WO2024188232A1 - 功率分配方法、装置、工程机械及计算机可读存储介质 - Google Patents

功率分配方法、装置、工程机械及计算机可读存储介质 Download PDF

Info

Publication number
WO2024188232A1
WO2024188232A1 PCT/CN2024/081154 CN2024081154W WO2024188232A1 WO 2024188232 A1 WO2024188232 A1 WO 2024188232A1 CN 2024081154 W CN2024081154 W CN 2024081154W WO 2024188232 A1 WO2024188232 A1 WO 2024188232A1
Authority
WO
WIPO (PCT)
Prior art keywords
power
action
mechanisms
maximum allowable
sum
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2024/081154
Other languages
English (en)
French (fr)
Inventor
刘延斌
刘熙
欧彪
付玲
何强
李伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zoomlion Heavy Industry Science and Technology Co Ltd
Original Assignee
Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zoomlion Heavy Industry Science and Technology Co Ltd filed Critical Zoomlion Heavy Industry Science and Technology Co Ltd
Publication of WO2024188232A1 publication Critical patent/WO2024188232A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries
    • H02J7/855—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries with circuits adapted for supplying loads from the battery
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries
    • H02J7/60—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries including safety or protection arrangements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries
    • H02J7/80—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries including monitoring or indicating arrangements

