CN117818571A - Method, device and equipment for controlling driving system - Google Patents
Method, device and equipment for controlling driving system Download PDFInfo
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Abstract
The application discloses a method, a device and equipment for controlling a driving system, wherein the method comprises the following steps: after the driving system enters an auxiliary state, determining the working state type of the auxiliary power source based on the torque currently generated by the main power source and the current battery state of charge (SOC); determining a target torque generated by the auxiliary power source based on the difference between the torque currently generated by the main power source and the set threshold value and a correlation coefficient corresponding to the working state type, wherein the correlation coefficient is determined based on the corresponding relation between a state parameter of the working state type and the correlation coefficient, and the state parameter represents the expected adjustment degree of the auxiliary power source; the torque of the auxiliary power source is adjusted based on the target torque, and the torque of the main power source is adjusted based on the target rotational speed. The power source for driving the hydraulic device can maintain constant rotation speed and adapt to load change, and works in a high-efficiency zone.
Description
Technical Field
The application belongs to the technical field of hybrid systems, and particularly relates to a method, a device and equipment for controlling a driving system.
Background
The hybrid system refers to a power system comprising two power sources, an engine and a motor. The engineering machinery usually adopts a hydraulic device to work, the engineering machinery using a hybrid system usually works in a rotating speed control mode, no matter how the load changes, the engine or the motor needs to be internally regulated, the target rotating speed sent by the controller is responded, the rotating speed and the target rotating speed are ensured to be within a certain error range, and the stable flow of the hydraulic device is kept in the running process, so that the normal running of the engineering machinery is ensured.
Different from the conventional road vehicle adopting a torque control mode and carrying out torque distribution on a motor and an engine according to the required torque of a driver, the following problems are faced when engineering machinery using the hybrid system adopts a rotating speed control mode to carry out constant rotating speed control: the demand torque of a driver cannot be determined, and therefore, the torque distribution strategy of a traditional road vehicle cannot be adopted, and meanwhile, when the two power sources simultaneously adopt a rotating speed control mode, because the rotating speed response speeds of the two power sources are different, the relation between the actual rotating speeds of the two power sources and the demand rotating speed may be that the actual rotating speed of one power source exceeds the demand rotating speed, the actual rotating speed of the other power source is smaller than the demand rotating speed, and the rotating speeds of the two power sources can be adjusted in different directions for working at the demand rotating speed, so that the engine torque and the motor torque are uncoordinated, and the reliability of the whole vehicle is reduced.
Thus, there is currently no sophisticated control method for a multi-power drive system that drives a hydraulic device.
Disclosure of Invention
In view of the above problems, the present application provides a method, an apparatus, and a device for controlling a driving system, which enable a power source for driving a hydraulic device to maintain a constant rotation speed and adapt to a load change, and operate in a high-efficiency zone.
In a first aspect, the present application provides a method of controlling a drive system for driving a hydraulic device, the drive system including a primary power source and a secondary power source, the method comprising:
after a driving system enters an auxiliary state, determining the working state type of the auxiliary power source based on the torque currently generated by the main power source and the current battery charge state SOC;
determining a target torque expected to be generated by the auxiliary power source based on the difference between the torque currently generated by the main power source and a set threshold value and a correlation coefficient corresponding to the operating state type, wherein the correlation coefficient is determined based on the corresponding relation between a state parameter of the operating state type and the correlation coefficient, and the state parameter represents the expected adjustment degree of the auxiliary power source;
the torque of the auxiliary power source is adjusted based on the target torque, and the torque of the main power source is adjusted based on a target rotational speed.
In one possible embodiment, the determining the operation state type of the auxiliary power source based on the current generated torque of the main power source and the current battery state of charge SOC includes:
if the current torque generated by the main power source is larger than a first torque threshold value and the current battery SOC is larger than a first SOC threshold value, determining that the auxiliary power source enters an electric working state;
If the duration time that the torque currently generated by the main power source is not greater than the second torque threshold value reaches the set value and the current battery SOC is not greater than the second SOC threshold value, determining that the auxiliary power source enters a power generation working state; wherein the first torque threshold is greater than the second torque threshold and the first SOC threshold is greater than the second SOC threshold.
