CN116552489B - Hybrid power system and engineering machinery - Google Patents
Hybrid power system and engineering machinery Download PDFInfo
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- CN116552489B CN116552489B CN202310587884.4A CN202310587884A CN116552489B CN 116552489 B CN116552489 B CN 116552489B CN 202310587884 A CN202310587884 A CN 202310587884A CN 116552489 B CN116552489 B CN 116552489B
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- 238000010248 power generation Methods 0.000 claims description 10
- 239000010720 hydraulic oil Substances 0.000 claims description 9
- 239000003921 oil Substances 0.000 claims description 8
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- 239000002699 waste material Substances 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 12
- 238000010276 construction Methods 0.000 description 5
- 238000011217 control strategy Methods 0.000 description 4
- 238000011160 research Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 3
- 208000019901 Anxiety disease Diseases 0.000 description 2
- 230000036506 anxiety Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 239000000295 fuel oil Substances 0.000 description 2
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- 230000007704 transition Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
- B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/20—Control strategies involving selection of hybrid configuration, e.g. selection between series or parallel configuration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a hybrid power system and engineering machinery, a whole vehicle controller, which is configured to: acquiring a running state of a running system, and acquiring a running condition of the running system under the condition that the running system is in the running state; when the running working condition is in the energy recovery working condition, the energy recovery mode is entered, the running motor is controlled to charge the power battery, and the energy recovery working condition comprises a downhill working condition, a sliding working condition and a braking working condition; under the condition that the running system is not in the energy recovery working condition, acquiring the residual electric quantity and the running electric quantity minimum value of the power battery; and under the condition that the residual electric quantity is lower than the running electric quantity minimum value, entering a fuel running mode, shutting down the running motor and controlling the engine to drive the gearbox. The hybrid power system can recover energy, avoid energy waste, improve energy utilization rate, ensure that the engine works in a high-efficiency area, avoid working conditions of low speed and high oil consumption, and only adopt one driving motor, so that the cost is low and the layout is convenient.
Description
Technical Field
The invention belongs to the technical field of engineering machinery, and particularly relates to a hybrid power system and engineering machinery.
Background
At present, energy shortage and new energy development are important in global scientific research. However, the new energy research starts late, and at present, more scientific research problems still exist, so that more manufacturers focus on the hybrid power research to combine fuel oil and pure electric drive and improve the energy utilization efficiency. However, due to the running system and the operation system in the engineering machinery, the power system needs to meet both the running requirement and the operation requirement, so that the development of the power system of the engineering machinery is limited.
In the prior art, a power system in engineering machinery generally only can realize fuel oil running, but can not realize pure electric running and hybrid electric running, and an engine usually works in a low-efficiency and high-oil consumption area and can not ensure that the engine works in a high-efficiency area, so that the energy utilization rate is lower. Even if some power systems jointly adopt motors and engines to drive a running system and an operating system, hybrid driving can be realized, pure electric driving cannot be performed, and the situation that a plurality of motors are adopted to drive the running system generally leads to stricter control requirements, synchronism needs to be ensured, energy distribution is more complex, product cost is higher and arrangement is more complex.
Disclosure of Invention
The invention mainly aims to provide a hybrid power system and engineering machinery, and aims to solve the technical problems of low energy utilization rate and complex structure of the hybrid power system in the prior art.
In order to achieve the above object, the present invention provides a hybrid power system for driving a traveling system of a construction machine, the hybrid power system including a power battery, a vehicle controller, and an engine, a traveling motor and a transmission that are sequentially connected, the transmission being for driving the traveling system;
the vehicle controller is configured to:
acquiring a running state of the running system, and acquiring a running condition of the running system under the condition that the running system is in the running state;
When the driving working condition is in an energy recovery working condition, entering an energy recovery mode, and controlling the driving motor to charge the power battery, wherein the energy recovery working condition comprises a downhill working condition, a sliding working condition and a braking working condition;
under the condition that the running system is not in an energy recovery working condition, acquiring the residual electric quantity and the running electric quantity minimum value of the power battery;
Under the condition that the residual electric quantity is lower than the running electric quantity minimum value, entering a fuel running mode, stopping the running motor and controlling the engine to drive the gearbox;
acquiring a current vehicle speed under the condition that the residual electric quantity is higher than the lowest value of the running electric quantity;
Under the condition that the current vehicle speed is lower than a set vehicle speed, a pure electric driving mode is entered, the engine is stopped, the power battery is controlled to supply power to the driving motor, and the driving motor drives the gearbox;
And under the condition that the current vehicle speed is higher than the set vehicle speed, entering a hybrid power running mode, and controlling the engine and the running motor to jointly drive the running system.