Definitions

  • the present invention relates to the technical field of engineering machinery, and in particular to a power distribution method, device, engineering machinery and a computer-readable storage medium.
  • construction machinery such as cranes, including truck cranes or crawler cranes
  • distributed drive systems are equipped with distributed drive systems and are pure electric.
  • the distributed drive system uses power batteries as the energy source, and the available power of the entire system is affected by the discharge capacity of the power battery, that is, the allowable discharge power of the power battery.
  • the allowable discharge power of the power battery only meets the action requirements of some action mechanisms, and the action requirements of multiple action mechanisms operated by the operator exceed the allowable discharge power of the power battery, it will cause the motor controllers corresponding to some or all of the action mechanisms to enter a fault state, or the battery overcurrent will damage the battery.
  • the main winch and the auxiliary winch are working at the same time, if the auxiliary winch requests an increase in power, the allocable power of the main winch will be pulled down, and even the motor controller of the main winch will enter a fault state.
  • the existing power distribution method has a technical problem that when the discharge power of the power battery is insufficient, the motor controllers corresponding to the multiple action mechanisms may malfunction or damage the battery.
  • the purpose of the embodiments of the present application is to provide a power distribution method, device, engineering machinery and computer-readable storage medium, which can solve the technical problem that the existing power distribution method causes the motor controllers corresponding to multiple action mechanisms to malfunction or damage the battery when the discharge power of the battery is insufficient.
  • an embodiment of the present application provides a power distribution method, which is applied to engineering machinery.
  • the method comprises a plurality of operating mechanisms, a plurality of action mechanisms and a power supply device, wherein the operating mechanism is used to control the action of the action mechanism, and the power supply device is used to supply power to the plurality of action mechanisms.
  • the method comprises:
  • the remaining allocatable power is allocated to a plurality of action mechanisms.
  • the step of obtaining the sum of the minimum starting powers of multiple action mechanisms includes:
  • the actual action displacement of the operating mechanism corresponding to each action mechanism is determined, and an intermediate displacement variable is constructed;
  • the method of distributing the remaining allocatable power to a plurality of action mechanisms comprises:
  • the remaining allocatable power is allocated to a plurality of action mechanisms according to the intermediate displacement variable.
  • the method of distributing the remaining allocable power to a plurality of action mechanisms according to the intermediate displacement variable includes:
  • the remaining allocable power is allocated to a plurality of action mechanisms according to the intermediate displacement variable and a preset weight.
  • the preset weight includes the maximum operating power of each of the action mechanisms.
  • the preset value is zero.
  • determining the remaining allocatable power of the power supply device according to the sum of the minimum starting powers of the multiple action mechanisms and the maximum allowable discharge power includes:
  • the sum of the required powers of the electrical loads and the maximum allowable The allowable discharge power is used to determine the remaining distributable power of the power supply device.
  • the step of determining whether the sum of the minimum starting powers of the plurality of action mechanisms is less than the maximum allowable discharge power includes:
  • the process of determining the priority of the action mechanism includes:
  • the priority is determined according to the distance.
  • the priority of the action mechanism is determined according to a preset danger level of each of the action mechanisms.
  • the priority of the action mechanism is determined according to the ratio of the actual action displacement of the operating mechanism corresponding to the action mechanism to the maximum allowable displacement of the operating mechanism.
  • an embodiment of the present application provides a power distribution device, which is applied to engineering machinery, wherein the engineering machinery includes a plurality of operating mechanisms, a plurality of action mechanisms, and a power supply device, wherein the operating mechanism is used to control the action of the action mechanism, and the power supply device is used to supply power to the plurality of action mechanisms, and the device includes:
  • a maximum allowable discharge power determination module used to determine the maximum allowable discharge power of the power supply device according to the maximum allowable discharge current and voltage of the power supply device;
  • An acquisition module used for acquiring the sum of the minimum starting powers of multiple action mechanisms
  • a judging module used for judging whether the sum of the minimum starting powers of the plurality of action mechanisms is less than the maximum allowable discharge power
  • a setting module configured to prohibit the operation of the action mechanism with the lowest priority when the sum of the minimum starting powers of the multiple action mechanisms is not less than the maximum allowable discharge power, and execute the step of determining whether the sum of the minimum starting powers of the multiple action mechanisms is less than the maximum allowable discharge power;
  • a remaining allocatable power determination module configured to determine the remaining allocatable power of the power supply device according to the sum of the minimum starting powers of the plurality of action mechanisms and the maximum allowable discharge power when the sum of the minimum starting powers of the plurality of action mechanisms is less than the maximum allowable discharge power;
  • the power distribution module is used to distribute the remaining allocatable power to a plurality of action mechanisms.
  • the present application provides an engineering machine, including a plurality of operating mechanisms, a plurality of action mechanisms and A power supply device, the operating mechanism is used to control the action of the action mechanism, and the power supply device is used to supply power to the multiple action mechanisms;
  • the engineering machine further comprises a processor and a memory, wherein the memory stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the method described in the first aspect are implemented.
  • an embodiment of the present application provides a computer-readable storage medium, on which a program or instruction is stored.
  • the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented.
  • the power allocation method, device, engineering machinery and computer-readable storage medium limit the action mechanism when the working power of the action mechanism requested by the operator exceeds the maximum allowable discharge power of the power supply device, thereby avoiding motor controller failure caused by insufficient power supply and ensuring the reliability of the action of the action mechanism; at the same time, the remaining allocatable power of the power supply device is allocated to meet the operator's power requirements for the action mechanism within the maximum allowable discharge power of the power supply device, thereby ensuring the action integrity of the action mechanism, making full use of the discharge power of the power supply device, avoiding damage to the power supply device, and ensuring that the action is still orderly when the power does not meet the action requirements of the mechanism.
  • FIG1 shows a flow chart of a power allocation method provided in an embodiment of the present application
  • FIG2 shows a schematic structural diagram of a power distribution device provided in an embodiment of the present application.
  • the engineering machinery in the present application is explained by taking a crane as an example.
  • the crane includes multiple action mechanisms, such as a main hoisting mechanism, an auxiliary hoisting mechanism, a variable amplitude mechanism, a slewing mechanism, a left walking mechanism, a right walking mechanism, and an oil pump, totaling 7.
  • Each action mechanism is equipped with an independent drive motor and a motor controller.
  • the drive motor is used to drive the corresponding action mechanism to move, and the motor controller is used to control the drive motor.
  • the specific correspondence includes: 1) The main hoisting drive motor and the first motor controller are used to drive the main hoisting mechanism to move; 2) The auxiliary hoisting drive motor and the second motor controller are used to drive the auxiliary hoisting mechanism to move; 3) The variable amplitude drive motor and the third motor controller are used to drive the variable amplitude mechanism to move; 4) The slewing drive motor and the fourth motor controller are used to drive the slewing mechanism to move; 5) The left walking drive motor and the sixth motor controller are used to drive the left walking mechanism to move; 6) The right walking drive motor and the seventh motor controller are used to drive the right walking mechanism to move; 7) The oil pump drive motor and the fifth motor controller drive the oil pump to work and provide hydraulic oil for the brakes of each action mechanism.
  • the crane also includes multiple operating mechanisms, such as a left handle, a right handle, a left pedal, and a right pedal, a total of 4.
  • the operator controls the movement of the operating mechanism to realize the action of the action mechanism.
  • the corresponding relationship between the operating mechanism and the action mechanism includes: 1) When the left handle is operated to move forward and backward, the auxiliary hoisting mechanism is controlled to move; 2) When the left handle is operated to move left and right, the slewing mechanism is controlled to move; 3) When the right handle is operated to move forward and backward, the main hoisting mechanism is controlled to move; 4) When the right handle is operated to move left and right, the variable amplitude mechanism is controlled to move; 5) When the left walking pedal is operated to move, the left walking mechanism is controlled to move; 6) When the right walking pedal is operated to move, the right walking mechanism is controlled to move. In order to ensure the braking required for the operation of the crane, the oil pump motor needs to remain in a continuous working state.
  • a drive control unit and a power supply device are provided between the operating mechanism and the motor controller.
  • the power supply device is used to supply power to each motor controller and each drive motor.
  • the drive control unit is used to supply power to the power supply device based on the action request of the operating mechanism.
  • the operator controls the operating mechanism and generates an opening signal to the drive control unit; the drive control unit obtains the target speed of the corresponding action mechanism according to the opening signal, and sends the target speed to the corresponding motor controller, which controls the motor to run to the target speed, thereby driving the action mechanism to act.
  • the power supply device includes a battery, a high-voltage distribution box and a high-voltage slip ring.
  • the battery and the high-voltage distribution box are installed on the crane upper car, and the high-voltage slip ring is used to conduct the high-voltage circuit between the crane upper car and the crane lower car.
  • FIG. 1 is a flow chart of a power distribution method provided in an embodiment of the present application.
  • the method is applied to an engineering machine, wherein the engineering machine includes a plurality of operating mechanisms, a plurality of action mechanisms, and a power supply device, wherein the operating mechanism is used to control the action of the action mechanism, and the power supply device is used to supply power to the plurality of action mechanisms, and comprises the following steps:
  • Step 110 Determine the maximum allowable discharge power of the power supply device according to the maximum allowable discharge current and voltage of the power supply device.
  • P BatAlw represents the maximum allowable discharge power of the power supply device
  • U represents the voltage of the power supply device
  • I BatAlw represents the maximum allowable discharge current of the power supply device
  • the power supply device is a battery as an example for explanation, and U can be the internal voltage of the battery. It can be understood that the power supply device can also be other devices that can realize the power supply function, and the embodiment of the present application does not limit this.
  • Step 120 Obtain the sum of the minimum starting powers of the plurality of action mechanisms.
  • the sum of the minimum starting powers of the plurality of action mechanisms is obtained to ensure that all the action mechanisms are allowed to start when possible.
  • Step 130 Determine whether the sum of the minimum starting powers of the plurality of action mechanisms is less than the maximum allowable discharge power.
  • the common working condition of a crane is compound action, that is, multiple action mechanisms work at the same time. Therefore, there are often situations where multiple operating mechanisms are operated at the same time, that is, the left handle, the right handle, the left pedal and the right pedal can all be combined to act; corresponding to multiple action mechanisms to act.
  • the minimum starting power of the action mechanism is measured and stored in advance, and is usually measured based on the action mechanism operating at maximum resistance and minimum operating speed.
  • Step 140 When the sum of the minimum starting powers of the multiple action mechanisms is not less than the maximum allowable discharge power, the action mechanism with the lowest priority is prohibited from operating, and the step of determining whether the sum of the minimum starting powers of the multiple action mechanisms is less than the maximum allowable discharge power is executed.
  • the action mechanism with the lowest priority is prohibited from running, and in the subsequent power allocation process, the action mechanism should not continue to act. Repeat the above judgment process until the sum of the minimum starting powers of multiple action mechanisms is less than the maximum allowable discharge power.
  • the priority represents the shutdown order of the action mechanism when the power is not met. The lower the priority, the earlier it will shut down.
  • the action priority of different action mechanisms can be set according to the characteristics or needs of the equipment.
  • the process of determining the priority of the action mechanism includes:
  • the priority is determined according to the distance.
  • the preset time period may be the time period from 10 minutes before the current moment to the current moment. It is understandable that the preset time period can be set according to actual needs, and the embodiment of the present application does not limit this.
  • the working condition center point represents the working condition point where a single action mechanism works at the maximum speed and maximum power
  • the characteristic vector represents the vector composed of the maximum speed and the maximum power.
