CN117302186A

CN117302186A - Limp control method and device, engineering machinery and medium

Info

Publication number: CN117302186A
Application number: CN202311266375.8A
Authority: CN
Inventors: 舒静青; 贾成禹; 王建国
Original assignee: Sany Automobile Manufacturing Co Ltd
Current assignee: Sany Automobile Manufacturing Co Ltd
Priority date: 2023-09-27
Filing date: 2023-09-27
Publication date: 2023-12-29

Abstract

The invention relates to the technical field of automobile control, and discloses a limp control method, a limp control device, engineering machinery and a medium, wherein the method comprises the following steps: determining a fault level when the engineering machinery has a fault, wherein the fault level comprises a fault level representing a safety fault and a fault level representing a non-safety fault; when the fault level indicates unsafe faults, determining limiting power according to the fault position, and compensating the limiting power through an engine and/or a motor without faults so as to drive engineering machinery to operate; when the fault level indicates a safety fault, the work machine is driven to operate by the motor or engine alone without the fault. When the engineering machinery has no serious safety fault, the invention can still be used in an emergency, can not immediately exit the task, and improves the flexibility of the limp mode.

Description

Limp control method and device, engineering machinery and medium

Technical Field

The invention relates to the technical field of engineering machinery control, in particular to a limp control method, a limp control device, engineering machinery and a medium.

Background

A hybrid vehicle is a vehicle that includes two power sources, an engine and a motor, and can drive the vehicle by the two power sources together supplying power. Aiming at two sets of power systems of the hybrid power, it is important to ensure that the whole vehicle runs safely and reliably according to the requirements of a driver when the hybrid power automobile breaks down, and a reasonable limp mode is adopted to control the vehicle to continue running when the fault occurs, so that the limp mode can control the limp of the vehicle to the maximum extent on the premise of ensuring the safety, the coordination control when various faults occur is improved, and the driving safety is further improved.

Currently, some technologies widely adopt a limp mode that uses pure electric limp when an engine fails and uses pure engine limp when an electric motor fails, and technical solutions provided in chinese patent CN106184198B, for example, belong to such typical solutions. However, the scheme is too simple and rough, and although the running problem of the vehicle is solved to a certain extent, the scheme is not suitable for engineering machinery, such as a dumper, an ore-type transport vehicle and other heavy electric vehicles, because the engineering machinery is large in size and high in weight, and the power is insufficient due to the fact that the engineering machinery is in a pure electric or pure engine mode to claudication, the engineering machinery can only slowly run to a maintenance center for maintenance, the engineering machinery cannot be used in an emergency, and the task can be interrupted under any conditions.

Disclosure of Invention

In view of the above, the present invention provides a limp control method, a limp control device, an engineering machine, and a medium, so as to solve the problem of low limp mode flexibility of the engineering machine.

In a first aspect, an embodiment of the present invention provides a method for controlling claudication, including: determining a fault level when the engineering machine has a fault, wherein the fault level comprises a fault level representing a safety fault and a fault level representing a non-safety fault; determining a limiting power according to a fault part when the fault level indicates a non-safety fault, and compensating the limiting power through an engine and/or a motor without faults so as to drive the engineering machinery to operate; when the fault level indicates a safety fault, the engineering machine is independently driven to operate by the motor without fault or the engine without fault.

According to the technical means, according to the embodiment, according to the safety faults of the engineering machine, which seriously affect the safety of a driver, and the non-safety faults, which only affect the normal use of the engineering machine, the fault refinement level is performed, when the engineering machine breaks down and the fault level indicates the non-safety faults, the embodiment determines how much limit is caused to the output of the engineering machine by the influence caused by the fault part according to the actual fault part, so as to calculate the limit power, and compensates the limit power through the engine and/or the motor, which do not break down, so that a first limp-home mode capable of continuously driving the engineering machine to operate with high efficiency is realized; only when the fault level indicates that the engineering machinery has a safety fault, the engineering machinery is independently driven to slowly run under the low-power condition through the motor without fault or the engine without fault, and the engineering machinery is timely overhauled at an overhauling point through a second limp-home mode. According to the scheme, when the engineering machinery does not have serious safety faults, the engineering machinery can still be used in an emergency mode, the task can not be immediately exited, and the flexibility of a limp mode is improved.