In one possible embodiment, the determining the target torque expected to be generated by the auxiliary power source based on the difference between the torque currently generated by the main power source and the set threshold value and the association coefficient corresponding to the operation state type includes:
if the auxiliary power source is in an electric working state, determining a target torque expected to be generated by the auxiliary power source based on a difference value between the torque currently generated by the main power source and a first torque threshold value and a correlation coefficient corresponding to the electric working state, wherein the correlation coefficient corresponding to the electric working state is determined based on a corresponding relation between a speed difference between the target rotating speed and the current rotating speed of the main power source and the correlation coefficient;
and if the auxiliary power source is in a power generation working state, determining a target torque expected to be generated by the auxiliary power source based on a difference value between the torque currently generated by the main power source and a second torque threshold value and a correlation coefficient corresponding to the power generation working state, wherein the correlation coefficient corresponding to the power generation working state is determined based on a corresponding relation between the current battery SOC and the correlation coefficient.
In one possible embodiment, the adjusting the torque of the auxiliary power source based on the target torque includes:
if the auxiliary power source is in an electric working state and the target torque is larger than the torque currently generated by the auxiliary power source, controlling the torque of the auxiliary power source to be increased to the target torque;
and if the auxiliary power source is in a power generation working state and the target torque is smaller than the torque currently generated by the auxiliary power source, controlling the torque of the auxiliary power source to be reduced to the target torque.
In one possible embodiment, the controlling the torque of the auxiliary power source to increase to the target torque includes:
and controlling the torque of the auxiliary power source to be increased to the target torque according to the current torque change step size, wherein the current torque change step size is determined based on the corresponding relation between the speed difference of the target rotating speed and the current rotating speed of the main power source and the torque change step size currently generated by the main power source.
In one possible embodiment, the method further comprises:
if the auxiliary power source is in an electric working state and the target torque is not more than the torque currently generated by the auxiliary power source, or the auxiliary power source is in a power generation working state and the target torque is not less than the torque currently generated by the auxiliary power source, the torque of the auxiliary power source is kept unchanged.
In one possible embodiment, the method further comprises:
if the auxiliary power source is in an electric working state, determining that the duration time that the torque currently generated by the main power source is not greater than a third torque threshold value exceeds a set value, or that the current battery SOC is not greater than a second SOC threshold value, exiting the electric working state and adjusting the torque of the auxiliary power source to the set value;
if the auxiliary power source is in a power generation working state, determining that the torque currently generated by the main power source is larger than a fourth torque threshold value, or that the current battery SOC is larger than a first SOC threshold value, exiting the power generation working state and adjusting the torque of the auxiliary power source to a set value;
the third torque threshold is larger than the fourth torque threshold, and the third torque threshold and the fourth torque threshold are smaller than the first torque threshold and larger than the second torque threshold.
In a second aspect, the present application provides an apparatus for controlling a drive system for driving a hydraulic device, the drive system including a primary power source and a secondary power source, the apparatus comprising:
the working state determining module is used for determining the working state type of the auxiliary power source based on the torque currently generated by the main power source and the current battery charge state SOC after the driving system enters the auxiliary state;
A target torque determination module configured to determine a target torque that is desired to be generated by the auxiliary power source based on a difference between a torque currently generated by the main power source and a set threshold and a correlation coefficient corresponding to the operating state type, wherein the correlation coefficient is determined based on a correspondence between a state parameter of the operating state type and a correlation coefficient, the state parameter representing a degree of adjustment desired for the auxiliary power source;
a torque adjustment module for adjusting the torque of the auxiliary power source based on the target torque and adjusting the torque of the main power source based on a target rotational speed.
In a third aspect, embodiments of the present application provide an apparatus for controlling a drive system, comprising at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of controlling a drive system as provided in any one of the first aspects of the present application.
In a fourth aspect, embodiments of the present application also provide a computer readable storage medium, which when executed by a processor of a terminal device, enables the terminal device to perform a method of controlling a drive system as provided in any one of the first aspects of the present application.