  • the distance between the average value vector of each action mechanism and the corresponding working condition center point characteristic vector can be used to characterize the strength of the demand for the action to be performed by each action mechanism under the current working condition. The smaller the distance between the vectors, the higher the action demand, and therefore, the higher the priority should be.
  • the priority of the action mechanism is determined according to a preset danger level of each of the action mechanisms.
  • the operator can determine the danger level of the action mechanism based on actual experience, combined with factors such as the volume and range of motion of the action mechanism, and then input the determination result to the construction machinery through an input device and store it as a preset danger level. It is understandable that the higher the preset danger level, the higher the priority should be.
  • the priority of the action mechanism is determined according to the ratio of the actual action displacement of the operating mechanism corresponding to the action mechanism to the maximum allowable displacement of the operating mechanism.
  • the ratio of the actual action displacement of the operating mechanism corresponding to the action mechanism to the maximum allowable displacement of the operating mechanism can be used to characterize the strength of the operator's request corresponding to each action mechanism under the current working condition.
  • the maximum allowable displacement of the operating mechanism refers to the maximum displacement when the operating mechanism is pushed to the bottom. It can be understood that the larger the ratio, the greater the action request, and therefore, the higher the priority should be.
  • PA P BatAlw - ⁇ P start_i
  • PA represents the remaining allocable power of the power supply device
  • P BatAlw represents the maximum allowable discharge power of the power supply device
  • P start_i represents the minimum starting power requirement of the i-th action mechanism
  • ⁇ P start_i represents the sum of the minimum starting power requirements of multiple action mechanisms.
  • Step 160 distribute the remaining allocatable power to a plurality of action mechanisms.
  • the remaining allocable power is allocated according to the proportion of the intermediate displacement variable. It can be understood that the remaining allocable power is allocated to the drive motor corresponding to each action mechanism, and the action mechanism that is prohibited from running no longer operates and does not participate in power distribution. For each action mechanism, the allocated power is the minimum starting power of the action mechanism plus the remaining allocable power allocated in proportion.
  • the power allocation calculation formula is as follows:
  • Pi represents the effective action allocation power of the i-th action mechanism
  • P start_i represents the minimum starting required power of the i-th action mechanism
  • PA represents the remaining allocable power of the power supply device
  • ⁇ x s,i represents the sum of the intermediate displacement variables of multiple action mechanisms.
  • step 120 includes:
  • the actual action displacement of the operating mechanism corresponding to each action mechanism is determined, and an intermediate displacement variable is constructed;
  • Step 160 includes:
  • the remaining allocatable power is allocated to a plurality of action mechanisms according to the intermediate displacement variable.
  • an intermediate displacement variable xs,i is constructed to guide the judgment of whether the action mechanism is activated and the distribution of power.
  • xs ,i represents the ith intermediate displacement variable
  • xi represents the actual action displacement of the operating mechanism corresponding to the ith action mechanism.
  • the value of i is 7.
  • the intermediate displacement variable of the action mechanism that cannot be subsequently operated is modified to zero.
  • x1 can represent the actual action displacement of the left handle corresponding to the auxiliary winch mechanism in the front-to-back direction
  • x2 can represent the actual action displacement of the left handle corresponding to the slewing mechanism in the left-to-right direction
  • x3 can represent the actual action displacement of the right handle corresponding to the main winch mechanism in the front-to-back direction
  • x4 can represent the actual action displacement of the right handle corresponding to the boom lengthening mechanism in the left-to-right direction
  • x5 can represent the actual action displacement of the left walking pedal corresponding to the left walking mechanism
  • x6 can represent the actual action displacement of the right walking pedal corresponding to the right walking mechanism
  • x7 can represent the actual action displacement of the operating mechanism corresponding to the oil pump.
  • P BatAlw represents the maximum allowable discharge power of the power supply device
  • P start_i represents the minimum starting power of the i-th action mechanism
  • xs ,i represents ⁇ ...
  • the left handle has an actual displacement of 1 unit in the front-to-back direction
  • the left handle has an actual displacement of 2 units in the left-to-right direction
  • the right handle has an actual displacement of 1 unit in the front-to-back direction.
  • the remaining allocable power is 80 W.
  • the remaining allocable power is then allocated to multiple action mechanisms according to the intermediate displacement variable, so that the auxiliary hoisting mechanism, the slewing mechanism and the main hoisting mechanism obtain 20 W, 40 W and 20 W of power respectively.
  • the maximum allowable discharge power is 80W
  • the sum of the minimum starting powers of multiple action mechanisms is greater than the maximum allowable discharge power
  • the action mechanism with the lowest priority is the slewing mechanism, the slewing mechanism is prohibited from running.
  • the minimum starting powers of the auxiliary hoisting mechanism and the main hoisting mechanism are calculated, and the sum of the minimum starting powers of multiple action mechanisms is 60W.
  • the remaining allocable power is 20W, and the auxiliary hoisting mechanism and the main hoisting mechanism obtain 10W and 10W of power respectively.
  • the intermediate displacement variable corresponding to an action mechanism After the intermediate displacement variable corresponding to an action mechanism is set to zero, the actual displacement of the action mechanism needs to be reset to zero before re-judging whether the mechanism is allowed to join the action again. For example, the operator operates the handle to request the main hoisting mechanism and the luffing mechanism to act simultaneously, and the starting power is judged. The judgment result is that the maximum allowable discharge power cannot meet the simultaneous start of the two action mechanisms. If the priority of the slewing mechanism is lower than that of the main hoisting mechanism, the intermediate displacement variable corresponding to the slewing mechanism is set to zero, and the slewing mechanism is prohibited from starting.
  • the intermediate displacement variable is set to zero, but in fact, the actual action displacement of the handle is not zero, because the handle is still maintained at the initial requested displacement position. If the operator wants to request the slewing mechanism to join the action again, he must put the handle back to the middle position and push the handle again to request the slewing action, and then respond to the new request and enter the starting power judgment step again. In this way, the reliability of the construction machinery is guaranteed.
  • allocating the remaining allocable power to a plurality of action mechanisms according to the intermediate displacement variable includes:
  • the remaining allocable power is allocated to a plurality of action mechanisms according to the intermediate displacement variable and a preset weight.
  • the present application also provides a power distribution method, that is, the power is distributed according to the intermediate displacement variable and the preset weight at the same time.
  • the operator can input the preset weight into the engineering machine for storage in advance through the input device.
  • the preset weight can be a fixed value, or it can include the maximum working power of each of the action mechanisms, that is, the power is distributed according to the following formula:
  • Pi represents the effective action allocation power of the ith action mechanism
  • P start_i represents the maximum The small starting required power
  • PA represents the remaining allocatable power of the power supply device
  • P max_i represents the maximum operating power of the i-th operating mechanism
  • ⁇ ( xs,i ⁇ Pmax_i , ⁇ xs,i >N ⁇ ) represents the sum of the maximum operating powers of the operating mechanisms that satisfy the condition xs,i >N.
  • the maximum working power of the hoisting motor is much greater than the maximum working power of the slewing motor. Therefore, it is possible to consider using the maximum working power of each action mechanism as a preset weight during distribution and combining it with the intermediate displacement variable for power distribution.
  • step 150 includes:
  • the remaining allocatable power of the power supply device is determined according to the sum of the minimum starting powers of the plurality of action mechanisms, the sum of the required powers of the electrical loads and the maximum allowable discharge power.
  • the distributable power of the main hoisting mechanism, auxiliary hoisting mechanism, luffing mechanism, slewing mechanism and walking mechanism should be less than the maximum allowable discharge power of the power supply device.
  • PA represents the remaining distributable power of the power supply device
  • P BatAlw represents the maximum allowable discharge power of the power supply device
  • P Pump represents the working power of the oil pump
  • P start_i represents the minimum starting power requirement of the i-th action mechanism
  • ⁇ P start_i represents the sum of the minimum starting power requirements of multiple action mechanisms.
  • step 130 includes:
  • the maximum allowable discharge power changes, for example, the maximum allowable discharge power decreases, that is, the battery allowable discharge power at the previous moment is greater than the battery allowable discharge power at the current moment, the remaining allocable power also changes accordingly; when the actual action displacement changes, it means that the operator has exerted new control on the operating mechanism, causing the new action mechanism to join or exit, that is, there exists x i that satisfies x i ⁇ M at the previous moment, and x i >M at the current moment, or x i satisfies When x i >M, and x i ⁇ M at the current moment, power needs to be redistributed, and then the judgment step is performed to ensure the reliability of the construction machinery.
  • the value of M can be set according to actual needs, for example, to 0; the time difference between the previous moment and the current moment can also be set according to actual needs, for example, to 2s.
  • the power allocation method provided in the embodiment of the present application avoids motor controller failure caused by insufficient power supply and ensures the reliability of the action of the action mechanism by limiting the action mechanism when the working power of the action mechanism requested by the operator exceeds the maximum allowable discharge power of the power supply device.
  • the remaining allocatable power of the power supply device is allocated to meet the operator's power demand for the action mechanism within the maximum allowable discharge power of the power supply device, thereby ensuring the action integrity of the action mechanism, making full use of the discharge power of the power supply device, avoiding damage to the power supply device, and ensuring that the action is still orderly when the power does not meet the action demand of the mechanism.
  • FIG. 2 is a schematic diagram of the structure of a power distribution device provided in an embodiment of the present application.
  • the power distribution device 1000 is applied to engineering machinery, and the engineering machinery includes multiple operating mechanisms, multiple action mechanisms and a power supply device.
  • the operating mechanism is used to control the action of the action mechanism, and the power supply device is used to supply power to the multiple action mechanisms.
  • the power distribution device 1000 includes:
  • An acquisition module 1002 is used to acquire the sum of the minimum starting powers of the plurality of action mechanisms
  • a judgment module 1003 is used to judge whether the sum of the minimum starting powers of the plurality of action mechanisms is less than the maximum allowable discharge power
  • a setting module 1004 is used to prohibit the operation of the action mechanism with the lowest priority when the sum of the minimum starting powers of the multiple action mechanisms is not less than the maximum allowable discharge power, and execute the step of determining whether the sum of the minimum starting powers of the multiple action mechanisms is less than the maximum allowable discharge power;
  • the remaining allocatable power determination module 1005 is used to determine the remaining allocatable power of the power supply device according to the sum of the minimum starting powers of the multiple action mechanisms and the maximum allowable discharge power when the sum of the minimum starting powers of the multiple action mechanisms is less than the maximum allowable discharge power;
  • the power distribution module 1006 is used to distribute the remaining allocatable power to multiple action mechanisms.
  • the power distribution device provided in the embodiment of the present application can implement each process of the power distribution method in the method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.
  • the present application also provides an engineering machine, including a plurality of operating mechanisms, a plurality of action mechanisms and a power supply device, wherein the operating mechanism is used to control the action of the action mechanism, and the power supply device is used to supply power to the plurality of action mechanisms.
  • Power supply the engineering machinery also includes a processor and a memory, on which programs or instructions are stored. When the programs or instructions are executed by the processor, the various processes of the above-mentioned power distribution method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, they will not be repeated here.
  • an embodiment of the present application also provides a computer-readable storage medium, on which a program or instruction is stored.
  • a program or instruction is stored.
  • the various processes of the above-mentioned power allocation method embodiment are implemented and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.
  • the processor is the processor in the engineering machinery described in the above embodiment.
  • the readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.
  • each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function.
  • the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings.
  • each box in the structure diagram and/or the flow diagram, and the combination of boxes in the structure diagram and/or the flow diagram can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.
  • the functional modules or units in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.
  • the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present invention.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes.