In an embodiment of the present invention, the hybrid power system further includes an operation motor, an external power port, and a vehicle-mounted charger, where the operation motor is used to drive an operation system of the engineering machinery, the external power port is used to supply power to the operation motor through the vehicle-mounted charger, and the vehicle controller is configured to:
detecting an external power supply state of the external power supply port under the condition that an operation instruction is acquired;
and under the condition that the external power supply port is connected with an external power supply, entering an inserting operation mode, and controlling the external power supply port to supply power to the operation motor through the vehicle-mounted charger.
In an embodiment of the present invention, the whole vehicle controller is further configured to:
Under the condition that the external power supply port is not connected with an external power supply, acquiring the residual electric quantity and the minimum operation electric quantity of the power battery;
Under the condition that the residual electric quantity is lower than the minimum value of the working electric quantity, a mixed operation mode is entered, and the engine is controlled to drive the running motor to supply power to the working motor, so that the working motor drives the working system;
and under the condition that the residual electric quantity is higher than the minimum value of the working electric quantity, entering a pure electric operation mode, keeping the engine off and controlling the power battery to drive the working system through a working motor.
In the embodiment of the invention, the operation system comprises a plurality of actuators, the number of the operation motors is consistent with that of the actuators, the plurality of operation motors are used for driving the plurality of actuators in a one-to-one correspondence manner, and the power battery is used for supplying power to the plurality of operation motors;
Or alternatively
The hybrid system further includes a hydraulic oil pump, and the work motor is configured to drive the work system through the hydraulic oil pump.
In an embodiment of the present invention, the plurality of actuators are a lifter, a gyrator, and a luffing device, and the plurality of operation motors include a hoisting motor, a gyrator, and a luffing motor, and the whole vehicle controller is further configured to:
Acquiring current working conditions of the lifter, the gyrator and the amplitude transformer;
And under the condition that the lifting device is in a heavy object descending working condition or the gyrator is in a gyration braking working condition, correspondingly controlling the winch motor or the gyration motor to charge the power battery respectively.
In an embodiment of the present invention, the controlling the engine and the running motor to drive the running system together includes:
acquiring the running power and the running demand power of the engine;
Under the condition that the running power is lower than the running required power, acquiring an electric power difference between the running power and the running required power, and controlling the running motor to drive the running system according to the electric power difference;
And under the condition that the running power is higher than the running required power, acquiring an energy recovery difference between the running power and the running required power, and controlling the running motor to charge the power battery according to the energy recovery difference.
In the embodiment of the invention, the engineering machinery further comprises a supporting leg, the engine is provided with a force taking port for driving the supporting leg, and the force taking port is used for being connected with the supporting leg through a supporting leg oil pump.
In an embodiment of the invention, the hybrid power system further comprises a charging interface connected with the power battery, and the charging interface is used for charging the power battery.
In the embodiment of the invention, the hybrid power system further comprises a clutch and a transmission shaft, one end of the clutch is connected with an engine, the other end of the clutch is connected with the running motor, one end of the transmission shaft is connected with the gearbox, and the other end of the transmission shaft is connected with an axle of the running system.
The invention also discloses engineering machinery, which comprises a running system, an operating system and the hybrid power system.