The technical scheme provided by the embodiment of the application at least brings the following beneficial effects:
after the working state type of an auxiliary power source is determined, determining target torque which is expected to be generated by the auxiliary power source and adjusting output torque of the auxiliary power source according to a certain amplitude by utilizing the difference between the torque which is currently generated by the main power source and a set threshold value and an association coefficient corresponding to the determined working state type, so that the target torque which is expected by the auxiliary power source is adjusted according to the load of the main power source, and when the load of the main power source is larger, the auxiliary power source can timely intervene to provide power-assisted torque, and the phenomenon that the rotating speed of the main power source is reduced or even extinguished due to sudden load increase is avoided; meanwhile, for rotation speed fluctuation caused by output torque change of the auxiliary power source, torque of the main power source is adjusted based on the target rotation speed, so that the main power source and the auxiliary power source maintain the target rotation speed; on the premise of realizing rotation speed control on the main power source, the expected auxiliary power source torque is determined based on the high-efficiency torque of the main power source, so that the torque control on the auxiliary power source is realized, the main power source can be ensured to be in a high-efficiency working range, the torque generated by the main power source and the auxiliary power source is enabled to adapt to the change of load, and the rotation speeds of the main power source and the auxiliary power source can be maintained to ensure the flow stability of the hydraulic device.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, and it is obvious that the drawings that are described below are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a driving system for driving a hydraulic device according to an embodiment of the present application;
FIG. 2 is a flow chart of a method for controlling a drive system according to an embodiment of the present disclosure;
FIG. 3 is a flowchart of a method for determining an operating state of an auxiliary power source according to an embodiment of the present disclosure;
fig. 4 is a flowchart of an electric operating state exit judging method provided in an embodiment of the present application;
fig. 5 is a flowchart of a method for determining exit of power generation operation state according to an embodiment of the present application;
FIG. 6 is a flow chart of a method for controlling a drive system according to an embodiment of the present application;
fig. 7 is a schematic diagram of a device for controlling a driving system according to an embodiment of the present application;
fig. 8 is a schematic diagram of an apparatus for controlling a driving system according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Wherein the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The hybrid system refers to a power system comprising two power sources, an engine and a motor. The engineering machinery usually adopts a hydraulic device to work, the engineering machinery using a hybrid system usually works in a rotating speed control mode, no matter how the load changes, the engine or the motor needs to be internally regulated, the target rotating speed sent by the controller is responded, the rotating speed and the target rotating speed are ensured to be within a certain error range, and the stable flow of the hydraulic device is kept in the running process, so that the normal running of the engineering machinery is ensured.
Different from the conventional road vehicle adopting a torque control mode and carrying out torque distribution on a motor and an engine according to the required torque of a driver, the following problems are faced when engineering machinery using the hybrid system adopts a rotating speed control mode to carry out constant rotating speed control: the demand torque of a driver cannot be determined, and therefore, the torque distribution strategy of a traditional road vehicle cannot be adopted, and meanwhile, when the two power sources simultaneously adopt a rotating speed control mode, because the rotating speed response speeds of the two power sources are different, the relation between the actual rotating speeds of the two power sources and the demand rotating speed may be that the actual rotating speed of one power source exceeds the demand rotating speed, the actual rotating speed of the other power source is smaller than the demand rotating speed, and the rotating speeds of the two power sources can be adjusted in different directions for working at the demand rotating speed, so that the engine torque and the motor torque are uncoordinated, and the reliability of the whole vehicle is reduced.
Thus, there is currently no sophisticated control method for a multi-power drive system that drives a hydraulic device.
In view of the above problems, the present application provides a method, an apparatus, and a device for controlling a driving system, where after determining a working state type of an auxiliary power source, a target torque that is expected to be generated by the auxiliary power source is determined by using a difference between a torque currently generated by the main power source and a set threshold value and an association coefficient corresponding to the determined working state type, and an output torque of the auxiliary power source is adjusted according to a certain amplitude, so as to achieve the purpose of adjusting the target torque expected by the auxiliary power source according to a main power source load, and when the main power source load is large, the auxiliary power source can timely intervene to provide an assist torque, so as to avoid a drop or even a flameout of a main power source rotational speed caused by a sudden load increase; meanwhile, for rotation speed fluctuation caused by output torque change of the auxiliary power source, torque of the main power source is adjusted based on the target rotation speed, so that the main power source and the auxiliary power source maintain the target rotation speed; on the premise of realizing rotation speed control on the main power source, the expected auxiliary power source torque is determined based on the high-efficiency torque of the main power source, so that the torque control on the auxiliary power source is realized, the main power source can be ensured to be in a high-efficiency working range, the torque generated by the main power source and the auxiliary power source is enabled to adapt to the change of load, and the rotation speeds of the main power source and the auxiliary power source can be maintained to ensure the flow stability of the hydraulic device.
Embodiments of the present application are described in further detail below with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of a driving system of a driving hydraulic device according to an embodiment of the present application. The drive system for driving the hydraulic device includes a main power source 1, a clutch 2, an auxiliary power source 3, a battery 4, a hydraulic device 5, and a drive system controller 6.
Wherein the main power source 1 and the auxiliary power source 3 are coaxially and rigidly connected when the clutch 2 is closed, the output shaft of the auxiliary power source 3 is mechanically connected with the hydraulic device 5, the auxiliary power source 3 is electrically connected with the battery 4 through a high-voltage wire harness, and the driving system controller 6 is electrically connected with the main power source 1, the clutch 2, the auxiliary power source 3 and the battery 4 through a low-voltage signal wire (including a CAN bus) to transmit information, for example, the driving system controller 6 CAN acquire the State of Charge (SOC) of the battery 4.