Landscapes

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

Abstract

本发明涉及工程机械领域，公开了一种功率分配方法、装置、工程机械及计算机可读存储介质。方法包括：根据供电装置的最大允许放电电流和电压，确定供电装置的最大允许放电功率；获取多个动作机构的最小启动功率之和；在多个动作机构的最小启动功率之和不小于最大允许放电功率的情况下，禁止优先级最低的动作机构运行，并执行判断多个动作机构的最小启动功率之和是否小于最大允许放电功率的步骤；在多个动作机构的最小启动功率之和小于最大允许放电功率的情况下，根据多个动作机构的最小启动功率之和及最大允许放电功率，确定供电装置的剩余可分配功率；将剩余可分配功率分配至多个动作机构。可以避免供电功率不足时电机控制器故障或损害供电装置。

Description

功率分配方法、装置、工程机械及计算机可读存储介质
相关申请的交叉引用
本申请要求2023年03月16日提交的中国专利申请202310257734.7的权益，该申请的内容通过引用被合并于本文。
技术领域
本发明涉及工程机械技术领域，尤其涉及一种功率分配方法、装置、工程机械及计算机可读存储介质。
背景技术
目前，工程机械，例如起重机，包括汽车起重机或履带式起重机，搭载分布式驱动系统，实现了纯电动。分布式驱动系统采用动力电池作为能量源，整个系统的可用功率受到动力电池的放电能力，即动力电池的允许放电功率影响。当动力电池的允许放电功率仅满足部分动作机构的动作需求，而机手操作的多个动作机构的动作需求超过动力电池的允许放电功率时，会导致部分或全部动作机构对应的电机控制器进入故障状态，或电池过流损害电池。例如，主卷扬、副卷扬同时工作时，若副卷扬请求功率增加，会导致主卷扬的可分配功率被拉低，甚至导致主卷扬的电机控制器进入故障状态。
可见，现有的功率分配方法，存在动力电池的放电功率不足时导致多个动作机构对应的电机控制器发生故障或损害电池的技术问题。
发明内容
有鉴于此，本申请实施例的目的是提供一种功率分配方法、装置、工程机械及计算机可读存储介质，能够解决现有的功率分配方法在电池的放电功率不足时导致多个动作机构对应的电机控制器发生故障或损害电池的技术问题。
为了解决上述技术问题，本申请是这样实现的：
第一方面，本申请实施例提供了一种功率分配方法，应用于工程机械，所述工程机械 包括多个操作机构、多个动作机构及供电装置，所述操作机构用于控制所述动作机构动作，所述供电装置用于为所述多个动作机构供电，所述方法包括：
根据所述供电装置的最大允许放电电流和电压，确定所述供电装置的最大允许放电功率；
获取多个动作机构的最小启动功率之和；
所述多个动作机构的最小启动功率之和是否小于所述最大允许放电功率；
在所述多个动作机构的最小启动功率之和不小于所述最大允许放电功率的情况下，禁止优先级最低的所述动作机构运行，并执行所述判断所述多个动作机构的最小启动功率之和是否小于所述最大允许放电功率的步骤；
在所述多个动作机构的最小启动功率之和小于所述最大允许放电功率的情况下，根据所述多个动作机构的最小启动功率之和及所述最大允许放电功率，确定所述供电装置的剩余可分配功率；
将所述剩余可分配功率分配至多个动作机构。
根据本申请公开的一种具体实施方式，所述获取多个动作机构的最小启动功率之和，包括：
根据所述操作机构与动作机构的对应关系，确定每个所述动作机构对应的操作机构的实际动作位移，构建中间位移变量；
获取每个实际动作位移大于预设值对应的所述动作机构的最小启动功率，并确定多个所述动作机构的最小启动功率之和；
所述将所述剩余可分配功率分配至多个动作机构，包括：
将所述剩余可分配功率根据所述中间位移变量分配至多个动作机构。
根据本申请公开的一种具体实施方式，所述将所述剩余可分配功率根据所述中间位移变量分配至多个动作机构，包括：
将所述剩余可分配功率根据所述中间位移变量和预设权重分配至多个动作机构。
根据本申请公开的一种具体实施方式，所述预设权重包括每个所述动作机构的最大工作功率。
根据本申请公开的一种具体实施方式，所述预设值为零。
根据本申请公开的一种具体实施方式，所述根据所述多个动作机构的最小启动功率之和及所述最大允许放电功率，确定所述供电装置的剩余可分配功率，包括：
根据所述多个动作机构的最小启动功率之和、用电负载的需求功率之和及所述最大允 许放电功率，确定所述供电装置的剩余可分配功率。
根据本申请公开的一种具体实施方式，所述判断所述多个动作机构的最小启动功率之和是否小于所述最大允许放电功率，包括：
在所述最大允许放电功率发生变化或所述实际动作位移发生变化的情况下，判断所述多个动作机构的最小启动功率之和是否小于所述最大允许放电功率。
根据本申请公开的一种具体实施方式，所述动作机构的优先级的确定过程包括：
根据每个所述动作机构在预设时间段内的功率及转速，确定每个所述动作机构的平均功率和平均转速，构建每个所述动作机构的平均值向量；
计算每个所述动作机构的平均值向量与对应的工况中心点特征向量的距离；
根据所述距离确定所述优先级。
根据本申请公开的一种具体实施方式，所述动作机构的优先级根据每个所述动作机构的预设危险程度确定。
根据本申请公开的一种具体实施方式，所述动作机构的优先级根据所述动作机构对应的操作机构的实际动作位移与所述操作机构的最大允许位移的比值确定。
第二方面，本申请实施例提供了一种功率分配装置，应用于工程机械，所述工程机械包括多个操作机构、多个动作机构及供电装置，所述操作机构用于控制所述动作机构动作，所述供电装置用于为所述多个动作机构供电，所述装置包括：
最大允许放电功率确定模块，用于根据所述供电装置的最大允许放电电流和电压，确定所述供电装置的最大允许放电功率；
获取模块，用于获取多个动作机构的最小启动功率之和；
判断模块，用于判断所述多个动作机构的最小启动功率之和是否小于所述最大允许放电功率；
设置模块，用于在所述多个动作机构的最小启动功率之和不小于所述最大允许放电功率的情况下，禁止优先级最低的所述动作机构运行，并执行所述判断所述多个动作机构的最小启动功率之和是否小于所述最大允许放电功率的步骤；
剩余可分配功率确定模块，用于在所述多个动作机构的最小启动功率之和小于所述最大允许放电功率的情况下，根据所述多个动作机构的最小启动功率之和及所述最大允许放电功率，确定所述供电装置的剩余可分配功率；
功率分配模块，用于将所述剩余可分配功率分配至多个动作机构。
第三方面，本申请实施例提供了一种工程机械，包括多个操作机构、多个动作机构及 供电装置，所述操作机构用于控制所述动作机构动作，所述供电装置用于为所述多个动作机构供电；
所述工程机械还包括处理器和存储器，所述存储器上存储有程序或指令，所述程序或指令被所述处理器执行时实现如第一方面所述的方法的步骤。
第四方面，本申请实施例提供了一种计算机可读存储介质，所述计算机可读存储介质上存储有程序或指令，所述程序或指令被处理器执行时实现如第一方面所述的方法的步骤。
本申请的上述实施例提供的功率分配方法、装置、工程机械及计算机可读存储介质，通过在机手请求动作的动作机构的工作功率超过供电装置的最大允许放电功率的情况下，对动作机构进行限制，避免了供电功率不足引起的电机控制器故障，保证了动作机构动作的可靠性；同时对供电装置的剩余可分配功率进行分配，在供电装置的最大允许放电功率范围内满足机手对动作机构的功率需求，保证了动作机构的动作完整性，充分利用了供电装置的放电功率，避免损害供电装置，使得在功率不满足机构动作需求情况下动作依然有序。
本发明的其它特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
为了更清楚地说明本发明的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本发明的某些实施例，因此不应被看作是对本发明保护范围的限定。在各个附图中，类似的构成部分采用类似的编号。
图1示出了本申请实施例提供的一种功率分配方法的流程图；
图2示出了本申请实施例提供的一种功率分配装置的结构示意图。
具体实施方式
下面将结合本发明实施例中附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。
通常在此处附图中描述和示出的本发明实施例的组件可以以各种不同的配置来布置和设计。因此，以下对在附图中提供的本发明的实施例的详细描述并非旨在限制要求保护的本发明的范围，而是仅仅表示本发明的选定实施例。基于本发明的实施例，本领域技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。
在下文中，可在本发明的各种实施例中使用的术语“包括”、“具有”及其同源词仅意在表示特定特征、数字、步骤、操作、元件、组件或前述项的组合，并且不应被理解为首先排除一个或更多个其它特征、数字、步骤、操作、元件、组件或前述项的组合的存在或增加一个或更多个特征、数字、步骤、操作、元件、组件或前述项的组合的可能性。
此外，术语“第一”、“第二”、“第三”等仅用于区分描述，而不能理解为指示或暗示相对重要性。
除非另有限定，否则在这里使用的所有术语(包括技术术语和科学术语)具有与本发明的各种实施例所属领域普通技术人员通常理解的含义相同的含义。所述术语(诸如在一般使用的词典中限定的术语)将被解释为具有与在相关技术领域中的语境含义相同的含义并且将不被解释为具有理想化的含义或过于正式的含义，除非在本发明的各种实施例中被清楚地限定。