In an alternative embodiment, the failure level of the unsafe fault includes a primary fault and a secondary fault, the primary fault representing that the engineering machine has a numerical fault, the secondary fault representing that the engineering machine has a functional fault, the method further comprising: when the fault level is a first-level fault, warning information is sent out, and the engineering machinery is continuously controlled to operate according to the current output power; when the failure level is a secondary failure, a step of determining the limited power according to the failure location and compensating the limited power by the engine and/or the motor that is not failed is performed.

According to the technical means, the first-level fault and the second-level fault are further divided according to the numerical faults and the functional faults, when the numerical faults such as the motor active discharge overtime fault, the high-speed error gear-shifting alarm, the low-power alarm, the EEPROM fault and the like occur, the first-level fault is judged to be the first-level fault, the fault is not serious, the use of engineering machinery is not affected in a short time, and the safety problem is not generated, so that a warning message warns a user to process later, and direct parking is not needed. When the electric control clutch faults, the DCDC output overload, the battery high-temperature secondary faults, the motor over-temperature early warning and other functional faults occur, the secondary faults are judged, so that the output power of the corresponding functional fault limiting engineering machine is calculated according to the influence of the functional faults on the output power of the engineering machine, and then the limiting power is compensated by utilizing the extra output of an engine and/or a motor without faults, so that the flexibility of the engineering machine in processing different faults is further improved, the flexibility of starting a limp-home mode is improved, and the condition that any fault directly enables the engineering machine to run in a low-power state is avoided.

In an alternative embodiment, determining the limiting power based on the fault location includes: acquiring a part fault power limit coefficient table, a motor fault power limit coefficient table and an engine fault power limit coefficient table; when the current fault part comprises a part, extracting a first power limiting coefficient from a part fault power limiting coefficient table according to the part fault grade to which the fault part belongs, wherein the first power limiting coefficient is larger than 0 and smaller than 1; when the current fault part comprises the motor, determining a second power limiting coefficient from a motor fault power limiting coefficient table according to the motor fault degree of the motor, wherein the second power limiting coefficient is larger than 0 and smaller than 1; when the current fault part comprises an engine, determining a third power limiting coefficient from an engine fault power limiting coefficient table according to the engine fault degree of the engine, wherein the third power limiting coefficient is larger than 0 and smaller than 1; determining theoretical total output power according to the current vehicle weight; the limiting power is calculated based on the theoretical total output power, the first power limiting coefficient, the second power limiting coefficient, and the third power limiting coefficient.

According to the technical means, corresponding power limiting coefficients are directly extracted according to part faults, motor faults and engine faults respectively in a mode of pre-configuring a power limiting coefficient table, then the theoretical total output power of the current most suitable vehicle operation is calculated according to vehicle weight self-adaption, the limited power is calculated by utilizing each limiting coefficient and the theoretical total output power, and meanwhile limiting power caused by engineering mechanical function faults can be accurately obtained according to the difference value of the theoretical total output power and the limited power, so that the calculation speed and the calculation accuracy of the limiting power are remarkably improved.

In an alternative embodiment, the vehicle generator is driven by the engine to output the vehicle electricity when the faulty component includes a DC/DC converter.

According to the technical means, when the DC/DC converter fails, the whole vehicle power is output by driving the vehicle-mounted generator through the engine, so that the control of the generator is increased, and the influence of accessory power on the electric quantity and the service life of the storage battery is reduced.

In an alternative embodiment, when the fault level indicates a safety fault, operating the work machine alone by either the electric motor without fault or the engine without fault, includes: when the fault level indicates a safety fault, outputting prompt information, and stopping the engineering machinery after outputting the prompt information for a preset time; when receiving the input preset starting signal, the engineering machinery is independently started and operated through the motor without faults or the engine without faults.

According to the technical means, when the safety fault occurs, the engineering machinery is controlled to stop, so that the driver is informed that the current fault is serious and is not suitable for continuous running, the driver can make the engineering machinery perform low-power limp mode to run slowly through manual operation, the engineering machinery is driven to a maintenance place in time, and the safety of the engineering machinery and the use experience of users are obviously improved.

In an alternative embodiment, when the safety fault is a high voltage fault in the presence of a battery and/or an electric motor, the step of starting and operating the work machine by the engine alone without the fault comprises: when the motor has high-voltage faults, starting the engine which has no faults through a starter; starting an engine without failure by the motor when the motor fails at high voltage in the absence of the motor; acquiring an engine power output table; extracting torque output quantity from an engine power output table according to the accelerator parameter and the vehicle speed parameter; obtaining a correction parameter according to the current vehicle weight matching, wherein the correction parameter is increased along with the increase of the current vehicle weight, and the correction parameter is larger than 1; determining a corrected torque output according to the product of the corrected parameter and the torque output; and controlling the output corrected torque output quantity of the engine without faults, and driving the engineering machinery to operate.

