阅读说明：本技术 一种用于混动矿山卡车能量管理的控制方法 (Control method for hybrid mine truck energy management ) 是由 王宝梁 孙彩凤 孟庆勇 张翊 刘旭 张自军 陈纪龙 韦浩 于 2021-11-23 设计创作，主要内容包括：本发明涉及工程机械辅助驾驶技术领域,公开了一种用于混动矿山卡车能量管理的控制方法,包括,步骤1：首先进行系统初始化,对混动矿山卡车的电池SOC目标值设定；步骤2：混动矿山卡车进行全路线往返,根据车辆行驶过程能耗情况路况进行节点分割并记录各节点的GPS,确认节点间路况为上坡、下坡还是水平路段,同时对各节点进行能耗标定,计算各路段间的能耗；步骤3：根据步骤2各节点标定及能耗信息,混动矿山卡车全路线往返进行能量控制。本发明通节点与能耗标定,根据上坡、下坡、水平路况分别进行能量控制,通过控制电池、发动机协同工作,完成下坡的能量回收工作,对于提高运输效率、降低运输成本、减少废气排放有重要的意义。(The invention relates to the technical field of auxiliary driving of engineering machinery, and discloses a control method for energy management of a hybrid mine truck, which comprises the following steps of 1: firstly, initializing a system, and setting a battery SOC target value of a hybrid mine truck; step 2: the hybrid mine truck performs all-route round trip, node division is performed according to the energy consumption condition of the vehicle in the driving process, the GPS of each node is recorded, whether the road condition among the nodes is an ascending slope, a descending slope or a horizontal road section is confirmed, meanwhile, energy consumption calibration is performed on each node, and energy consumption among each road section is calculated; and step 3: and (3) performing energy control by the hybrid mine truck back and forth in the whole route according to the node calibration and the energy consumption information in the step (2). According to the invention, through node and energy consumption calibration, energy control is respectively carried out according to the conditions of an uphill slope, a downhill slope and a horizontal road, and the energy recovery work of the downhill slope is completed by controlling the cooperative work of the battery and the engine, so that the method has important significance for improving the transportation efficiency, reducing the transportation cost and reducing the exhaust emission.)

1. A control method for energy management of a hybrid mining truck is characterized by comprising the following steps:

step 1: firstly, initializing a system, and factory setting an optimal working state value A, a maximum capacity value B and a minimum capacity value C for a battery SOC of a hybrid mine truck;

step 2: the hybrid mine truck performs all-route round trip, node division is performed according to the energy consumption condition of the vehicle in the driving process, the GPS of each node is recorded, whether the road condition among the nodes is an ascending slope, a descending slope or a horizontal road section is confirmed, meanwhile, energy consumption calibration is performed on each node, and energy consumption among each road section is calculated;

and step 3: according to the GPS calibration of each node, road condition and energy consumption information in the step 2, the hybrid mine truck carries out energy control in a way of going and going in a whole route, and Q is used_Bi-1Represents the energy of the battery SOC at the i-1 th node, namely the energy of the battery SOC before the battery SOC is reduced to the optimal working state value A, and the energy required to be consumed by the road section from the i-1 th node to the i-th node of the ith road section is Qs_iThe energy consumption Qs required by the next road section (i +1 th road section), i.e. the road section from the ith node to the (i + 1) th node_i+1With Q_EiRepresenting the engine energy consumption between the i-1 and i-th nodes, F_GTraction force of driving wheel of mine card at rated power of generator, P_GFor rated power of the generator, V₀For normal speed of mine trucks, F_G＝P_G/V₀And F' represents a driving force on a driving wheel of a current road section, Q_BmFor the energy consumed by the battery from a fully charged state to a factory-set minimum capacity value C, Q_B0For the energy consumed by the battery from a fully charged state to an optimum operating state value A, Q_BnThe energy consumed when the battery reaches a factory-set maximum capacity value B from a full-charge state is obtained, and the specific energy control process of the current road section is as follows:

(1) the i +1 th road section is the condition of ascending road

1) If Q_Bi-1≥Qs_i+Qs_i+1

a. If F' is less than or equal to F_GAt the moment, the ith road section and the (i + 1) th road section are both driven by the battery, and the engine does not work;

b. if F'>F_GAt the moment, the ith road section is driven by the work of an engine, and the speed of the (i + 1) th road section is self-adaptively adjusted according to the required traction force;