首先，介绍本申请实施例提供的工程机械的组成。本申请中的工程机械以起重机为例进行说明，起重机包括多个动作机构，例如主卷扬机构、副卷扬机构、变幅机构、回转机构、左行走机构、右行走机构、油泵共计7个。每个动作机构都配置有独立的驱动电机和电机控制器，驱动电机用于驱动对应的动作机构进行动作，电机控制器用于控制驱动电机。具体的对应关系包括：1)主卷扬驱动电机和第一电机控制器用于驱动主卷扬机构动作；2)副卷扬驱动电机和第二电机控制器用于驱动副卷扬机构动作；3)变幅驱动电机和第三电机控制器用于驱动变幅机构动作；4)回转驱动电机和第四电机控制器用于驱动回转机构动作；5)左行走驱动电机和第六电机控制器用于驱动左行走机构动作；6)右行走驱动电机和第七电机控制器用于驱动右行走机构动作；7)油泵驱动电机和第五电机控制器驱动油泵工作，为各个动作机构的制动器提供液压油。
起重机还包括多个操作机构，例如左手柄、右手柄、左踏板、右踏板共计4个。机手控制操作机构移动，进而实现动作机构进行动作。操作机构与动作机构之间的对应关系包括：1)操作左手柄前后方向移动时，控制副卷扬机构动作；2)操作左手柄左右方向移动时，控制回转机构动作；3)操作右手柄前后方向移动时，控制主卷扬机构动作；4)操作右手柄左右方向移动时，控制变幅机构动作；5)操作左行走踏板移动时，控制左行走机构动作；6)操作右行走踏板移动时，控制右行走机构动作。而为了保证起重机工作所需的制动，需要油泵电机保持持续工作状态。
在操作机构和电机控制器之间，设置有驱动控制单元、供电装置，供电装置用于为每个电机控制器及每个驱动电机供电，驱动控制单元用于基于操作机构的动作请求对供电装置 的功率进行分配。机手控制操作机构，产生开度信号至驱动控制单元；驱动控制单元根据开度信号得到对应的动作机构的目标速度，并将目标速度发送至对应的电机控制器，由电机控制器控制电机运行至目标速度，进而驱动动作机构进行动作。供电装置包括电池、高压配电盒及高压滑环。电池和高压配电盒安装于起重机上车，高压滑环用于导通起重机上车与起重机下车之间的高压电路。
可以理解的是，动作机构和操作机构的数量以及相对应的对应关系仅为示例性说明，在实际应用时，根据工程机械的不同亦有不同。
下面介绍本申请提供的功率分配方法。
请参阅图1，图1为本申请实施例提供的功率分配方法的流程图，如图1所示，该方法应用于工程机械，所述工程机械包括多个操作机构、多个动作机构及供电装置，所述操作机构用于控制所述动作机构动作，所述供电装置用于为所述多个动作机构供电，包括以下步骤：
步骤110、根据所述供电装置的最大允许放电电流和电压，确定所述供电装置的最大允许放电功率。
具体的，供电装置的最大允许放电功率计算公式如下：
PBatAlw＝U×IBatAlw
式中，PBatAlw表示供电装置的最大允许放电功率，U表示供电装置的电压，IBatAlw表示供电装置的最大允许放电电流。
在本申请实施例中，以供电装置为电池为例进行说明，U可以为电池的内侧电压。可以理解的是，供电装置还可以为其他可以实现供电功能的装置，本申请实施例对此不做限定。
根据供电装置的最大允许放电功率进行功率调整，可以保证工程机械工作在最大允许放电功率内，避免供电装置过流，进而损害供电装置。
步骤120、获取多个所述动作机构的最小启动功率之和。
具体的，获取多个所述动作机构的最小启动功率之和，以确保在可能的情况下允许所有动作机构都可以启动。
步骤130、判断所述多个动作机构的最小启动功率之和是否小于所述最大允许放电功率。
具体的，起重机常用工况为复合动作，即多个动作机构同时工作。因此，常存在多个操作机构同时操作的情况，也就是说，左手柄、右手柄、左踏板及右踏板均可相互组合动作；对应多个动作机构进行动作。
因此，需判断多个动作机构的最小启动功率之和是否小于最大允许放电功率，其中，动作机构的最小启动功率为预先测得后存储的，通常基于动作机构在最大阻力、最小可运行速度下进行动作时测定得到。
步骤140、在所述多个动作机构的最小启动功率之和不小于所述最大允许放电功率的情况下，禁止优先级最低的所述动作机构运行，并执行所述判断所述多个动作机构的最小启动功率之和是否小于所述最大允许放电功率的步骤。
具体的，多个动作机构的最小启动功率之和不小于最大允许放电功率，说明最大允许放电功率无法保证这些动作机构进行动作，因此，禁止优先级最低的所述动作机构运行，并且在后续功率分配的过程中，该动作机构不应再继续动作。重复上述判断过程，直至满足多个动作机构的最小启动功率之和小于最大允许放电功率。可以理解的是，优先级(Priorityi)代表功率不满足时，动作机构的停机先后顺序，优先级越低则越先停机，可根据设备特点或需要设置不同动作机构的动作优先级。
下面将介绍本申请实施例提供的几种确定所述动作机构的优先级的方法，具体的确定方式可以根据实际需求设定。
一种可选的实施方式中，所述动作机构的优先级的确定过程包括：
根据每个所述动作机构在预设时间段内的功率及转速，确定每个所述动作机构的平均功率和平均转速，构建每个所述动作机构的平均值向量；
计算每个所述动作机构的平均值向量与对应的工况中心点特征向量的距离；
根据所述距离确定所述优先级。
具体的，由于起重机在不同时间和场地中工况存在差异，会存在某一段时间内频繁使用卷扬机构，另一段时间内频繁使用回转机构等情况，因此需记录过往预设时间段内每个动作机构的实际工作状况。在本申请实施例中，预设时间段可以为当前时刻前10分钟到当前时刻这一时间段。可以理解的是，预设时间段可以根据实际需求设定，本申请实施例对此不做限定。
工况中心点表示单个动作机构以最大转速最大功率工作的工况点，特征向量表示最大转速与最大功率组成的向量。每个动作机构的平均值向量与对应的工况中心点特征向量之间的距离，可以用于表征当前工况下每个动作机构待执行的动作的需求强弱，向量之间的距离越小，则说明动作需求越高，因此，优先级应当越高。
一种可选的实施方式中，所述动作机构的优先级根据每个所述动作机构的预设危险程度确定。
具体的，机手可以基于实际经验，结合动作机构的体积、动作幅度等因素，对动作机构的危险程度进行判定，然后将判定结果通过输入设备输入至工程机械，并存储为预设危险程度。可以理解的是，预设危险程度越高，优先级应当越高。
一种可选的实施方式中，所述动作机构的优先级根据所述动作机构对应的操作机构的实际动作位移与所述操作机构的最大允许位移的比值确定。
具体的，动作机构对应的操作机构的实际动作位移与操作机构的最大允许位移的比值，可以用于表征当前工况下各个动作机构对应的机手请求强弱。操作机构的最大允许位移指的是将操作机构推到底时的最大程度位移。可以理解的是，比值越大，则说明动作请求程度越大，因此，优先级应当越高。
步骤150、在所述多个动作机构的最小启动功率之和小于所述最大允许放电功率的情况下，根据所述多个动作机构的最小启动功率之和及所述最大允许放电功率，确定所述供电装置的剩余可分配功率。
具体的，供电装置的剩余可分配功率的计算公式为：
PA＝PBatAlw-∑Pstart_i
式中，PA表示供电装置的剩余可分配功率，PBatAlw表示供电装置的最大允许放电功率，Pstart_i表示第i个动作机构的最小启动需求功率，∑Pstart_i表示多个动作机构的最小启动需求功率之和。
步骤160、将所述剩余可分配功率分配至多个动作机构。
具体的，将剩余可分配功率根据中间位移变量的比例进行分配。可以理解的是，剩余可分配功率被分配至每个动作机构对应的驱动电机，并且被禁止运行的动作机构不再动作，不参与功率分配。对于每个动作机构，被分配的功率为该动作机构的最小启动功率加上按比例分配到的剩余可分配功率。功率分配计算公式如下：
式中，Pi表示第i个动作机构的有效动作分配功率，Pstart_i表示第i个动作机构的最小启动需求功率，PA表示供电装置的剩余可分配功率，∑xs,i表示多个动作机构的中间位移变量之和。
一种可选的实施方式中，步骤120，包括：
根据所述操作机构与动作机构的对应关系，确定每个所述动作机构对应的操作机构的实际动作位移，构建中间位移变量；
获取每个实际动作位移大于预设值对应的所述动作机构的最小启动功率，并确定多个所述动作机构的最小启动功率之和；
步骤160，包括：
将所述剩余可分配功率根据所述中间位移变量分配至多个动作机构。
具体的，在本申请实施例中，构建中间位移变量xs,i用于指导动作机构是否启动的判断以及功率的分配。
可以理解的是，中间位移变量的初始赋值为每个动作机构对应的操作机构的实际动作位移，即：
[xs,1,xs,2,…xs,i]＝[x1,x2,…xi]
式中，xs,i表示第i个中间位移变量，xi表示第i个动作机构对应的操作机构的实际动作位移。在本申请实施例中，i的取值为7。
可以理解的是，禁止优先级最低的动作机构运行后，由于该动作机构后续无法的中间位移变量即被修改为零。例如，副卷扬机构的优先级最低，则中间位移变量变为[xs,1,xs,2,…xs,n]＝[0,x2,…xn]。
根据操作机构与动作机构的对应关系，x1可以表示副卷扬机构对应的左手柄在前后方向的实际动作位移，x2可以表示回转机构对应的左手柄在左右方向的实际动作位移，x3可以表示主卷扬机构对应的右手柄在前后方向的实际动作位移，x4可以表示变幅机构对应的右手柄在左右方向的实际动作位移，x5可以表示左行走机构对应的左行走踏板的实际动作位移，x6可以表示右行走机构对应的右行走踏板的实际动作位移，x7可以表示油泵对应的操作机构的实际动作位移。
获取每个实际动作位移大于预设值对应的动作机构的最小启动功率，并确定多个动作机构的最小启动功率之和，也即∑Pstart_i,{xs,i>N}，式中，Pstart_i表示第i个动作机构的最小启动功率，表示满足xs,i>N条件的动作机构的最小启动功率之和，xs,i表示第i个中间位移变量，N表示预设值。
在判断多个动作机构的最小启动功率之和是否小于最大允许放电功率时，也即通过如下公式：
PBatAlw-∑Pstart_i,{xs,i>N}>0
