanism of the manipulator requesting action exceeds the maximum allowable discharge power of the power supply device, the action mechanism is limited, the motor controller fault caused by insufficient power supply is avoided, and the action reliability of the action mechanism is ensured; meanwhile, the residual distributable power of the power supply device is distributed, the power requirement of a manipulator on the actuating mechanism is met within the maximum allowable discharge power range of the power supply device, the action integrity of the actuating mechanism is guaranteed, the discharge power of the power supply device is fully utilized, the power supply device is prevented from being damaged, and the action is still ordered under the condition that the power does not meet the action requirement of the mechanism.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a power distribution device provided in an embodiment of the present application, as shown in fig. 2, a power distribution device 1000 is applied to a construction machine, where the construction machine includes a plurality of operating mechanisms, a plurality of actuating mechanisms, and a power supply device, the operating mechanisms are used for controlling the actuating mechanisms to act, the power supply device is used for supplying power to the actuating mechanisms, and the power distribution device 1000 includes:
a maximum allowable discharge power determining module 1001, configured to determine a maximum allowable discharge power of the power supply device according to a maximum allowable discharge current and a voltage of the power supply device;
an obtaining module 1002, configured to obtain a sum of minimum starting powers of a plurality of the actuating mechanisms;
a judging module 1003, configured to judge whether a sum of minimum starting powers of the plurality of actuating mechanisms is smaller than the maximum allowable discharge power;
a setting module 1004, configured to prohibit operation of the action mechanisms with the lowest priority if the sum of the minimum starting powers of the plurality of action mechanisms is not less than the maximum allowable discharge power, and perform the step of determining whether the sum of the minimum starting powers of the plurality of action mechanisms is less than the maximum allowable discharge power;
A remaining allocable power determining module 1005, configured to determine, when the sum of the minimum starting powers of the plurality of actuating mechanisms is smaller than the maximum allowable discharge power, a remaining allocable power of the power supply device according to the sum of the minimum starting powers of the plurality of actuating mechanisms and the maximum allowable discharge power;
a power distribution module 1006 for distributing the remaining dispensable power to a plurality of action mechanisms.
The power distribution device provided in the embodiment of the present application can implement each process of the power distribution method in the method embodiment, and can achieve the same technical effects, so that repetition is avoided, and no further description is provided herein.
Optionally, the embodiment of the application further provides an engineering machine, which comprises a plurality of operating mechanisms, a plurality of actuating mechanisms and a power supply device, wherein the operating mechanisms are used for controlling the actuating mechanisms to act, and the power supply device is used for supplying power to the actuating mechanisms; the engineering machine further comprises a processor and a memory, wherein the memory stores a program or an instruction, and the program or the instruction realizes each process of the power distribution method embodiment when being executed by the processor, and can achieve the same technical effect, so that repetition is avoided, and the description is omitted here.
Optionally, the embodiment of the present application further provides a computer readable storage medium, where a program or an instruction is stored on the computer readable storage medium, where the program or the instruction implements each process of the embodiment of the power allocation method when executed by a processor, and the process can achieve the same technical effect, so that repetition is avoided, and no further description is given here.
The processor is a processor in the engineering machine described in the above embodiment. The readable storage medium includes a computer readable storage medium such as a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and the like.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners as well. The apparatus embodiments described above are merely illustrative, for example, of the flow diagrams and block diagrams in the figures, which illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules or units in various embodiments of the invention may be integrated together to form a single part, or the modules may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a smart phone, a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention.

Claims (13)

1. A power distribution method, characterized in that it is applied to a construction machine, the construction machine including a plurality of operating mechanisms for controlling the operation of the operating mechanisms, a plurality of operation mechanisms, and a power supply device for supplying power to the plurality of operation mechanisms, the method comprising:
determining the maximum allowable discharge power of the power supply device according to the maximum allowable discharge current and the maximum allowable discharge voltage of the power supply device;
obtaining the sum of the minimum starting power of a plurality of actuating mechanisms;
judging whether the sum of the minimum starting power of the actuating mechanisms is smaller than the maximum allowable discharge power;
under the condition that the sum of the minimum starting powers of the plurality of actuating mechanisms is not smaller than the maximum allowable discharge power, prohibiting the actuating mechanism with the lowest priority from running, and executing the step of judging whether the sum of the minimum starting powers of the plurality of actuating mechanisms is smaller than the maximum allowable discharge power;
Determining the residual distributable power of the power supply device according to the sum of the minimum starting power of the plurality of actuating mechanisms and the maximum allowable discharge power under the condition that the sum of the minimum starting power of the plurality of actuating mechanisms is smaller than the maximum allowable discharge power;
and distributing the residual distributable power to a plurality of action mechanisms.