In an alternative embodiment, the method further comprises: monitoring the engine speed when the engine without faults independently drives the engineering machinery to run; triggering in-cylinder braking when the engine speed without faults is greater than a preset speed threshold; and driving the vehicle-mounted generator to output the whole vehicle electricity through the engine without faults, and charging the storage battery.

In a second aspect, an embodiment of the present invention provides a limp control device, including: the fault grade identification module is used for determining a fault grade when the engineering machinery has a fault, wherein the fault grade comprises a fault grade representing a safety fault and a fault grade representing a non-safety fault; the first limp-home mode module is used for determining limiting power according to a fault part when the fault level indicates a non-safety fault, and compensating the limiting power through an engine and/or a motor without faults so as to drive the engineering machinery to run; and a second limp mode module for driving the work machine alone by the motor without failure or the engine without failure when the failure level indicates a safety failure.

In a third aspect, the present invention provides a construction machine, in which computer instructions are stored, the construction machine executing the computer instructions to perform the method of the first aspect or any of its corresponding embodiments.

In a fourth aspect, the present invention provides a computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of the first aspect or any of its corresponding embodiments.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flow chart of a limp control method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of an engine power take off according to an embodiment of the invention;

fig. 3 is another flow chart of a limp control method according to an embodiment of the present invention;

fig. 4 is a block diagram of a structure of a limp home control device according to an embodiment of the present invention;

fig. 5 is a schematic diagram of a hardware configuration of a construction machine according to an embodiment of the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

According to an embodiment of the present invention, a limp home control method embodiment is provided, it being noted that the steps shown in the flowchart of the figures may be performed in a computer system such as a set of computer executable instructions, and although a logical sequence is shown in the flowchart, in some cases the steps shown or described may be performed in a different order than what is shown herein.

In this embodiment, a method for controlling claudication is provided, which may be used in the above-mentioned construction machine, and fig. 1 is a flowchart of a method for controlling claudication according to an embodiment of the present invention, where the flowchart includes the following steps:

step S101, determining a fault level when the engineering machine has a fault, wherein the fault level includes a fault level indicating a safety fault and a fault level indicating a non-safety fault.

Step S102, when the fault level indicates a non-safety fault, determining the limiting power according to the fault position, and compensating the limiting power through the engine without fault and/or the motor without fault to drive the engineering machinery to operate.

In step S103, when the failure level indicates a safety failure, the construction machine is driven to operate by the motor that has not failed or the engine that has not failed alone.

Specifically, the embodiment performs more specific grading and grade identification on the faults according to the fault degree of the engineering machinery. With the change of the fault level, the fault level representing a safety fault and the fault level not representing the safety fault are included, the safety fault refers to a fault which affects the personal safety of a driver, and the fault generally includes a low-voltage fault of a motor and a storage battery, oil leakage of an engine and the like, and the not representing the safety fault refers to a fault which affects the running of engineering machinery to some extent so that the engineering machinery cannot run sufficiently, but does not have serious safety problems temporarily, such as a fault of a DC/DC converter, a low-voltage fault of the storage battery, carbon deposition of the engine, high water temperature and the like.

Then, during the running process of the engineering machinery, the central processing unit monitors the faults of the vehicle body, and when the engineering machinery breaks down, the grade of the faults needs to be judged. When the failure level of the engineering machine that fails is represented as a non-safety failure, the present embodiment determines, according to the actual failure location, how much limitation is caused to the output power of the engineering machine by the influence caused by the failure location, so as to calculate the limitation power, and outputs more compensation power through the non-failed engine and/or the non-failed motor, where the compensation power is equal to the limitation power, so as to compensate the limitation power, thereby realizing a first limp-home mode (limp-home mode 1) that can continue to drive the hybrid engineering machine to operate with high efficiency.

Only when the fault level indicates that the engineering machine has a safety fault, the hybrid engineering machine is driven to slowly run under the low-power condition by the motor without fault or the engine without fault, wherein the mode is a second limp mode (limp mode 2), and a driver drives the engineering machine to reach an overhaul point in time in the second limp mode. According to the scheme, when the engineering machinery does not have serious safety faults, the engineering machinery can still be used in an emergency mode, the task can not be immediately exited, and the flexibility of a limp mode is obviously improved.