式中，PBatAlw表示供电装置的最大允许放电功率，Pstart_i表示第i个动作机构的最小启动功率，表示满足xs,i>N条件的动作机构的最小启动功率之和，xs,i表 示第i个中间位移变量，N表示预设值。一种可选的实施方式中，预设值为零。
以预设值等于零为例，若中间位移变量[xs,1,xs,2,…xs,7]＝[1,2,1,0,0,0,0]，说明左手柄在前后方向上有1个单位的实际动作位移，同时，左手柄还在左右方向上有2个单位的实际动作位移，右手柄在前后方向上有1个单位的实际动作位移。获取副卷扬机构、回转机构和主卷扬机构的最小启动功率，例如分别为10W、30W及50W，则多个动作机构的最小启动功率之和为90W。
若最大允许放电功率为170W，则剩余可分配功率为80W。再将剩余可分配功率根据中间位移变量分配至多个动作机构，则副卷扬机构、回转机构和主卷扬机构分别得到20W、40W、20W的功率。
若最大允许放电功率为80W，则由于多个动作机构的最小启动功率之和大于最大允许放电功率，若优先级最低的动作机构为回转机构，禁止回转机构运行。并继续计算副卷扬机构和主卷扬机构的最小启动功率，则多个动作机构的最小启动功率之和为60W。此时，剩余可分配功率为20W，则副卷扬机构和主卷扬机构分别得到10W和10W的功率。
一个动作机构对应的中间位移变量置零后，需要该动作机构的实际位移重新置零后才能重新判断该机构是否允许再次加入动作。例如，机手操作手柄，请求主卷扬机构和变幅机构两个动作机构同时动作，进行启动功率判断，判断结果为此时最大允许放电功率不能满足这两个动作机构同时启动，若回转机构的优先级低于主卷扬机构的优先级，则将回转机构对应的中间位移变量置零，禁止回转机构启动。可以理解的是，中间位移变量置零，但实际上，手柄的实际动作位移非零，因为手柄仍保持在最初请求位移位置。之后如果机手想再次请求将回转机构加入动作，必须将手柄放回中位再次推动手柄请求回转动作，才会响应新的请求，再次进入启动功率判断的步骤。这样，保证了工程机械工作的可靠性。
在此基础上，一种可选的实施方式中，所述将所述剩余可分配功率根据所述中间位移变量分配至多个动作机构，包括：
将所述剩余可分配功率根据所述中间位移变量和预设权重分配至多个动作机构。
具体的，本申请还提供了一种功率分配方式，即同时根据中间位移变量和预设权重进行分配。机手可以预先通过输入设备将预设权重输入至工程机械内存储。预设权重可以为固定数值，也可以包括每个所述动作机构的最大工作功率，也即根据以下公式进行功率分配：
式中，Pi表示第i个动作机构的有效动作分配功率，Pstart_i表示第i个动作机构的最 小启动需求功率，PA表示供电装置的剩余可分配功率，Pmax_i表示第i个操作机构的最大工作功率，∑(xs,i×Pmax_i,{xs,i>N})表示满足xs,i>N条件的动作机构的最大工作功率之和。
需要说明的是，在起重机中，卷扬电机的最大工作功率远远大于回转电机的最大工作功率，因此，可考虑在分配时利用每个动作机构的最大工作功率作为预设权重，搭配中间位移变量进行功率分配。
一种可选的实施方式中，步骤150包括：
根据所述多个动作机构的最小启动功率之和、用电负载的需求功率之和及所述最大允许放电功率，确定所述供电装置的剩余可分配功率。
具体的，在工程机械运行的过程中，除了动作机构外，还存在其他的用电负载，比如控制系统、温控系统等。由于需要保证其他用电负载的正常使用，因此，在确定剩余可分配功率时，在最大允许放电功率减去多个动作机构的最小启动功率的基础上，还需要再减去用电复杂的需求功率之和。
例如，起重机因需保证动作机构的制动液压，油泵需保证一定转速工作时，因此，需要为油泵预留部分功率。在实际工作中，主卷扬机构、副卷扬机构、变幅机构、回转机构及行走机构的可分配功率应小于供电装置的最大允许放电功率，供电装置的剩余可分配功率的计算公式为：
PA＝PBatAlw-PPump-∑Pstart_i
式中，PA表示供电装置的剩余可分配功率，PBatAlw表示供电装置的最大允许放电功率，PPump表示油泵的工作功率，Pstart_i表示第i个动作机构的最小启动需求功率，∑Pstart_i表示多个动作机构的最小启动需求功率之和。
通过上述实施例，可以既保证工程机械的动作机构正常运行，还可以保证用电负载的正常运行，提高了工程机械运行的稳定性。
一种可选的实施方式中，步骤130包括：
在所述最大允许放电功率发生变化或所述实际动作位移发生变化的情况下，判断所述多个动作机构的最小启动功率之和是否小于所述最大允许放电功率。
具体的，最大允许放电功率发生变化时，例如，最大允许放电功率下降，也即上一时刻电池允许放电功率大于当前时刻电池允许放电功率时，相应地，剩余可分配功率同样发生变化；实际动作位移发生变化时，说明机手对操作机构施加了新的控制，使得新的动作机构加入或退出，也即存在xi满足上一时刻xi≤M，而当前时刻xi>M，或者xi满足上一时刻 xi>M，而当前时刻xi≤M时，功率需要重新分配，进而执行判断的步骤，保证了工程机械工作的可靠性。并且，由于不会时时刻刻进行判断，从而降低了工程机械的工作耗能。可以理解的是，M的值可以根据实际需求设定，例如为0；上一时刻与当前时刻之间的时间差值同样可以根据实际需求设定，例如为2s。
本申请实施例中提供的功率分配方法，通过在机手请求动作的动作机构的工作功率超过供电装置的最大允许放电功率的情况下，对动作机构进行限制，避免了供电功率不足引起的电机控制器故障，保证了动作机构动作的可靠性；同时对供电装置的剩余可分配功率进行分配，在供电装置的最大允许放电功率范围内满足机手对动作机构的功率需求，保证了动作机构的动作完整性，充分利用了供电装置的放电功率，避免损害供电装置，使得在功率不满足机构动作需求情况下动作依然有序。
与上述方法实施例相对应，请参见图2，图2为本申请实施例提供的功率分配装置的结构示意图，如图2所示，功率分配装置1000应用于工程机械，所述工程机械包括多个操作机构、多个动作机构及供电装置，所述操作机构用于控制所述动作机构动作，所述供电装置用于为所述多个动作机构供电，功率分配装置1000包括：
最大允许放电功率确定模块1001，用于根据所述供电装置的最大允许放电电流和电压，确定所述供电装置的最大允许放电功率；
获取模块1002，用于获取多个所述动作机构的最小启动功率之和；
判断模块1003，用于判断所述多个动作机构的最小启动功率之和是否小于所述最大允许放电功率；
设置模块1004，用于在所述多个动作机构的最小启动功率之和不小于所述最大允许放电功率的情况下，禁止优先级最低的所述动作机构运行，并执行所述判断所述多个动作机构的最小启动功率之和是否小于所述最大允许放电功率的步骤；
剩余可分配功率确定模块1005，用于在所述多个动作机构的最小启动功率之和小于所述最大允许放电功率的情况下，根据所述多个动作机构的最小启动功率之和及所述最大允许放电功率，确定所述供电装置的剩余可分配功率；
功率分配模块1006，用于将所述剩余可分配功率分配至多个动作机构。
本申请实施例提供的功率分配装置能够实现方法实施例中功率分配方法的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
可选的，本申请实施例还提供一种工程机械，包括多个操作机构、多个动作机构及供电装置，所述操作机构用于控制所述动作机构动作，所述供电装置用于为所述多个动作机构 供电；工程机械还包括处理器和存储器，所述存储器上存储有程序或指令，该程序或指令被处理器执行时实现上述功率分配方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
可选的，本申请实施例还提供一种计算机可读存储介质，所述计算机可读存储介质上存储有程序或指令，该程序或指令被处理器执行时实现上述功率分配方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
其中，所述处理器为上述实施例中所述的工程机械中的处理器。所述可读存储介质，包括计算机可读存储介质，如计算机只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等。
在本申请所提供的几个实施例中，应该理解到，所揭露的装置和方法，也可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，附图中的流程图和结构图显示了根据本发明的多个实施例的装置、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或代码的一部分，所述模块、程序段或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在作为替换的实现方式中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，结构图和/或流程图中的每个方框、以及结构图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
另外，在本发明各个实施例中的各功能模块或单元可以集成在一起形成一个独立的部分，也可以是各个模块单独存在，也可以两个或更多个模块集成形成一个独立的部分。
所述功能如果以软件功能模块的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是智能手机、个人计算机、服务器、或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟 悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。