Through the technical scheme, the hybrid power system provided by the embodiment of the invention has the following beneficial effects:
When the hybrid power system in the embodiment is adopted for driving a running system, the whole vehicle controller can automatically recover energy of the engine according to the running state and the running working condition, and the energy utilization efficiency is improved. The whole vehicle controller can also automatically switch among a fuel running mode, a pure electric running mode and a hybrid power running mode according to the running working condition of the running system and the residual electric quantity of the power electric quantity, and when the residual electric quantity of the power battery is lower than the lowest value of the running electric quantity, the whole vehicle controller enters the fuel running mode to control the engine to independently drive: the engine works independently, the running motor does not participate in driving, but the running motor works in a power generation state under a downhill working condition, a sliding working condition or a braking working condition, so that the braking energy of the engine is recovered, and the power battery is charged. The vehicle controller can compare the current vehicle speed and the set vehicle speed under the condition that the residual electric quantity is higher than the lowest value of the running electric quantity, execute the independent driving control strategy of the running motor under the condition that the current vehicle speed is lower than the set vehicle speed, enter a pure electric running mode, the power battery supplies power to the running motor, the running motor works in an electric state and is driven independently, the engine is not involved in driving, the running system between the engine and the gearbox can be driven purely, high-efficiency driving is achieved, the vehicle controller can also control the running motor to be converted into a power generation state due to the electric state under the downhill working condition, the sliding working condition or the braking working condition under the pure electric running mode, braking energy is recovered, and the power battery is charged. The whole vehicle controller can also carry out a common driving control strategy of the engine and the running motor under the condition that the residual electric quantity is higher than the lowest value of the running electric quantity and the current vehicle speed is higher than the set vehicle speed, enter a hybrid power running mode, control the engine and the running motor to drive a running system together, and keep the engine working in an optimal interval. The hybrid power system can recover energy under the braking working condition, the downhill braking working condition and the sliding working condition of the running system, avoids energy waste, improves the energy utilization rate, and the whole vehicle controller can automatically switch between a fuel running mode, a pure electric running mode and a hybrid power running mode, and the modes are selectable, so that the engine is ensured to work in a high-efficiency area, the working condition of low speed and high oil consumption is avoided, the problem of continuous voyage anxiety is solved, the transition is more convenient, compared with the traditional fuel engineering machinery, the energy is saved, the environment is protected, the hybrid power system only adopts one running motor, no other motors are needed to cooperate, the structure is simpler, the cost is lower, and the layout is convenient.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide an understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate the invention and together with the description serve to explain, without limitation, the invention. In the drawings:
FIG. 1 is a schematic diagram of a hybrid powertrain according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating the energy flow of a hybrid powertrain in a fuel-on mode according to an embodiment of the present invention;
FIG. 3 is a schematic representation of the energy flow of a hybrid powertrain in a pure electric mode according to an embodiment of the present invention;
FIG. 4 is a schematic energy flow diagram of a hybrid powertrain in a hybrid travel mode according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating the energy flow of a hybrid powertrain in a pure electric mode of operation in accordance with an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating the energy flow of a hybrid powertrain in a hybrid mode according to an embodiment of the present invention;
FIG. 7 is a schematic diagram illustrating the power flow of the hybrid system in a plug-in mode of operation according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a hybrid powertrain according to another embodiment of the present invention;
FIG. 9 is a schematic energy flow diagram of a hybrid powertrain in a pure electric mode of operation in accordance with another embodiment of the present invention;
FIG. 10 is a schematic energy flow diagram of a hybrid powertrain in a hybrid operating mode, in accordance with another embodiment of the present invention;
FIG. 11 is a schematic energy flow diagram of a hybrid powertrain in a plug-in mode of operation according to another embodiment of the present invention.
Description of the reference numerals
Reference number designation number designation
100. Second controller of hybrid power system 13
1. Engine 14 operation motor
2. Landing leg oil pump 14a hoist motor
3. Clutch 14b rotary electric machine
4. Variable amplitude motor of running motor 14c
5. Hydraulic oil pump of gearbox 15
6. First controller 16 drive shaft
7. Power battery 200 axle
8. Power distribution box 300 operation system
9. Vehicle-mounted charger 310 lifting device
10. External power port 320 gyrator
11. Charging interface 330 amplitude transformer
12. High-voltage slip ring 400 supporting leg
Detailed Description
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for purposes of illustration and explanation only and are not intended to limit the present invention.
The hybrid system according to the invention is described below with reference to the accompanying drawings.