At this stage, the driving system of the driving hydraulic device adopts a rotational speed control mode, and the driving system controller 6 controls the main power source 1 and the auxiliary power source 3 to operate at a constant rotational speed based on the target rotational speed demand, wherein the main power source 1 is typically an engine, the auxiliary power source 3 is typically an electric motor, and the rotational speeds of the engine and the electric motor are affected each other and tend to be consistent when the engine and the electric motor are rigidly connected together. However, since the torque response speed and the actual rotation speed of the engine and the motor are different, the engine torque and the motor torque are not coordinated, and thus the reliability of the whole vehicle is reduced, for example, if the target rotation speed is 100 rotations per second, the actual rotation speed of the engine is 106 rotations per second, the actual rotation speed of the motor is 96 rotations per second, and in order to maintain 100 rotations per second, the direction of changing the rotation speed of the engine and the direction of changing the rotation speed of the motor are in conflict, and the engine torque and the motor torque are not coordinated. In addition, when the load suddenly increases, the clutch slips, and the clutch driving disc and the clutch driven disc are converted from static friction to sliding friction, so that the capacity of the clutch for transmitting torque is greatly reduced, and the driving system is driven by the motor independently and cannot work normally.
In the present application, the main power source 1 may be an engine, or may be an electric motor, and the auxiliary power source 3 may be an electric motor. The drive system controller 6 controls the clutch 2 to be closed according to the state of the components and the switching signal input from the whole vehicle, and the drive system enters the assist mode (corresponding to the case where the main power source 1 is an engine, the drive system enters the hybrid mode). Specifically, when the main power source 1 is an engine, the drive system controller 6 may be a hybrid controller (Hybrid Control Unit, HCU) having a function of controlling components such as the engine, the motor, and the clutch.
After the driving system enters the auxiliary mode, the auxiliary power source 3 can be in a power generation working state, an electric working state or a non-working state without generating power or electric power.
When the auxiliary power source 3 is in the power generation operation state, the load corresponds to the load of the main power source 1, and at this time, part of the torque generated by the main power source 1 is used for driving the hydraulic device 5, and the other part is used for generating power by the auxiliary power source 3;
when the auxiliary power source 3 is in an electric working state, the torque generated by the auxiliary power source 3 and the torque generated by the main power source 1 are used for driving the hydraulic device 5;
when the auxiliary power source 3 is in the inactive state, the auxiliary power source 3 does not generate torque, and only the main power source 1 drives the hydraulic device 5, but the auxiliary power source 3 still follows the rotational speed of the main power source 1.
The method of controlling the drive system in the present application is described below.
As shown in fig. 2, a flowchart of a method for controlling a driving system for driving a hydraulic device is provided according to an embodiment of the present application, where the driving system includes a main power source and an auxiliary power source; the method comprises the following steps S201-S203:
step S201, after the driving system enters the auxiliary state, determines the operation state type of the auxiliary power source based on the current generated torque of the main power source and the current battery state of charge SOC.
As in the previous embodiments, when the clutch is closed to rigidly connect the primary and secondary power sources, the drive system enters the secondary state, and the secondary power source may be in a power generating operating state, an electrically operated state, or a non-operating state in which power is not generated and is not electrically operated.
The following describes a method for determining the working state of the auxiliary power source provided in the embodiment of the present application.
As shown in fig. 3, a flowchart of a method for determining an operating state of an auxiliary power source according to an embodiment of the present application is provided, where the method includes the following steps S201 a-S201 e:
step S201a, judging whether the torque currently generated by the main power source is greater than a first torque threshold a1 and the current battery SOC is greater than a first SOC threshold b1, if yes, executing step S201b, otherwise, executing step S201c;
Step S201b, determining that the auxiliary power source enters an electric working state;
specifically, a1 is smaller than the maximum torque of the main power source at the current rotating speed, can be calibrated to be 80% of the maximum torque at the current rotating speed, and b1 is smaller than the maximum capacity of the battery, can be calibrated to be 50% of the maximum capacity of the current battery; the torque threshold and the SOC threshold in the embodiment of the application are calibratable, and can be determined according to actual requirements and experimental results.
When the torque currently generated by the main power source is larger than a1, the load of the driving system is larger, the battery allowance is abundant, the auxiliary power source is used for assisting power when the driving system is in an electric working state, the problems that the rotation speed of the main power source is reduced, the operation is stopped or the clutch is slipped and separated due to insufficient backup torque of the main power source are avoided, and meanwhile, the fuel consumption is reduced when the main power source is an engine.