In some optional embodiments, the fault level of the unsafe fault includes a first level fault and a second level fault, where the first level fault represents that the hybrid engineering machine has a numerical fault, and the second level fault represents that the hybrid engineering machine has a functional fault, so when the fault level represents the unsafe fault, the limp control method provided by the embodiment of the present invention further includes:

step a1, when the fault level is a first-level fault, sending out warning information, and continuously controlling the engineering machinery to operate according to the current output power;

and a step a2 of determining the limiting power according to the fault location and compensating the limiting power by the engine without fault and/or the motor without fault when the fault level is the secondary fault.

In particular, in an embodiment of the present invention, three failure levels are divided together, wherein the non-safety failures further include a primary failure and a secondary failure for numerical failure and functional failure, and the safety failures are individually regarded as three-level failures. When a numerical fault which does not affect normal running of the vehicle, such as low battery power, high temperature of the whole vehicle and the like, occurs, for example, the state of charge of the battery is lower than 20 percent or the temperature of the battery is higher than 40 degrees, the fault is judged to be a first-level fault, the fault does not affect the use of engineering machinery in a short time, and no safety problem occurs, so that an instrument alarms and prompts, a user is warned to carry out later treatment through warning information, and the forced parking of the engineering machinery is not needed. When the DC/DC converter, the electric control clutch is abnormal, the controller is over-heated, the bus is under-voltage and other functional faults affecting the functions of the parts, and when the battery state of charge is lower than 10 percent or the battery temperature is higher than 50 degrees, the functional faults affecting the functions of the parts are judged to be secondary faults, so that the output power of the engineering machinery is limited according to the corresponding functional faults according to the influence of the functional faults on the engineering machinery, and then the limited power is compensated by utilizing the extra output of an engine and/or a motor without faults, so that the flexibility of the engineering machinery in processing different faults is further improved, the flexibility in starting a limp-home mode is improved, and the situation that the engineering machinery runs in a low-power state is avoided.

In an alternative embodiment, the step S102 includes:

step b1, obtaining a part fault power limit coefficient table, a motor fault power limit coefficient table and an engine fault power limit coefficient table;

step b2, when the current fault part comprises a part, extracting a first power limiting coefficient from a part fault power limiting coefficient table according to the part fault grade to which the fault part belongs, wherein the first power limiting coefficient is larger than 0 and smaller than 1;

step b3, when the current fault part comprises the motor, determining a second power limiting coefficient from a motor fault power limiting coefficient table according to the motor fault degree of the motor, wherein the second power limiting coefficient is larger than 0 and smaller than 1;

step b4, when the current fault part comprises an engine, determining a third power limiting coefficient from an engine fault power limiting coefficient table according to the engine fault degree of the engine, wherein the third power limiting coefficient is larger than 0 and smaller than 1;

step b5, determining theoretical total output power according to the current vehicle weight;

step b6, calculating the limiting power based on the theoretical total output power, the first power limiting coefficient, the second power limiting coefficient and the third power limiting coefficient.

Specifically, for the functional failure, the parts with the functional failure mainly comprise three types, namely a part, an engine and a motor, and the influences of different parts on the whole vehicle are different, so that in order to accurately calculate the limitation of each part on the output power of the whole vehicle, three tables, namely a part failure power limiting coefficient table, a motor failure power limiting coefficient table and an engine failure power limiting coefficient table, are respectively deployed in the embodiment of the invention, the three tables are used for looking up a table according to failure data to respectively obtain the limiting coefficients of different parts on the power, and the limiting power can be calculated by multiplying the limiting coefficients and the total power.