As shown in fig. 1 to 4, in the embodiment of the present invention, a traveling system for driving a construction machine, a hybrid system 100 includes a power battery 7, a vehicle controller, and an engine 1, a traveling motor 4, and a transmission 5 connected in this order, the transmission 5 being for driving the traveling system;
A vehicle control configured to:
Acquiring a running state of a running system, and acquiring a running condition of the running system under the condition that the running system is in the running state;
When the running working condition is in the energy recovery working condition, the energy recovery mode is entered, the running motor 4 is controlled to charge the power battery 7, and the energy recovery working condition comprises a downhill working condition, a sliding working condition and a braking working condition;
Under the condition that the running system is not in an energy recovery working condition, acquiring the lowest value of the residual electric quantity and the running electric quantity of the power battery 7;
In the case that the remaining power is lower than the running power minimum value, entering a fuel running mode, turning off the running motor 4 and controlling the engine 1 to drive the gearbox 5;
acquiring a current vehicle speed under the condition that the residual electric quantity is higher than the lowest value of the running electric quantity;
when the current vehicle speed is lower than the set vehicle speed, the vehicle enters a pure electric running mode, the engine 1 is stopped, the power battery 7 is controlled to supply power to the running motor 4, and the running motor 4 drives the gearbox 5;
When the current vehicle speed is higher than the set vehicle speed, the hybrid running mode is entered, and the engine 1 and the running motor 4 are controlled to jointly drive the running system.
It should be noted that, the engineering machinery in this embodiment is mainly an automobile crane, and the specific downhill working condition, the sliding working condition and the braking working condition can be detected by the opening degree of a brake pedal, the gradient detection and the opening degree of an accelerator. The travel motor 4 can be reciprocally switched between an electric state and a power generation state, the travel motor 4 can drive a travel system in the electric state, and the travel motor 4 can charge the power battery 7 in the power generation state.
When the hybrid power system 100 in the embodiment is adopted to drive a running system, the whole vehicle controller can automatically recover the braking energy of the whole vehicle according to the running state and the running working condition, so that the energy utilization efficiency is improved. The whole vehicle controller can also automatically switch among a fuel running mode, a pure electric running mode and a hybrid power running mode according to the running working condition of the running system and the residual electric quantity of the power electric quantity, and when the residual electric quantity of the power battery 7 is lower than the lowest value of the running electric quantity, the whole vehicle controller enters the fuel running mode to control the engine 1 to independently drive: the engine 1 works independently, the running motor 4 does not participate in driving, but the running motor 4 works in a power generation state under a downhill working condition, a sliding working condition or a braking working condition, so that the braking energy of the whole vehicle is recovered, and the power battery 7 is charged. The whole vehicle controller can compare the current vehicle speed with the set vehicle speed under the condition that the residual electric quantity is higher than the lowest value of the running electric quantity, execute the independent driving control strategy of the running motor 4 under the condition that the current vehicle speed is lower than the set vehicle speed, enter a pure electric running mode, the power battery 7 supplies power to the running motor 4 at the moment, the running motor 4 works in an electric state and is driven independently, the engine 1 does not participate in driving, the running motor 4 between the engine 1 and the gearbox 5 can carry out pure electric driving on a running system, high-efficiency driving is achieved, the whole vehicle controller can control the running motor 4 to be converted into a power generation state due to the electric state in the pure electric running mode or under the braking condition, braking energy is recovered, and the power battery 7 is charged. The whole vehicle controller can also carry out a common driving control strategy of the engine 1 and the driving motor 4 under the condition that the residual electric quantity is higher than the lowest value of the driving electric quantity and the current vehicle speed is higher than the set vehicle speed, enter a hybrid power driving mode, control the engine 1 and the driving motor 4 to drive a driving system together, and keep the engine 1 to work in an optimal interval.
The hybrid power system 100 in this embodiment can perform energy recovery under the braking condition, the downhill braking condition and the sliding condition of the driving system, avoid energy waste, improve the energy utilization rate, and the whole vehicle controller can automatically perform switching among the fuel driving mode, the pure electric driving mode and the hybrid power driving mode, and the multiple modes are optional, so that the engine 1 is ensured to work in a high-efficiency area, the low-speed high-oil consumption condition is avoided, the problem of continuous voyage mileage anxiety is solved, the transition is more convenient, and compared with the traditional fuel engineering machinery, the energy is more energy-saving and environment-friendly. In addition, the hybrid power system 100 in this embodiment only adopts one driving motor 4, no other motor is needed for cooperation, the structure is simpler, the cost is lower, and the layout is convenient.