Step S201c, judging whether the current battery SOC is not more than a second SOC threshold value b2 when the duration that the torque currently generated by the main power source is not more than the second torque threshold value a2 reaches a set value is met, if yes, executing step S201d, otherwise, executing step S201e;
step S201d, determining that the auxiliary power source enters a power generation working state;
Specifically, a2 is smaller than a1, a2 can be calibrated to be the most economical torque of the current rotating speed, such as 50% of the maximum torque at the current rotating speed, b1 is larger than b2, b2 can be calibrated to be 30% or lower of the maximum capacity of the current battery, and can also be calibrated according to the required SOC balance point.
When the current battery SOC satisfies not more than b2 when the duration of the torque currently generated by the main power source is not more than a2 reaches the set value, it can be understood that the load of the driving system is small and the battery margin is insufficient at this time, and the main power source is required to boost the output torque to enter the power generation operating state, and the boosted torque is used for power generation, so that not only the power battery SOC can be boosted, but also the main power source can work at the most economical torque.
In step S201e, it is determined that the auxiliary power source enters the inactive state.
Step S202, determining a target torque to be generated by the auxiliary power source based on a difference between the torque currently generated by the main power source and the set threshold value and a correlation coefficient corresponding to the operation state type.
The association coefficient is determined based on the corresponding relation between the state parameter of the working state type and the association coefficient, and the state parameter represents the degree of adjustment expected to the auxiliary power source.
When determining that the auxiliary power source is in the power generation operation state or the electric operation state, the present application needs to determine a target torque that the auxiliary power source is expected to generate, and adjust an actual torque generated by the auxiliary power source based on the target torque.
As a possible embodiment, the target torque that the secondary power source is expected to generate is determined based on the difference between the torque currently generated by the primary power source and the set threshold value and the association coefficient corresponding to the operation state type, including the following case a and case B.
Case a:
if the auxiliary power source is in an electric working state, determining a target torque expected to be generated by the auxiliary power source based on a difference value between the torque currently generated by the main power source and a1 and a correlation coefficient corresponding to the electric working state;
the association coefficient corresponding to the electric working state is determined based on the corresponding relation between the speed difference of the target rotating speed and the current rotating speed of the main power source and the association coefficient. The corresponding relation can be stored in a data table or other storage modes, the speed difference in the data table corresponds to the association coefficient one by one, the association coefficient is larger as the speed difference is larger, the defect of the output torque of the main power source is timely made up by increasing the output torque of the auxiliary power source, and the specific numerical value corresponding relation can be set by actual requirements or calibrated by experimental results.
Optionally, after calculating the difference between the torque currently generated and a1 and determining the association coefficient based on the speed difference, multiplying the difference by the determined association coefficient to obtain the target torque generated by the expected auxiliary power source.
Case B:
and if the auxiliary power source is in the power generation working state, determining the target torque expected to be generated by the auxiliary power source based on the difference value between the torque currently generated by the main power source and a2 and the correlation coefficient corresponding to the power generation working state.
The association coefficient corresponding to the power generation working state is determined based on the corresponding relation between the current battery SOC and the association coefficient. The corresponding relation can be stored in a data table or other storage modes, the battery SOC corresponds to the association coefficient one by one in the data table, the smaller the battery SOC is, the larger the association coefficient is, the specific numerical value corresponding relation can be set by actual demands or calibrated by experimental results by reducing the output torque of the auxiliary power source (the output torque of the auxiliary power source is opposite to the output torque in an electric state when the auxiliary power source generates electricity, so the absolute value of the output torque is increased when the auxiliary power source outputs torque when the auxiliary power source generates electricity is reduced).
Optionally, after calculating the difference between the torque currently generated and a2 and determining the association coefficient based on the speed difference, multiplying the difference by the determined association coefficient to obtain the target torque generated by the expected auxiliary power source.
Step S203 adjusts the torque of the auxiliary power source based on the target torque, and adjusts the torque of the main power source based on the target rotational speed.
As a possible embodiment, the adjusting the torque of the auxiliary power source based on the target torque includes:
if the auxiliary power source is in an electric working state and the target torque is larger than the torque currently generated by the auxiliary power source, controlling the torque of the auxiliary power source to be increased to the target torque;
and if the auxiliary power source is in a power generation working state and the target torque is smaller than the torque currently generated by the auxiliary power source, controlling the torque of the auxiliary power source to be reduced to the target torque.
Optionally, if the auxiliary power source is in an electric working state and the target torque is not greater than the torque currently generated by the auxiliary power source, or if the auxiliary power source is in a power generation working state and the target torque is not less than the torque currently generated by the auxiliary power source, the torque of the auxiliary power source is kept unchanged.