When the first power limiting coefficient is queried according to the component fault power limiting coefficient table, the component fault grade to which the fault component belongs needs to be determined. For example: the fault of the parts mainly comprises faults of a high-voltage energy storage battery, a motor part, DCDC, an engine part, an electric control clutch and the like, and different parts fault levels are divided again according to different parts fault degrees, for example: when a certain part breaks down, the current part fault parameters are sent to the whole vehicle controller, and the whole vehicle controller determines that the fault of the current part belongs to several stages in the whole vehicle, for example, each part can have a two-stage fault. The secondary failure is worse than the primary failure. Therefore, when the fault of the part is found, the fault of which part is judged first, and then the fault grade of which part is judged. Then, the fault grades of different parts correspond to different first power limiting coefficients, wherein the first power limiting coefficients can be generated through simulation of fault simulation software, and the power limiting coefficient most suitable for the current fault condition is obtained. The magnitude of the first power limiting factor is a number greater than 0 and less than 1 because the limiting output power is less than the output power under vehicle sound conditions in the event of a fault, avoiding high power output aggravating the vehicle fault. For example, the first power limiting coefficient corresponding to a class 1 part failure rating is 0.9,2 and the first power limiting coefficient corresponding to a class 0.9,2 part failure rating is 0.8. By the table lookup scheme, the calculation speed of the limiting power can be obviously improved, the first power limiting coefficient of the engineering machinery which reliably operates is not required to be analyzed through fault simulation software every time, and data is not required to be obtained through actual sports cars.

Similarly, when the current fault location includes the motor, according to the importance degree of the parts in the motor, the motor fault location may be divided into different motor fault degrees, for example, the greater the degree numbers of degree 1 and degree 2 … are, the more serious the part fault is affected, and different degrees are correspondingly preset to different limiting power coefficients, so that according to degree 1 and degree 2 …, the second power limiting coefficient is queried from the motor fault power limiting coefficient table by using such a range measure. The same applies to the functional failure of the engine, and a table is required to be checked to obtain a third power limiting coefficient.

By the scheme, all functional faults of the engineering machinery can be covered from three aspects of parts, the motor and the engine, and the accuracy of limiting power in subsequent calculation is improved.

After the first, second and third power limiting coefficients are searched to obtain results, determining theoretical total output power by using the vehicle weight, wherein the larger the vehicle weight is, the larger the corresponding total output power should be in order to ensure the running speed of the vehicle due to different vehicle weights. Therefore, the embodiment carries out the sports car simulation under different car weights, so that the most suitable whole car output power under different car weights can be obtained, and the same operation is carried out aiming at the current car weight, so as to obtain the theoretical total output power. The theoretical total output power may be obtained by the common output of the engine and the motor, or may be obtained by one of the outputs of the engine and the motor. When a work machine fails, at least one of the engine and the motor typically has operating capabilities. The theoretical total output power is thus composed of the first part of the power output by the motor and the second part of the power output by the engine.

Finally, a limiting power is calculated based on the theoretical total output power, the first power limiting coefficient, the second power limiting coefficient, and the third power limiting coefficient. The specific calculation process is as follows: unit 1-first power limiting coefficient=first difference value, then calculating the product of the first difference value and the theoretical total output power, and determining the part of the output power of the engineering machinery limited by the fault of the part, so as to obtain first limiting sub-power. Unit 1-second power limiting coefficient = second difference, then calculating the product of the second difference and the first partial power to obtain the first limiting sub-power. According to the same operation, a third limiting sub-power is calculated using the second partial power and a third power limiting coefficient. And finally calculating the sum of the first limiting sub-power, the second limiting sub-power and the third limiting sub-power to obtain the limiting power.

According to the embodiment of the invention, corresponding power limiting coefficients are directly extracted according to part faults, motor faults and engine faults respectively in a mode of pre-configuring a power limiting coefficient table, then the theoretical total output power of the current most suitable vehicle operation is calculated according to the vehicle weight in a self-adaptive mode, the limited power is calculated by utilizing each limiting coefficient and the theoretical total output power, and meanwhile the limiting power caused by the engineering mechanical function faults can be accurately obtained according to the difference value of the theoretical total output power and the limited power, so that the calculation speed and the calculation accuracy of the limiting power are remarkably improved.

In some alternative embodiments, when the fault component includes a DC/DC converter, the limp control method provided by the embodiment of the present invention further outputs the entire vehicle electricity through the engine-driven vehicle-mounted generator.

Specifically, the DC/DC converter is a device for converting the voltage of the in-vehicle battery into the power consumption voltage of each automobile accessory, and further providing the entire automobile power. The automobile accessory refers to equipment such as an air conditioner, a car lamp, a windshield wiper and the like. When the DC/DC converter fails, the embodiment drives the vehicle-mounted generator to output the whole vehicle power through the engine without failure, thereby increasing the control of the generator, reducing the influence of accessory power on the electric quantity and the service life of the storage battery, and obviously improving the reliability of engineering machinery.