As shown in fig. 5 to 7, in an embodiment, the hybrid power system 100 further includes a work motor 14, an external power port 10, and an on-board charger 9, the work motor 14 is used for driving a work system 300 of the construction machine, the external power port 10 is used for supplying power to the work motor 14 through the on-board charger 9, and the whole vehicle controller is configured to:
detecting an external power supply state of the external power supply port 10 under the condition that an operation instruction is acquired;
When the external power supply port 10 is connected with an external power supply, the power plug-in operation mode is entered, and the external power supply port 10 is controlled to supply power to the operation motor 14 through the vehicle-mounted charger 9.
In order to ensure the stability of the common power supply, a distribution box 8 and a high-voltage slip ring 12 can be sequentially connected between the running motor 4 and the operation motor 14, and the power battery 7, the vehicle-mounted charger 9 and the charging interface 11 are all connected with the distribution box 8, wherein the distribution box 8 can be the high-voltage distribution box 8, and the high-voltage slip ring 12 can be the central rotary high-voltage slip ring 12. In this embodiment, when the vehicle controller obtains the operation command and detects that the external power port 10 is connected with an external power source, the vehicle controller enters the power plug-in operation mode, and the external power source can sequentially pass through the vehicle-mounted charger 9, the distribution box 8 and the high-voltage slip ring 12 to supply electric energy to the operation motor 14, so that the operation system 300 can continuously operate without worrying about insufficient electric quantity of the power battery 7. In addition, the external power supply is matched with the operation motor 14 for driving, the motor is quick in response, low in noise, smoother in operation and better in operation experience.
Specifically, the vehicle controller is further configured to:
Under the condition that the external power supply is not connected to the external power supply port 10, acquiring the residual electric quantity and the minimum operation electric quantity of the power battery 7;
When the residual electric quantity is lower than the minimum value of the working electric quantity, the hybrid operation mode is entered, and the engine 1 is controlled to drive the running motor 4 to supply power to the working motor 14, so that the working motor 14 drives the working system 300;
In the case where the remaining electric power is higher than the operation electric power minimum value, the pure electric operation mode is entered, the engine 1 is kept off and the power battery 7 is controlled to drive the operation system 300 through the operation motor 14.
In this embodiment, when the whole vehicle controller detects that the external power port 10 is not connected with an external power source and does not have the external power source, and the residual electric power of the power battery 7 is higher than the minimum value of the operation electric power, the electric power of the power battery 7 is sufficient, and the whole vehicle controller can provide electric power for the operation motor 14 through the power battery 7, shut down the engine 1, and enter a pure electric operation mode, so that the operation system 300 can continuously operate within the designed operation duration. When the residual electric quantity of the power battery 7 is lower than the minimum value of the operation electric quantity, the whole vehicle controller can start the engine 1 to drive the running motor 4 to generate electricity when the electric quantity of the power battery 7 is insufficient, so as to provide electric energy for the operation motor 14, enter a mixed operation mode and enable the operation system 300 to continuously operate. The operation system 300 in this embodiment has various modes that are selectable, is more energy-saving and environment-friendly than the conventional fuel engineering machinery, and meets the operation demands of customers. In an embodiment, the minimum value of the working power is higher than the minimum value of the driving power, so as to improve the working efficiency of the working system 300 and improve the endurance of the driving system.
In addition, the whole vehicle controller can acquire the operation power and the operation required power of the engine 1 in the mixed operation mode, and acquire the operation recovery difference between the operation power and the operation required power under the condition that the operation power is larger than the operation required power, and the whole vehicle controller can recover the redundant energy according to the operation recovery difference, so that the engine 1 charges the power battery 7, and the energy utilization efficiency is improved.
As shown in fig. 8 to 11, in another embodiment, the work system 300 includes a plurality of actuators, the work motor 14 and the number of actuators are identical, and the plurality of work motors 14 are used to drive the plurality of actuators in one-to-one correspondence, and the power battery 7 is used to supply power to the plurality of work motors 14. As can be appreciated, the plurality of actuators of the operating system 300 are respectively used for lifting, luffing, turning and telescoping operations, and the motor driving can improve the response efficiency and the control experience is better. In yet another embodiment, the hybrid system 100 further includes a hydraulic oil pump 15, and the work motor 14 is configured to drive the work system 300 via the hydraulic oil pump 15. The hydraulic oil pump 15 is adopted to drive the operation system 300, so that the cost is lower.