2. The power distribution method according to claim 1, wherein the obtaining a sum of minimum starting powers of the plurality of action mechanisms includes:
determining the actual action displacement of the operation mechanism corresponding to each operation mechanism according to the corresponding relation between the operation mechanism and the operation mechanism, and constructing an intermediate displacement variable;
acquiring the minimum starting power of the action mechanism corresponding to each actual action displacement larger than a preset value, and determining the sum of the minimum starting powers of a plurality of action mechanisms;
the distributing the remaining dispensable power to a plurality of action mechanisms includes:
and distributing the residual distributable power to a plurality of action mechanisms according to the intermediate displacement variable.
3. The power distribution method according to claim 2, wherein the distributing the remaining distributable power to a plurality of action mechanisms according to the intermediate displacement variable includes:
And distributing the residual distributable power to a plurality of action mechanisms according to the intermediate displacement variable and a preset weight.
4. A power distribution method according to claim 3, wherein the preset weight includes a maximum operating power of each of the action mechanisms.
5. The power allocation method according to claim 2, wherein the preset value is zero.
6. The power distribution method according to claim 1, wherein the determining the remaining distributable power of the power supply device based on the sum of the minimum starting powers of the plurality of operating mechanisms and the maximum allowable discharge power includes:
and determining the residual distributable power of the power supply device according to the sum of the minimum starting power of the actuating mechanisms, the sum of the required power of the electric loads and the maximum allowable discharge power.
7. The power distribution method according to claim 1, wherein the determining whether the sum of the minimum start-up powers of the plurality of operation mechanisms is smaller than the maximum allowable discharge power includes:
and judging whether the sum of the minimum starting powers of the actuating mechanisms is smaller than the maximum allowable discharge power or not under the condition that the maximum allowable discharge power is changed or the actual actuating displacement is changed.
8. The power distribution method according to claim 1, wherein the determining of the priority of the action mechanism includes:
determining the average power and the average rotating speed of each actuating mechanism according to the power and the rotating speed of each actuating mechanism in a preset time period, and constructing an average vector of each actuating mechanism;
calculating the distance between the average value vector of each action mechanism and the corresponding working condition center point feature vector;
and determining the priority according to the distance.
9. The power distribution method according to claim 1, wherein the priority of the action mechanisms is determined according to a preset risk level of each of the action mechanisms.
10. The power distribution method according to claim 1, wherein the priority of the action mechanism is determined according to a ratio of an actual action displacement of the action mechanism corresponding to the action mechanism to a maximum allowable displacement of the action mechanism.
11. A power distribution device, characterized in that it is applied to a construction machine, the construction machine includes a plurality of operating mechanisms, a plurality of actuating mechanisms, and a power supply device, the operating mechanisms are used for controlling the actuating mechanisms to actuate, the power supply device is used for supplying power to the plurality of actuating mechanisms, the device includes:
The maximum allowable discharge power determining module is used for determining the maximum allowable discharge power of the power supply device according to the maximum allowable discharge current and the maximum allowable discharge voltage of the power supply device;
the acquisition module is used for acquiring the sum of the minimum starting powers of the actuating mechanisms;
the judging module is used for judging whether the sum of the minimum starting power of the actuating mechanisms is smaller than the maximum allowable discharge power;
a setting module, configured to prohibit operation of the action mechanisms with the lowest priority, and perform the step of determining whether the sum of the minimum starting powers of the action mechanisms is smaller than the maximum allowable discharge power, when the sum of the minimum starting powers of the action mechanisms is not smaller than the maximum allowable discharge power;
the residual distributable power determining module is used for determining the residual distributable power of the power supply device according to the sum of the minimum starting power of the plurality of actuating mechanisms and the maximum allowable discharge power under the condition that the sum of the minimum starting power of the plurality of actuating mechanisms is smaller than the maximum allowable discharge power;
and the power distribution module is used for distributing the residual distributable power to a plurality of action mechanisms.
12. The engineering machine is characterized by comprising a plurality of operating mechanisms, a plurality of actuating mechanisms and a power supply device, wherein the operating mechanisms are used for controlling the actuating mechanisms to act, and the power supply device is used for supplying power to the actuating mechanisms;
the work machine further comprising a processor and a memory having stored thereon a program or instructions which, when executed by the processor, implement the steps of the power distribution method according to any of claims 1-10.
13. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a program or instructions which, when executed by a processor, implement the steps of the power allocation method according to any of claims 1-10.
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