CN-122013828-A - Control method and device of tandem loader and tandem loader

CN122013828ACN 122013828 ACN122013828 ACN 122013828ACN-122013828-A

Abstract

The application provides a control method and device of a tandem loader and the tandem loader, wherein the method comprises the steps of determining first power according to the current gear of the loader and the current state of charge of a power battery; determining second power according to the opening degree of a target pedal, the current gear and the current state of charge, determining third power according to the first power and the second power, obtaining current power of a working motor, obtaining fourth power, obtaining current power of a walking motor, obtaining fifth power, verifying peak power of a power battery according to the third power, and controlling the working motor to operate according to the fourth power and controlling the walking motor to operate according to the fifth power under the condition that verification is passed. In the prior art, the engine power is only related to the SOC, and the problem that the service life of the battery is influenced because the instantaneous output power of the power battery frequently exceeds the peak value due to the simultaneous output of the working motor and the walking motor is easy to occur.

Inventors

MA MINGXIA
SUN MINGFENG
HAO PENGFEI
HAN HONG
SU XIAOQIANG

Assignees

潍柴动力股份有限公司
潍柴新能源动力科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260408

Claims (10)

1. A method of controlling a tandem loader, comprising: Determining initial required output power of the range extender according to the current gear of the loader and the current state of charge of the power battery to obtain first power; Determining the actual required output power of the range extender under the current working condition according to the target pedal opening, the current gear and the current state of charge to obtain second power; Determining the actual output power of the range extender according to the first power and the second power to obtain third power; Obtaining current power of a working motor, obtaining fourth power, obtaining current power of a walking motor, obtaining fifth power, and verifying peak power of a power battery for the fourth power and the fifth power according to the third power; And controlling the operation of the working motor according to the fourth power and controlling the operation of the walking motor according to the fifth power under the condition that verification is passed.
2. The method of claim 1, wherein determining the required output power of the range extender under the current operating condition according to the target pedal opening and the current gear to obtain the second power comprises: Obtaining the average opening of an accelerator pedal in a preset period to obtain the opening of the target pedal; Inquiring a first mapping relation according to the target pedal opening and the current gear to obtain a target power gear, wherein the first mapping relation is a mapping relation among the accelerator pedal opening, the gear and the power gear, and the power gear is used for restricting the required output power range of the range extender; And inquiring a second mapping relation according to the target power gear and the current state of charge to obtain the second power, wherein the second mapping relation is a mapping relation among the power gear, the state of charge and the actually required output power.
3. The method of claim 1, wherein determining the actual output power of the range extender from the first power and the second power to obtain a third power comprises: Acquiring the accumulated operation time of the loader; When the accumulated running time is longer than or equal to a preset period, determining the second power as the actual output power of the range extender, and obtaining the third power; and under the condition that the accumulated operation duration is smaller than the preset period, determining the first power as the actual output power of the range extender, and obtaining the third power.
4. The method of claim 1, wherein power cell peak power verification of the fourth power and the fifth power from the third power comprises: Calculating the sum of the fourth power and the fifth power to obtain a sixth power, and calculating the difference value between the sixth power and the third power to obtain a power deviation; under the condition that the absolute value of the power deviation is smaller than or equal to a preset threshold value, determining that the power battery peak power verification passes; and under the condition that the absolute value of the power deviation is larger than the preset threshold value, determining that the power battery peak power verification is not passed.
5. The method of claim 4, wherein after power cell peak power verification of the fourth power and the fifth power from the third power, the method further comprises: Controlling the working motor to run according to the fourth power under the condition that the sixth power is smaller than the third power and the peak power of the power battery is not verified; Calculating the sum of the preset threshold value and the fourth power to obtain a seventh power, and calculating the difference between the third power and the seventh power to obtain an eighth power; And controlling the running motor to run according to the eighth power.
6. The method of claim 4, wherein after power cell peak power verification of the fourth power and the fifth power from the third power, the method further comprises: Controlling the working motor to run according to the fourth power under the condition that the sixth power is larger than the third power and the peak power of the power battery is not verified; calculating the sum of the preset threshold value and the third power to obtain a ninth power, and calculating the difference between the ninth power and the fourth power to obtain a tenth power; And controlling the running motor to run according to the tenth power.
7. The method of claim 1, wherein determining the initial required output power of the range extender based on the current gear of the loader and the current state of charge of the power battery to obtain the first power comprises: And inquiring a third mapping relation according to the current gear and the current state of charge to obtain the first power, wherein the third mapping relation is a mapping relation among the gear, the state of charge and the initial required output power.
8. A control device for a tandem loader, the device comprising: the first determining unit is used for determining initial required output power of the range extender according to the current gear of the loader and the current state of charge of the power battery to obtain first power; the second determining unit is used for determining the actual required output power of the range extender under the current working condition according to the opening degree of the target pedal, the current gear and the current state of charge to obtain second power; The third determining unit is used for determining the actual output power of the range extender according to the first power and the second power to obtain third power; the power battery peak power verification unit is used for obtaining the current power of the working motor, obtaining the fourth power, obtaining the current power of the walking motor, obtaining the fifth power, and verifying the peak power of the power battery according to the third power; and the first control unit is used for controlling the operation of the working motor according to the fourth power and controlling the operation of the walking motor according to the fifth power under the condition that verification is passed.
9. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored program, wherein the program, when run, controls a device in which the computer readable storage medium is located to perform the method of any one of claims 1 to 7.
10. A tandem loader comprising one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing the method of any of claims 1-7.