Specifically, the plurality of actuators are the hoist 310, the gyrator 320, and the horn 330, respectively, the plurality of work motors 14 include a hoist motor 14a, a gyrator motor 14b, and a horn motor 14c, and the vehicle controller is further configured to:
acquiring current operating conditions of the lifter 310, the gyrator 320 and the horn 330;
when the hoist 310 is in the heavy object descending condition or the gyrator 320 is in the gyration braking condition, the hoist motor 14a or the gyration motor 14b is correspondingly controlled to charge the power battery 7.
When the residual electric quantity is lower than the minimum value of the operation electric quantity and the pure electric operation mode is entered, and the lifting device 310, the gyrator 320 and the amplitude transformer 330 perform lifting, amplitude transformation and rotation operations, the whole vehicle controller can acquire the current operation working conditions of the lifting device 310, the gyrator 320 and the amplitude transformer 330, and correspondingly control the hoisting motor 14a or the gyrator 14b to charge the power battery 7 respectively under the condition that the lifting device 310 is in a heavy object descending working condition or the gyrator 320 is in a rotation braking working condition, and the energy flow diagram is shown in fig. 9.
Under the condition that the residual electric quantity is lower than the minimum value of the working electric quantity, a mixed operation mode is entered, the running motor 4 works in a power generation state, the working motor 14 works in an electric state, at the moment, the engine 1 drives the running motor 4 to generate power, the plurality of working motors 14 are powered by the first controller 6, the distribution box 8, the high-voltage slip ring 12 and the second controller 13, the working motors 14 perform lifting, amplitude changing and rotation operations, and under the condition that the lifting device 310 is in a heavy object descending working condition or the rotator 320 is in a rotation braking working condition, the lifting motor 14a or the rotator 14b is correspondingly controlled to charge the power battery 7 respectively; when the operation power of the engine 1 is greater than the operation demand power, the surplus energy charges the power battery 7, and the energy flow is schematically shown in fig. 10.
Under the condition that the external power supply port 10 is connected with an external power supply, the operation motor 14 enters an inserting operation mode, the operation motor 14 works in an electric state, at the moment, power is supplied to the operation motor 14 through the vehicle-mounted charger 9, the distribution box 8 and the high-voltage slip ring 12, the operation motor 14 performs lifting, amplitude changing and rotation operation, and under the condition that the lifting device 310 is in a heavy object descending working condition or the rotator 320 is in a rotation braking working condition, an energy flow schematic diagram is shown in fig. 11. The motor is directly adopted as an actuating mechanism, the response speed is faster than that of hydraulic pressure, and the energy in the processes of weight descent and rotary braking can be recovered.
The control engine 1 and the travel motor 4 together drive the travel system, including:
acquiring the running power and the running demand power of the engine 1;
Under the condition that the running power is lower than the running required power, acquiring an electric power difference between the running power and the running required power, and controlling the running motor 4 to drive a running system according to the electric power difference;
When the running power is higher than the running demand power, the energy recovery difference between the running power and the running demand power is obtained, and the running motor 4 is controlled to charge the power battery 7 according to the energy recovery difference.
The vehicle controller in this embodiment may obtain the running power and the running required power of the engine 1 in the hybrid running mode, and obtain the electric power difference between the running power and the running required power when the running power is lower than the running required power, and control the running motor 4 to drive the running system according to the electric power difference, where the insufficient power is provided by the running motor 4, and at this time, the power battery 7 supplies power to the running motor 4, and the running motor 4 works in an electric state; the whole vehicle controller can also obtain the energy recovery difference between the running power and the running required power under the condition that the running power is higher than the running required power, and control the running motor 4 to charge the power battery 7 according to the energy recovery difference, so that the running motor 4 works in a power generation state, and redundant energy is charged into the power battery 7, and the working efficiency of the engine 1 can be fully ensured to be always in a high-efficiency area.