Claims (13)

  1. 一种功率分配方法，其特征在于，应用于工程机械，所述工程机械包括多个操作机构、多个动作机构及供电装置，所述操作机构用于控制所述动作机构动作，所述供电装置用于为所述多个动作机构供电，所述方法包括：
    根据所述供电装置的最大允许放电电流和电压，确定所述供电装置的最大允许放电功率；
    获取多个所述动作机构的最小启动功率之和；
    判断所述多个动作机构的最小启动功率之和是否小于所述最大允许放电功率；
    在所述多个动作机构的最小启动功率之和不小于所述最大允许放电功率的情况下，禁止优先级最低的所述动作机构运行，并执行所述判断所述多个动作机构的最小启动功率之和是否小于所述最大允许放电功率的步骤；
    在所述多个动作机构的最小启动功率之和小于所述最大允许放电功率的情况下，根据所述多个动作机构的最小启动功率之和及所述最大允许放电功率，确定所述供电装置的剩余可分配功率；
    将所述剩余可分配功率分配至多个动作机构。
  2. 根据权利要求1所述的功率分配方法，其特征在于，所述获取多个动作机构的最小启动功率之和，包括：
    根据所述操作机构与动作机构的对应关系，确定每个所述动作机构对应的操作机构的实际动作位移，构建中间位移变量；
    获取每个实际动作位移大于预设值对应的所述动作机构的最小启动功率，并确定多个所述动作机构的最小启动功率之和；
    所述将所述剩余可分配功率分配至多个动作机构，包括：
    将所述剩余可分配功率根据所述中间位移变量分配至多个动作机构。
  3. 根据权利要求2所述的功率分配方法，其特征在于，所述将所述剩余可分配功率根据所述中间位移变量分配至多个动作机构，包括：
    将所述剩余可分配功率根据所述中间位移变量和预设权重分配至多个动作机构。
  4. 根据权利要求3所述的功率分配方法，其特征在于，所述预设权重包括每个所述动作机构的最大工作功率。
  5. 根据权利要求2所述的功率分配方法，其特征在于，所述预设值为零。
  6. 根据权利要求1所述的功率分配方法，其特征在于，所述根据所述多个动作机构的最小启动功率之和及所述最大允许放电功率，确定所述供电装置的剩余可分配功率，包括：
    根据所述多个动作机构的最小启动功率之和、用电负载的需求功率之和及所述最大允许放电功率，确定所述供电装置的剩余可分配功率。
  7. 根据权利要求1所述的功率分配方法，其特征在于，所述判断所述多个动作机构的最小启动功率之和是否小于所述最大允许放电功率，包括：
    在所述最大允许放电功率发生变化或所述实际动作位移发生变化的情况下，判断所述多个动作机构的最小启动功率之和是否小于所述最大允许放电功率。
  8. 根据权利要求1所述的功率分配方法，其特征在于，所述动作机构的优先级的确定过程包括：
    根据每个所述动作机构在预设时间段内的功率及转速，确定每个所述动作机构的平均功率和平均转速，构建每个所述动作机构的平均值向量；
    计算每个所述动作机构的平均值向量与对应的工况中心点特征向量的距离；
    根据所述距离确定所述优先级。
  9. 根据权利要求1所述的功率分配方法，其特征在于，所述动作机构的优先级根据每个所述动作机构的预设危险程度确定。
  10. 根据权利要求1所述的功率分配方法，其特征在于，所述动作机构的优先级根据所述动作机构对应的操作机构的实际动作位移与所述操作机构的最大允许位移的比值确定。
  11. 一种功率分配装置，其特征在于，应用于工程机械，所述工程机械包括多个操作机构、多个动作机构及供电装置，所述操作机构用于控制所述动作机构动作，所述供电装置用于为所述多个动作机构供电，所述装置包括：
    最大允许放电功率确定模块，用于根据所述供电装置的最大允许放电电流和电压，确定所述供电装置的最大允许放电功率；
    获取模块，用于获取多个所述动作机构的最小启动功率之和；
    判断模块，用于判断所述多个动作机构的最小启动功率之和是否小于所述最大允许放电功率；
    设置模块，用于在所述多个动作机构的最小启动功率之和不小于所述最大允许放电功率的情况下，禁止优先级最低的所述动作机构运行，并执行所述判断所述多个动作机构的最小启动功率之和是否小于所述最大允许放电功率的步骤；
    剩余可分配功率确定模块，用于在所述多个动作机构的最小启动功率之和小于所述最大允许放电功率的情况下，根据所述多个动作机构的最小启动功率之和及所述最大允许放电功率，确定所述供电装置的剩余可分配功率；
    功率分配模块，用于将所述剩余可分配功率分配至多个动作机构。
  12. 一种工程机械，其特征在于，包括多个操作机构、多个动作机构及供电装置，所述操作机构用于控制所述动作机构动作，所述供电装置用于为所述多个动作机构供电；
    所述工程机械还包括处理器和存储器，所述存储器上存储有程序或指令，所述程序或指令被所述处理器执行时实现如权利要求1-10中任一项所述的功率分配方法的步骤。
  13. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质上存储有程序或指令，所述程序或指令被处理器执行时实现如权利要求1-10中任一项所述的功率分配方法的步骤。
PCT/CN2024/081154 2023-03-16 2024-03-12 功率分配方法、装置、工程机械及计算机可读存储介质 Ceased WO2024188232A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202310257734.7A CN116404710B (zh) 2023-03-16 2023-03-16 功率分配方法、装置、工程机械及计算机可读存储介质
CN202310257734.7 2023-03-16