In the embodiment of the application, after the target torque generated by the expected auxiliary power source is determined, the change direction of the output torque of the auxiliary power source in the electric working state and the power generation working state is set to be monotone, and the output torque of the auxiliary power source is allowed to change in the direction of increasing the absolute value, so that the problem that the torque fluctuation of the auxiliary power source causes the incompatibility of the system torque is avoided.
When the auxiliary power source is in a power generation working state, if the torque (the absolute value is increased) generated by the auxiliary power source is reduced, the rotating speed of the auxiliary power source is reduced, so that the rotating speed of the coaxial main power source is reduced, the output torque of the main power source is increased to maintain the original target rotating speed, the rotating speed is increased to the target rotating speed, and the rotating speed of the auxiliary power source is driven to return to the target rotating speed;
when the auxiliary power source is in an electric working state, if the torque generated by the auxiliary power source is increased, the rotating speed of the auxiliary power source is increased, so that the rotating speed of the main power source is increased, the output torque of the main power source is reduced by the main power source to maintain the original target rotating speed, the rotating speed is reduced to the target rotating speed, and the rotating speed of the auxiliary power source is driven to return to the target rotating speed;
this dynamic regulation process ensures stable operation of the entire system and achieves efficient energy utilization.
Optionally, when it is determined that the auxiliary power source is in an electric working state and the target torque is greater than the torque currently generated by the auxiliary power source, the controlling the torque of the auxiliary power source to increase to the target torque includes:
the torque of the auxiliary power source is controlled to be increased to the target torque according to the current torque change Step 1.
The Step1 corresponding to the electric working state is determined based on the corresponding relation among the speed difference between the target rotating speed and the current rotating speed of the main power source, the torque currently generated by the main power source and the torque change Step 1. The corresponding relation can be stored in a MAP table or other storage modes, the speed difference in the MAP table and the torque currently generated by the main power source are in one-to-one correspondence with Step1, the larger the speed difference is, the larger the actual torque currently generated by the main power source is, the larger the searched Step1 is, the deficiency of the output torque of the main power source can be timely made up by increasing the output torque of the auxiliary power source, and the specific numerical corresponding relation can be set by actual demands or calibrated by experimental results. When the system load suddenly changes, the Step length Step1 can ensure that the torque output by the auxiliary power source responds in time and the main power source is assisted in time.
Optionally, in the power generation working state, the target torque is smaller than the torque currently generated by the auxiliary power source, and the controlling the torque of the auxiliary power source to be reduced to the target torque includes:
and controlling the torque of the auxiliary power source to drop to the target torque according to the current torque change Step length Step 2.
Step2 may be set by actual requirements or calibrated by experimental results.
In some embodiments, it is also desirable to determine whether to exit the motoring mode or whether to exit the generating mode. As shown in fig. 4, a flowchart of an electric operating state exit judging method provided in an embodiment of the present application is provided, where the method includes the following steps:
step S401, judging whether the duration time that the torque generated by the main power source is not more than a third torque threshold value a3 exceeds a set value or whether the current battery SOC is not more than b2 when the auxiliary power source is in an electric working state, if so, executing step S402, and if not, executing step S401 again;
step S402, the electric working state is exited and the torque of the auxiliary power source is adjusted to the set value.
As shown in fig. 5, a flowchart of a method for determining exit of power generation operation state according to an embodiment of the present application is provided, where the method includes the following steps:
step S501, when the auxiliary power source is in a power generation working state, judging whether the torque currently generated by the power source is larger than a fourth torque threshold value a4 or whether the current battery SOC is larger than b1, if so, executing step S502, and if not, executing step S501 again;
step S502, exiting the power generation working state and adjusting the torque of the auxiliary power source to a set value;
Wherein a3 is greater than a4, a3 and a4 are both smaller than a1 and greater than a2, and specific values can be set by actual demands or calibrated by experimental results.
Optionally, the adjusting the torque of the auxiliary power source to a set value includes:
when the auxiliary power source exits the electric working state, the torque of the auxiliary power source is reduced to 0 according to the Step length Step3, or when the auxiliary power source exits the power generation working state, the torque of the auxiliary power source is increased to 0 according to the Step length Step4, so that the fluctuation of the system rotating speed caused by the abrupt change of the torque of the auxiliary power source is prevented; wherein Step3 and Step4 can be set by actual requirements or calibrated by experimental results.
A specific embodiment is given below to illustrate the method of controlling the drive system provided in the present application.