In some alternative embodiments, the step S103 includes:

step c1, when the fault level indicates a safety fault, outputting prompt information, and stopping the engineering machinery after outputting the prompt information for a preset time;

and c2, when receiving the input preset starting signal, independently starting the engineering machinery through the motor without failure or the engine without failure and operating the engineering machinery.

Specifically, when three-level faults such as adhesion of the main positive/main negative relay occur, the safety fault affecting the safety of the driver is indicated, so that the embodiment firstly controls the engineering machinery to stop, carries out high-voltage processing, and outputs prompt information of 3s, for example, so as to inform the driver that the current fault is serious and is not suitable for continuous running. After that, the driver needs to make the construction machine perform a low-power limp-home mode slow running by a manual operation, for example: after the user parks, the electric power is supplied again, at the moment, the whole vehicle only has low voltage, the user continuously twists a key to a starting gear in neutral position, a preset starting signal is sent to the engineering machinery, and the engineering machinery actively enters a second limp mode in response to the preset starting signal. If the engineering machinery is in the pure electric mode at the moment, the clutch is controlled to be closed so that the engine outputs power for transmission; if the hybrid and engine direct drive modes are in this state, the engine directly outputs power independently without controlling a clutch. In the second limp-home mode, the hybrid engineering machine is independently started and operated through the motor or the engine without faults, so that the engineering machine is driven to a maintenance site in time, and the safety of the engineering machine and the use experience of a user are obviously improved.

In some alternative embodiments, when the safety fault is a high voltage fault in the presence of a battery and/or a motor, step c2 above comprises:

step d1, when the motor has high-voltage faults, starting the engine which has no faults through a starter.

Step d2, when the motor fails in high voltage in the absence of the motor, starting the engine without failure by the motor.

And d3, obtaining an engine power output table.

And d4, extracting torque output quantity from the engine power output table according to the accelerator parameter and the vehicle speed parameter.

Step d5, obtaining a correction parameter according to the current vehicle weight matching, wherein the correction parameter is increased along with the increase of the current vehicle weight, and the correction parameter is larger than 1.

And d6, determining the corrected torque output according to the product of the corrected parameter and the torque output.

And d7, controlling the engine which does not have faults to output a corrected torque output quantity, and driving the engineering machinery to operate.

Specifically, when the user drives the engineering machinery to operate by properly starting the engine in the second limp mode, firstly judging whether the lower high voltage fault is the lower high voltage fault of the motor, if the lower high voltage fault does not exist in the motor, starting the engine by the motor, otherwise starting by the starter, wherein the technical means aims at prolonging the service life of the starter, frequently driving the engine and the motor to start and easily damaging, preferably using the motor to pull up the engine, and being beneficial to prolonging the service life of the whole engineering machinery.

Then, a torque output is extracted from an engine power take-off table based on the throttle parameter and the vehicle speed parameter. As shown in fig. 2, the engine power output table is a two-dimensional table provided in the present embodiment with respect to the accelerator parameters and the vehicle speed parameters of the construction machine. The torque output quantity of the engine can be correspondingly output by inputting the accelerator parameter and the vehicle speed parameter into the engine power output table, and the relation between the torque output quantity, the accelerator parameter and the vehicle speed parameter can be simulated by software to simulate the running of the vehicle, and the accelerator parameter and the vehicle speed parameter are input to obtain the corresponding torque output quantity, so that the efficiency of calculating the torque output quantity when the engine is independently used for controlling the engineering machinery to operate is obviously improved under the condition of ensuring the calculation accuracy of the torque output quantity. It should be noted that the amount of torque output achieved in the second limp-home mode is less than when the vehicle is not malfunctioning.

Finally, the embodiment of the invention also considers that the weight of the vehicle body has a larger influence on the output torque output quantity, because the heavier the current weight of the vehicle is, a certain torque is output more to ensure enough power. Therefore, the embodiment also obtains the correction parameters according to the current vehicle weight matching, the correction parameters are increased along with the increase of the current vehicle weight, the correction parameters are larger than 1 and are used for amplifying the torque output quantity, and the final correction torque output quantity is determined through the product. Although the engineering machinery can only run under the low-voltage condition, the power of the engineering machinery can be improved as much as possible by correcting the torque output quantity, and the limp power output under heavy load is considered, so that the running speed of the engineering machinery is increased, and the driving experience of a user is improved.