Publications (1)

Publication Number Publication Date
WO2024188232A1 true WO2024188232A1 (zh) 2024-09-19

Family

ID=87009468

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2024/081154 Ceased WO2024188232A1 (zh) 2023-03-16 2024-03-12 功率分配方法、装置、工程机械及计算机可读存储介质

Country Status (2)

Country Link
CN (1) CN116404710B (zh)
WO (1) WO2024188232A1 (zh)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116404710B (zh) * 2023-03-16 2024-09-03 中联重科股份有限公司 功率分配方法、装置、工程机械及计算机可读存储介质
CN117254567A (zh) * 2023-11-16 2023-12-19 深圳市百酷新能源有限公司 一种储能电池功率管理方法、装置、设备及存储介质

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150361627A1 (en) * 2014-06-16 2015-12-17 Caterpillar Paving Products Inc. Electric Powered Systems for Paving Machines
DE102020123639A1 (de) * 2020-09-10 2022-03-10 Horsch Maschinen Gmbh Energieverwaltungssystem für eine landwirtschaftliche Arbeitsmaschine, Verfahren zum Leistungsoptimierten Aktivieren und/oder Deaktivieren von elektrischen Verbrauchern und landwirtschaftliche Verteilmaschine
CN115072561A (zh) * 2021-03-10 2022-09-20 马尼托沃克起重机集团（法国）公司 用于向起重机装备分配电功率的方法
CN116404710A (zh) * 2023-03-16 2023-07-07 中联重科股份有限公司 功率分配方法、装置、工程机械及计算机可读存储介质

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6710578B1 (en) * 2002-08-27 2004-03-23 Motorola, Inc. Power resource management in a portable communication device
JP4905300B2 (ja) * 2006-09-28 2012-03-28 トヨタ自動車株式会社 電源システムおよびそれを備えた車両、電源システムの制御方法ならびにその制御方法をコンピュータに実行させるためのプログラムを記録したコンピュータ読取可能な記録媒体
US11867063B2 (en) * 2017-08-21 2024-01-09 Modular Mining Systems, Inc. Power optimization through orchestration and prioritization of machines and functions
CN110258709B (zh) * 2019-07-08 2021-07-30 山重建机有限公司 一种挖掘机自动匹配不同工况的方法
CN114725924A (zh) * 2022-03-16 2022-07-08 三一汽车起重机械有限公司 一种工程机械的功率控制方法、装置及工程机械
CN115818448B (zh) * 2023-02-23 2023-05-23 三一汽车起重机械有限公司 电动起重机上车功率分配方法及装置、电动起重机

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150361627A1 (en) * 2014-06-16 2015-12-17 Caterpillar Paving Products Inc. Electric Powered Systems for Paving Machines
DE102020123639A1 (de) * 2020-09-10 2022-03-10 Horsch Maschinen Gmbh Energieverwaltungssystem für eine landwirtschaftliche Arbeitsmaschine, Verfahren zum Leistungsoptimierten Aktivieren und/oder Deaktivieren von elektrischen Verbrauchern und landwirtschaftliche Verteilmaschine
CN115072561A (zh) * 2021-03-10 2022-09-20 马尼托沃克起重机集团（法国）公司 用于向起重机装备分配电功率的方法
CN116404710A (zh) * 2023-03-16 2023-07-07 中联重科股份有限公司 功率分配方法、装置、工程机械及计算机可读存储介质

Also Published As

Publication number Publication date
CN116404710B (zh) 2024-09-03
CN116404710A (zh) 2023-07-07

Similar Documents

Publication Publication Date Title
WO2024188232A1 (zh) 功率分配方法、装置、工程机械及计算机可读存储介质
JP5688418B2 (ja) 作業車両の制御装置および作業車両
CA3010495C (en) Systems and methods for the control and operation of a parallel motor controller architecture
EP2200142B1 (en) Method and arrangement for limiting electric power required by electric loads
EP2851475B1 (en) Hybrid construction machinery
US9431930B2 (en) Emergency stop method for hybrid construction equipment and brake control device
CN111959485A (zh) 一种用于混合动力挖掘机的动力控制方法及装置
CN111781985A (zh) 矿机功率调整方法
CN111942221B (zh) 车辆的能量管理方法、装置、设备及计算机可读存储介质
CN115056658B (zh) 电源系统的控制方法、装置、电源系统及车辆
CN116827798A (zh) 一种设备管理方法、装置、设备及机器可读存储介质
CN113526285B (zh) 电梯停电应急设备、方法、装置及电梯
CN113401761B (zh) 电梯停电应急控制方法和设备
CN112977382A (zh) 工程车辆的制动控制方法以及工程车辆的制动控制装置
JP6002105B2 (ja) ハイブリッド式作業車両
CN104011391B (zh) 液压系统的电子液压泵的压力过剩防止系统
CN112208499A (zh) 低地板车制动力分配系统、制动力分配方法和低地板车
CN113879128A (zh) 自动驾驶平板车的制动控制方法、系统和计算机设备
CN120773748A (zh) 制动扭矩分配方法、装置、设备及可读存储介质
EP4559760A1 (en) Low-voltage circuit control method, apparatus and system, and device and storage medium
CN110171305B (zh) 充电方法、系统、装置、设备、存储介质和电动汽车
WO2024202825A1 (ja) 作業機械及び作業機械の制御方法
CN120528046A (zh) 一种储能系统及其控制方法
RU2671116C1 (ru) Способ управления лифтовой системы и устройство его реализации
CN114865670A (zh) 一种充电站功率有序调控方法、充电站预制舱、终端及存储介质

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 24769924

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 24769924

Country of ref document: EP

Kind code of ref document: A1