As shown in fig. 6, a flowchart of a method for controlling a driving system according to an embodiment of the present application is provided, where the method includes the following steps:
step S601, determining the working state of the auxiliary power source and executing step S602 and step S605;
step S602, determining a target torque expected to be generated by the auxiliary power source and executing step S603;
step S603, judging whether the absolute value of the target torque is increased, if yes, executing step S604, otherwise, executing step S601;
specifically, the target torque absolute value increase means that the absolute value of the target torque generated by the desired auxiliary power source determined at this time is larger than the absolute value of the actual torque generated by the current auxiliary power source.
Step S604, adjusting the torque generated by the auxiliary power source with a set step, and executing step S601;
step S605, determine whether to exit the current working state, if yes, execute step S604, and if not, execute step S601.
Reference is made to the foregoing examples for the specific implementation of the steps, and details are not given here.
Based on the same inventive concept, the present embodiments also provide an apparatus for controlling a driving system for driving a hydraulic device, the driving system including a main power source and an auxiliary power source, as shown in fig. 7, the apparatus comprising:
the working state determining module 701 is configured to determine a working state type of the auxiliary power source based on a torque currently generated by the main power source and a current battery state of charge SOC after the driving system enters the auxiliary state;
a target torque determination module 702 configured to determine a target torque that the auxiliary power source is expected to generate based on a difference between a torque currently generated by the main power source and a set threshold and a correlation coefficient corresponding to the operating state type, where the correlation coefficient is determined based on a correspondence between a state parameter of the operating state type and a correlation coefficient, the state parameter characterizing a degree of adjustment desired for the auxiliary power source;
A torque adjustment module 703 for adjusting the torque of the auxiliary power source based on the target torque and adjusting the torque of the main power source based on a target rotational speed.
The specific implementation of each module may refer to the foregoing embodiments, and will not be repeated here.
Based on the same inventive concept, the present application also provides an apparatus 800 for controlling a driving system, as shown in fig. 8, including at least one processor 802; and a memory 801 communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of controlling a drive system described above.
The memory 801 is used for storing programs. In particular, the program may include program code including computer-operating instructions. The memory 801 may be a volatile memory (RAM) such as a random-access memory (RAM); the memory may also be a nonvolatile memory (non-volatile memory), such as a flash memory (flash memory), a Hard Disk Drive (HDD) or a Solid State Drive (SSD); but may be any one or a combination of any of the above volatile and nonvolatile memories.
The processor 802 may be a central processing unit (central processing unit, CPU for short), a network processor (network processor, NP for short), or a combination of CPU and NP. But also a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (programmable logic device, PLD), or a combination thereof. The PLD may be a complex programmable logic device (complex programmable logic device, CPLD for short), a field-programmable gate array (field-programmable gate array, FPGA for short), general-purpose array logic (generic array logic, GAL for short), or any combination thereof.
The embodiment of the present invention also provides a computer-readable storage medium including instructions that, when run on a computer, cause the computer to perform the method of controlling a drive system provided in the above embodiment.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus and modules described above may refer to the corresponding process in the foregoing method embodiment, which is not repeated herein.
In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules, which may be in electrical, mechanical, or other forms.
The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules, 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.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product.
The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be stored by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a Solid State Disk (SSD)), or the like.
The foregoing has described in detail the technical solutions provided herein, and specific examples have been used to illustrate the principles and embodiments of the present application, where the above examples are only used to help understand the methods and core ideas of the present application; meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.
Claims (10)
1. A method of controlling a drive system for driving a hydraulic device, the drive system including a primary power source and a secondary power source, the method comprising:
after a driving system enters an auxiliary state, determining the working state type of the auxiliary power source based on the torque currently generated by the main power source and the current battery charge state SOC;
determining a target torque expected to be generated by the auxiliary power source based on the difference between the torque currently generated by the main power source and a set threshold value and a correlation coefficient corresponding to the operating state type, wherein the correlation coefficient is determined based on the corresponding relation between a state parameter of the operating state type and the correlation coefficient, and the state parameter represents the expected adjustment degree of the auxiliary power source;
the torque of the auxiliary power source is adjusted based on the target torque, and the torque of the main power source is adjusted based on a target rotational speed.
2. The method of claim 1, wherein the determining the operating state type of the auxiliary power source based on the current generated torque of the primary power source and the current battery state of charge, SOC, comprises:
If the current torque generated by the main power source is larger than a first torque threshold value and the current battery SOC is larger than a first SOC threshold value, determining that the auxiliary power source enters an electric working state;
if the duration time that the torque currently generated by the main power source is not greater than the second torque threshold value reaches the set value and the current battery SOC is not greater than the second SOC threshold value, determining that the auxiliary power source enters a power generation working state;
wherein the first torque threshold is greater than the second torque threshold and the first SOC threshold is greater than the second SOC threshold.