Description

Control method and device of tandem loader and tandem loader Technical Field The invention relates to the technical field of engineering machinery control, in particular to a control method and device of a tandem loader, a computer readable storage medium and the tandem loader. Background A schematic diagram of the tandem loader is shown in FIG. 1, which includes a hydraulic pump, an engine, and an ISG motor, a battery, a drive motor, and a gearbox connected in sequence. The power output of the engine as a range extender is regulated only according to the state of charge (SOC) of the power battery, and the actual running conditions (such as gears, accelerator opening and the like) of the loader are not considered. Under typical working conditions such as ocean grinder, quick shovel loading and the like, the power demand of the wheel end fluctuates severely and has the characteristics of high repeatability and short period, and the power of the range extender is regulated in a hysteresis way only by relying on SOC feedback, so that the initial output power of the range extender is seriously mismatched with the demand of the real-time working condition, the power balance can be achieved only after a long time, and a large number of power gaps are born by a power battery during the time, so that short-time power overrun is extremely easy to be caused. Furthermore, because the power requests of the walking motor and the working motor are independent of the peak power limit of the power battery, when the walking motor and the working motor enter a high-power output state at the same time, the total power requirement of the system often exceeds the safe charge and discharge capacity of the power battery, the over-power working condition is frequently triggered, the battery aging is accelerated, and the cycle life of the battery is obviously reduced. In summary, in the prior art, due to the disconnection of the range extender power decision-making and the loader operation, the transient overload phenomenon of the power battery frequently occurs in the typical operation cycle of the system, and the risks of thermal runaway and capacity fading of the battery are increased. Disclosure of Invention The application aims to provide a control method and device of a tandem loader, a computer readable storage medium and the tandem loader, which at least solve the problems that in the prior art, the engine power is only related to the SOC, and the instantaneous output power of a frequent power battery exceeds the peak value and the service life of the battery is influenced easily because a working motor and a traveling motor are simultaneously output. In order to achieve the aim, according to one aspect of the application, a control method of a tandem loader is provided, which comprises the steps of determining initial required output power of a range extender according to a current gear of the loader and a current state of charge of a power battery to obtain first power, determining actual required output power of the range extender under a current working condition according to a target pedal opening, the current gear and the current state of charge to obtain second power, determining actual output power of the range extender according to the first power and the second power to obtain third power, obtaining current power of a working motor to obtain fourth power, obtaining current power of a walking motor to obtain fifth power, performing peak power verification of the power battery according to the third power, and controlling the working motor to operate according to the fourth power and the fifth power under the condition that verification is passed. The method comprises the steps of obtaining an average opening of an accelerator pedal in a preset period to obtain the target pedal opening, inquiring a first mapping relation according to the target pedal opening and the current gear to obtain a target power gear, wherein the first mapping relation is a mapping relation among the accelerator pedal opening, the gear and the power gear, the power gear is used for limiting a required output power range of the range extender, and inquiring a second mapping relation according to the target power gear and the current charge state to obtain the second power. Optionally, determining the actual output power of the range extender according to the first power and the second power to obtain third power, wherein the method comprises the steps of obtaining accumulated operation duration of the loader, determining the second power as the actual output power of the range extender to obtain the third power when the accumulated operation duration is greater than or equal to a preset period, and determining the first power as the actual output power of the range extender to obtain the third power when the accumulated operation duration is less than the preset period. Optionally, performing power battery peak power verification on the fourt