In an embodiment, the construction machine further comprises a leg 400, the engine 1 being provided with a force take-off for driving the leg 400, the force take-off being for connection with the leg 400 via a leg oil pump 2. The power of the support leg 400 in the embodiment is derived from a power take-off port of the engine 1, and the engine 1 provides power for the support leg oil pump 2 through the power take-off port, so that the support leg 400 is ensured to be opened and contracted. The hybrid system 100 further includes a first controller 6 and a second controller 13, where the first controller 6 is configured to switch between an electric state and a power generation state of the running motor 4 under the action of a vehicle controller, and the vehicle controller is configured to control the work motor 14 through the second controller 13. The first controller 6 and the second controller 13 in this embodiment are all motor controllers, and under the action of the whole vehicle controller, the first controller 6 and the second controller 13 can respectively control the running motor 4 and the operation motor 14 correspondingly, and the second controller 13 can simultaneously control a plurality of operation motors 14, so that the energy distribution of the whole vehicle controller can be facilitated.
In the embodiment of the present invention, the hybrid system 100 further includes a charging interface 11 connected to the power battery 7, and the charging interface 11 is used for charging the power battery 7. Thereby facilitating the charging of the power battery 7, it will be appreciated that the hybrid system 100 further comprises a clutch 3 and a drive shaft 16, one end of the clutch 3 being connected to the engine 1 and the other end being connected to the driving motor 4, one end of the drive shaft 16 being connected to the gearbox 5 and the other end being connected to the axle 200 of the driving system. The engine 1, the clutch 3, the driving motor 4, the gearbox 5, the transmission shaft 16 and the axle 200 are connected through mechanical components, the driving motor 4 is connected with the first controller 6 through a wire harness, the first controller 6 is connected with the distribution box 8 through a wire harness, the distribution box 8 is connected with the power battery 7, the vehicle-mounted charger 9 and the high-voltage slip ring 12 through a wire harness, the high-voltage slip ring 12 is connected with the second controller 13 through a wire harness, the second controller 13 is connected with the working motor 14 through a wire harness, and the working motor 14 is connected with the hydraulic oil pump 15 through mechanical components.
The invention also discloses a construction machine, which comprises a running system, an operation system 300 and the hybrid system 100, wherein the specific structure of the hybrid system 100 refers to the embodiment. Because the engineering machinery adopts all the technical schemes of all the embodiments, the engineering machinery at least has all the beneficial effects brought by the technical schemes of the embodiments, and the description is omitted here.
In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (9)
1. The hybrid power system is used for driving a running system of engineering machinery and is characterized in that the hybrid power system (100) comprises a power battery (7), a whole vehicle controller, an engine (1), a running motor (4) and a gearbox (5) which are sequentially connected, and the gearbox (5) is used for driving the running system;
the vehicle controller is configured to:
acquiring a running state of the running system, and acquiring a running condition of the running system under the condition that the running system is in the running state;
when the running working condition is in an energy recovery working condition, an energy recovery mode is entered, the running motor (4) is controlled to charge the power battery (7), and the energy recovery working condition comprises a downhill working condition, a sliding working condition and a braking working condition;
Under the condition that the running system is not in an energy recovery working condition, acquiring the residual electric quantity and the running electric quantity minimum value of the power battery (7);
when the residual electric quantity is lower than the running electric quantity minimum value, entering a fuel running mode, stopping the running motor (4) and controlling the engine (1) to drive the gearbox (5);
acquiring a current vehicle speed under the condition that the residual electric quantity is higher than the lowest value of the running electric quantity;
When the current vehicle speed is lower than a set vehicle speed, a pure electric driving mode is entered, the engine (1) is stopped, the power battery (7) is controlled to supply power to the driving motor (4), and the driving motor (4) drives the gearbox (5);
When the current vehicle speed is higher than the set vehicle speed, a hybrid power running mode is entered, and the engine (1) and the running motor (4) are controlled to jointly drive the running system;
the controlling the engine (1) and the running motor (4) to drive the running system together includes:
acquiring the running power and the running demand power of the engine (1);
When the running power is lower than the running required power, acquiring an electric power difference between the running power and the running required power, and controlling the running motor (4) to drive the running system according to the electric power difference;
and when the running power is higher than the running required power, acquiring an energy recovery difference between the running power and the running required power, and controlling the running motor (4) to charge the power battery (7) according to the energy recovery difference.