In some optional embodiments, a limp control method provided by the embodiment of the present invention further includes:

step e1, monitoring the rotating speed of the engine when the engine without faults independently drives the hybrid engineering machine to operate;

step e2, triggering in-cylinder braking when the engine speed is greater than a preset speed threshold;

and e3, driving the vehicle-mounted generator to output the whole vehicle electricity through the engine without faults, and charging the storage battery.

Specifically, as shown in fig. 3, the embodiment of the invention also performs gradient recognition according to the engine rotation speed, if the running environment of the engineering machinery has a long downhill slope, and the engine rotation speed is too high for a long time, the embodiment adaptively triggers the in-cylinder braking after filtering, namely monitors the engine rotation speed in real time, does not need to manually dial a shift lever to trigger the in-cylinder braking after exceeding a limit value, automatically triggers, sets a protection value, and does not frequently switch the function, for example, limits the engine rotation speed to not exceed 2350rpm, thereby further improving the safety of the whole vehicle in the second limp-home mode.

In addition, in the second limp mode, the vehicle-mounted generator is driven by the engine to output the whole vehicle electricity, the storage battery is charged, the influence of accessory power on the electric quantity and the service life of the storage battery is fully considered, and the reduction of the service life of the storage battery caused by the long-term power shortage state of the storage battery is avoided.

In this embodiment, a device for controlling limp home is further provided, and the device is used to implement the foregoing embodiments and preferred embodiments, and will not be described again. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

The present embodiment provides a limp control device, as shown in fig. 4, including:

the fault level identification module 401 is configured to determine a fault level when the engineering machine has a fault, where the fault level includes a fault level indicating a safety fault and a fault level indicating a non-safety fault. For details, refer to the related description of step S101 in the above method embodiment, and no further description is given here.

The first limp-home mode module 402 is configured to determine a limited power based on a fault location when the fault level indicates a non-safety fault, and to compensate the limited power by the non-faulty engine and/or the non-faulty motor to drive the work machine. For details, refer to the related description of step S102 in the above method embodiment, and no further description is given here.

A second limp-home mode module 403 for driving the work machine alone by either the electric motor without failure or the engine without failure when the failure level indicates a safety failure. For details, see the description of step S103 in the above method embodiment, and the details are not repeated here.

Further functional descriptions of the above modules are the same as those of the above corresponding embodiments, and are not repeated here.

The embodiment of the invention also provides the engineering machine, which is provided with the mixed engineering machine limp control device shown in the figure 4.

Referring to fig. 5, fig. 5 is a schematic structural diagram of a construction machine according to an alternative embodiment of the present invention, as shown in fig. 5, the construction machine includes: one or more processors 10, memory 20, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components are communicatively coupled to each other using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions executing within the computer device, including instructions stored in or on memory to display graphical information of the GUI on an external input/output device, such as a display device coupled to the interface. In some alternative embodiments, multiple processors and/or multiple buses may be used, if desired, along with multiple memories and multiple memories. Also, multiple work machines may be connected, with each device providing a portion of the necessary operations (e.g., as a server array, a set of blade servers, or a multiprocessor system). One processor 10 is illustrated in fig. 5.

The processor 10 may be a central processor, a network processor, or a combination thereof. The processor 10 may further include a hardware chip, among others. The hardware chip may be an application specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general-purpose array logic, or any combination thereof.

Wherein the memory 20 stores instructions executable by the at least one processor 10 to cause the at least one processor 10 to perform a method for implementing the embodiments described above.

The memory 20 may include a storage program area that may store an operating system, at least one application program required for functions, and a storage data area; the storage data area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, memory 20 may optionally include memory located remotely from processor 10, which may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

Memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk, or solid state disk; the memory 20 may also comprise a combination of the above types of memories.

The computer device also includes a communication interface 30 for the computer device to communicate with other devices or communication networks.

The embodiments of the present invention also provide a computer readable storage medium, and the method according to the embodiments of the present invention described above may be implemented in hardware, firmware, or as a computer code which may be recorded on a storage medium, or as original stored in a remote storage medium or a non-transitory machine readable storage medium downloaded through a network and to be stored in a local storage medium, so that the method described herein may be stored on such software process on a storage medium using a general purpose computer, a special purpose processor, or programmable or special purpose hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, a solid state disk or the like; further, the storage medium may also comprise a combination of memories of the kind described above. It will be appreciated that a computer, processor, microprocessor controller or programmable hardware includes a storage element that can store or receive software or computer code that, when accessed and executed by the computer, processor or hardware, implements the methods illustrated by the above embodiments.

Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope of the invention as defined by the appended claims.

Claims

1. A lameness control method, characterized in that the method comprises:

determining a fault level when the engineering machine has a fault, wherein the fault level comprises a fault level representing a safety fault and a fault level representing a non-safety fault;

determining a limiting power according to a fault position when the fault level indicates a non-safety fault, and compensating the limiting power through a non-faulty engine and/or a non-faulty motor to drive the engineering machinery to operate;

when the fault level indicates a safety fault, the engineering machine is independently driven to operate by the motor without fault or the engine without fault.

2. The method of claim 1, wherein the failure level of the unsafe fault comprises a primary fault that characterizes a numerical failure of the work machine and a secondary fault that characterizes a functional failure of the work machine, the method further comprising:

when the fault level is a first-level fault, sending out warning information, and continuously controlling the engineering machinery to operate according to the current output power;

and when the fault level is a secondary fault, executing the steps of determining the limiting power according to the fault position and compensating the limiting power through the engine without faults and/or the motor without faults.

3. The method according to claim 1 or 2, wherein said determining the limiting power according to the fault location comprises:

acquiring a part fault power limit coefficient table, a motor fault power limit coefficient table and an engine fault power limit coefficient table;

when the current fault part comprises a part, extracting a first power limiting coefficient from the part fault power limiting coefficient table according to the part fault grade to which the fault part belongs, wherein the first power limiting coefficient is more than 0 and less than 1;

when the current fault location comprises a motor, determining a second power limiting coefficient from the motor fault power limiting coefficient table according to the motor fault degree of the motor, wherein the second power limiting coefficient is larger than 0 and smaller than 1;

when the current fault location comprises an engine, determining a third power limiting coefficient from the engine fault power limiting coefficient table according to the engine fault degree of the engine, wherein the third power limiting coefficient is larger than 0 and smaller than 1;

determining theoretical total output power according to the current vehicle weight;

a limiting power is calculated based on the theoretical total output power, the first power limiting coefficient, the second power limiting coefficient, and the third power limiting coefficient.

4. A method according to claim 3, wherein when the faulty component comprises a DC/DC converter, the vehicle generator is driven by the non-faulty engine to output power for the whole vehicle.

5. The method of claim 1, wherein the individually driving the work machine by the non-failed motor or the non-failed engine when the failure level indicates a safety failure comprises:

when the fault level indicates a safety fault, outputting prompt information, and stopping the engineering machinery after outputting the preset time of the prompt information;

when receiving the input preset starting signal, the engineering machinery is independently started and operated through the motor without faults or the engine without faults.

6. The method of claim 5, wherein when the safety fault is a high voltage fault in the presence of a battery and/or an electric motor, the step of starting and operating the work machine by the engine alone without the fault comprises:

starting the engine without failure by a starter when the motor has the low-high voltage failure;

starting the engine without failure by the electric motor when the electric motor is not in the presence of the low-high voltage failure;

acquiring an engine power output table;

extracting torque output quantity from the engine power output table according to the accelerator parameter and the vehicle speed parameter;

obtaining a correction parameter according to the current vehicle weight matching, wherein the correction parameter is increased along with the increase of the current vehicle weight, and the correction parameter is larger than 1;

determining a corrected torque output according to the product of the correction parameter and the torque output;

and controlling the engine which does not have faults to output the corrected torque output quantity, and driving the engineering machinery to operate.

7. The method of claim 6, wherein the method further comprises:

monitoring the engine speed when the engine without faults independently drives the engineering machinery to operate;

triggering in-cylinder braking when the engine speed is greater than a preset speed threshold;

and driving the vehicle-mounted generator to output the whole vehicle electricity through the engine without faults, and charging the storage battery.

8. A limp home control device, the device comprising:

a fault level identification module, configured to determine a fault level when the engineering machine has a fault, where the fault level includes a fault level indicating a safety fault and a fault level indicating a non-safety fault;

a first limp-home mode module for determining a limit power according to a fault location when the fault level indicates a non-safety fault, and compensating the limit power by a non-faulty engine and/or a non-faulty motor to drive the work machine to operate;

and the second limp mode module is used for independently driving the engineering machinery to operate through the motor without faults or the engine without faults when the fault level indicates a safety fault.

9. A working machine, characterized in that the working machine has stored computer instructions, which, by executing the computer instructions, perform the method according to any one of claims 1 to 7 _。

10. A computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of any one of claims 1 to 7.