3. The method of claim 2, wherein the determining a target torque desired to be generated by the auxiliary power source based on a difference between the torque currently generated by the main power source and a set threshold and a correlation coefficient corresponding to the operating state type comprises:
if the auxiliary power source is in an electric working state, determining a target torque expected to be generated by the auxiliary power source based on a difference value between the torque currently generated by the main power source and a first torque threshold value and a correlation coefficient corresponding to the electric working state, wherein the correlation coefficient corresponding to the electric working state is determined based on a corresponding relation between a speed difference between the target rotating speed and the current rotating speed of the main power source and the correlation coefficient;
And if the auxiliary power source is in a power generation working state, determining a target torque expected to be generated by the auxiliary power source based on a difference value between the torque currently generated by the main power source and a second torque threshold value and a correlation coefficient corresponding to the power generation working state, wherein the correlation coefficient corresponding to the power generation working state is determined based on a corresponding relation between the current battery SOC and the correlation coefficient.
4. The method of claim 2, wherein said adjusting the torque of the auxiliary power source based on the target torque comprises:
if the auxiliary power source is in an electric working state and the target torque is larger than the torque currently generated by the auxiliary power source, controlling the torque of the auxiliary power source to be increased to the target torque;
and if the auxiliary power source is in a power generation working state and the target torque is smaller than the torque currently generated by the auxiliary power source, controlling the torque of the auxiliary power source to be reduced to the target torque.
5. The method of claim 4, wherein said controlling the torque of the auxiliary power source to increase to the target torque comprises:
and controlling the torque of the auxiliary power source to be increased to the target torque according to the current torque change step size, wherein the current torque change step size is determined based on the corresponding relation between the speed difference of the target rotating speed and the current rotating speed of the main power source and the torque change step size currently generated by the main power source.
6. The method according to claim 2, wherein the method further comprises:
if the auxiliary power source is in an electric working state and the target torque is not more than the torque currently generated by the auxiliary power source, or the auxiliary power source is in a power generation working state and the target torque is not less than the torque currently generated by the auxiliary power source, the torque of the auxiliary power source is kept unchanged.
7. The method according to claim 2, wherein the method further comprises:
if the auxiliary power source is in an electric working state, determining that the duration time that the torque currently generated by the main power source is not greater than a third torque threshold value exceeds a set value, or that the current battery SOC is not greater than a second SOC threshold value, exiting the electric working state and adjusting the torque of the auxiliary power source to the set value;
if the auxiliary power source is in a power generation working state, determining that the torque currently generated by the main power source is larger than a fourth torque threshold value, or that the current battery SOC is larger than a first SOC threshold value, exiting the power generation working state and adjusting the torque of the auxiliary power source to a set value;
the third torque threshold is larger than the fourth torque threshold, and the third torque threshold and the fourth torque threshold are smaller than the first torque threshold and larger than the second torque threshold.
8. An apparatus for controlling a drive system for driving a hydraulic device, the drive system including a primary power source and a secondary power source, the apparatus comprising:
the working state determining module is used for determining the working state type of the auxiliary power source based on the torque currently generated by the main power source and the current battery charge state SOC after the driving system enters the auxiliary state;
a target torque determination module configured to determine a target torque that is desired to be generated by the auxiliary power source based on a difference between a torque currently generated by the main power source and a set threshold and a correlation coefficient corresponding to the operating state type, wherein the correlation coefficient is determined based on a correspondence between a state parameter of the operating state type and a correlation coefficient, the state parameter representing a degree of adjustment desired for the auxiliary power source;
a torque adjustment module for adjusting the torque of the auxiliary power source based on the target torque and adjusting the torque of the main power source based on a target rotational speed.
9. An apparatus for controlling a drive system, comprising at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.
10. A computer readable storage medium storing computer instructions which, when run on a computer, cause the computer to perform the method of any one of claims 1-7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311765785.7A CN117818571A (en) | 2023-12-20 | 2023-12-20 | Method, device and equipment for controlling driving system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311765785.7A CN117818571A (en) | 2023-12-20 | 2023-12-20 | Method, device and equipment for controlling driving system |
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| CN117818571A true CN117818571A (en) | 2024-04-05 |
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| CN202311765785.7A Pending CN117818571A (en) | 2023-12-20 | 2023-12-20 | Method, device and equipment for controlling driving system |
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| CN (1) | CN117818571A (en) |
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