2. The hybrid system of claim 1, wherein the hybrid system (100) further comprises a work motor (14), an external power port (10), and an on-board charger (9), the work motor (14) being configured to drive a work system (300) of the work machine, the external power port (10) being configured to supply power to the work motor (14) through the on-board charger (9), the whole vehicle controller being configured to:
detecting an external power supply state of the external power supply port (10) under the condition that an operation instruction is acquired;
And under the condition that the external power supply port (10) is connected with an external power supply, entering an inserting operation mode, and controlling the external power supply port (10) to supply power to the operation motor (14) through the vehicle-mounted charger (9).
3. The hybrid system of claim 2, wherein the vehicle controller is further configured to:
Under the condition that the external power supply port (10) is not connected with an external power supply, acquiring the residual electric quantity and the minimum working electric quantity of the power battery (7);
When the residual electric quantity is lower than the minimum value of the working electric quantity, a mixed operation mode is entered, the engine (1) is controlled to drive the running motor (4) to supply power to the working motor (14), and the working motor (14) is controlled to drive the working system (300);
And when the residual electric quantity is higher than the operation electric quantity minimum value, entering a pure electric operation mode, keeping the engine (1) off and controlling the power battery (7) to drive the operation system (300) through an operation motor (14).
4. The hybrid system according to claim 1, wherein the working system (300) includes a plurality of actuators, the number of working motors (14) and the number of the actuators are identical, and a plurality of the working motors (14) are used for driving the plurality of the actuators in one-to-one correspondence, and the power battery (7) is used for supplying power to the plurality of the working motors (14);
Or alternatively
The hybrid system (100) further comprises a hydraulic oil pump (15), and the work motor (14) is used for driving the work system (300) through the hydraulic oil pump (15).
5. The hybrid system of claim 4, wherein the plurality of actuators are a hoist (310), a gyrator (320), and a luffing (330), respectively, the plurality of work motors (14) include a hoist motor (14 a), a gyrator motor (14 b), and a luffing motor (14 c), and the vehicle controller is further configured to:
Acquiring current operating conditions of the lifter (310), the gyrator (320) and the horn (330);
And under the condition that the lifting device (310) is in a heavy object descending working condition or the gyrator (320) is in a gyration braking working condition, correspondingly controlling the hoisting motor (14 a) or the gyration motor (14 b) to charge the power battery (7) respectively.
6. Hybrid system according to any of claims 1-4, characterized in that the working machine further comprises a leg (400), the engine (1) being provided with a power take-off for driving the leg (400), the power take-off being for connection with the leg (400) by a leg oil pump (2);
And/or the number of the groups of groups,
The hybrid power system (100) further comprises a first controller (6) and a second controller (13), wherein the first controller (6) is used for switching the electric state and the power generation state of the running motor (4) under the action of the whole vehicle controller, and the whole vehicle controller is used for controlling the operation motor (14) through the second controller (13).
7. Hybrid system according to any of claims 1-4, characterized in that the hybrid system (100) further comprises a charging interface (11) connected to the power battery (7), the charging interface (11) being adapted to charge the power battery (7).
8. Hybrid system according to any of claims 1-4, characterized in that the hybrid system (100) further comprises a clutch (3) and a transmission shaft (16), the clutch (3) being connected to the engine (1) at one end and to the driving motor (4) at the other end, the transmission shaft (16) being connected to the gearbox (5) at one end and to an axle (200) of the driving system at the other end.
9. A working machine, characterized in that the working machine comprises a running system, a working system (300) and a hybrid system (100) according to any one of claims 1 to 8.
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| WO2022089106A1 (en) * | 2020-10-30 | 2022-05-05 | 洪智 | Driving device, hybrid truck driving method, and hybrid truck |
| CN115092115A (en) * | 2022-07-18 | 2022-09-23 | 北京主线科技有限公司 | Energy management method and device in automatic driving process of hybrid vehicle |
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| CN107628023A (en) * | 2017-10-11 | 2018-01-26 | 奇瑞汽车股份有限公司 | The control method of hybrid power automobile driving system |
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| CN113459895B (en) * | 2021-06-28 | 2022-07-08 | 三一汽车起重机械有限公司 | Energy control method and device for working machine, and electronic device |
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| WO2022089106A1 (en) * | 2020-10-30 | 2022-05-05 | 洪智 | Driving device, hybrid truck driving method, and hybrid truck |
| CN114407875A (en) * | 2022-01-24 | 2022-04-29 | 徐州重型机械有限公司 | Engineering machinery hybrid power control method, hybrid power system and engineering machinery |
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