2) if Qs_i+1+Qs_i>Q_Bi-1>Qs_i

a. If F' is less than or equal to F_GAt the moment, the i section is driven by a battery, the i +1 section is driven by the battery and the engine to work, and the engine provides required energy Q_Ei＝Qs_i+1+Qs_i-Q_Bi-1；

b. If F'>F_GWhen the section i is driven by the engine to provide the required energy Q_Ei＝Qs_i+Q_Bn-Q_Bi-1At the moment, the SOC of the battery is controlled to reach the maximum capacity value B by the section i, and the speed is adaptively adjusted by the section i +1 according to the required traction force;

3) if Q_Bi-1≤Qs_iThe following conditions are followed:

a. if F' is less than or equal to F_GAt the moment, the i road section is driven by the work of a battery and an engine, and the energy required by the engine is Q_Ei＝Qs_i-Q_Bi-1The i +1 road section is driven by the engine to work, and the battery SOC keeps the optimal working state value A;

b. if F'>F_GAt the moment, the i road section is driven by the engine to work, and the speed of the i +1 road section is self-adaptively adjusted according to the required traction force;

(2) the (i + 1) th road section is horizontal road condition

1) If Q_Bi-1≥Qs_i+Qs_i+1If the engine is driven by the battery, the engine does not work;

2) if Qs_i+Qs_i+1>Q_Bi-1>Qs_iThe section i is driven by a battery, and the section i +1 is driven by the working of an engine to provide required energy Q_Ei＝Qs_i+1-Qs_i。

3) If Q_Bi-1≤Qs_iThe section i is driven by the engine;

(3) the (i + 1) th road section is the downhill road condition

1) If Qs_i+1>0, controlling according to the (i + 1) th road section as the horizontal road condition;

2) if Qs_i+1<0<Q_Bi-1I +1 road sections can be used for energy recovery, and then the current road section needs to judge Qs again_i+1+Q_Bi-1Whether or not less than 0:

a.Qs_i+1+Q_Bi-1the current road section is consistent with the control method under the horizontal and uphill road conditions, the battery and the generator are jointly driven, when the ith node is reached, the SOC of the battery meets the factory-set optimal working state value A, the i +1 road section is subjected to energy recovery, and when the battery is recovered to the full-power state, the retarder is accessed;

b.Qs_i+1+Q_Bi-1less than 0:

1.1)|Qs_i+1+Q_Bi-1less than or equal to Q_B0The current road section, namely the i road section is driven by a battery and an engine, the SOC of the battery is driven and controlled to reach the optimal working state value A, the i +1 road section is used for energy recovery, and when the battery is recovered to be in a full-power state, the retarder is connected;

1.2)|Qs_i+1+Q_Bi-1| is greater than Q_B0Less than Q_BmWhen the current road section, namely the battery and the engine of the i road section are driven, the SOC of the drive control battery reaches between the optimal working state value A and the minimum capacity value C, the i +1 road section carries out energy recovery, and when the battery is recovered to a full-power state, the retarder is connected;

1.3)|Qs_i+1+Q_Bi-1| is greater than or equal to Q_BmThe current road section, i.e. the i road section, is preferentially driven by the battery, and the SOC of the battery is driven and controlledAnd when the minimum capacity value C is reached, the energy of the i +1 road section is recovered to the full charge of the battery, and then the retarder is connected.

2. The control method for the energy management of the hybrid mine truck according to claim 1, wherein in the calibration stage of step 2, when the consumed energy in the process of the hybrid mine truck ascending a steep slope section is lower than the SOC optimal working state value of the battery, the engine starts to work, the driving power is the power generated by the generator, the power is not changed, and the vehicle speed is adaptively changed according to the slope condition.

3. The control method for hybrid mine truck energy management of claim 1, wherein the step 2 node splitting implementation is:

the traction force F' of the driving wheel of the hybrid mine truck and the traction force F of the output shaft of the horizontal road condition are used₀Comparing and judging the road conditions of an ascending slope, a descending slope or a horizontal road condition, acquiring the longitude and the latitude of a GPS positioning point at a current road, particularly a node in real time, and recording the GPS information of the node;

F₀output shaft traction force for horizontal road conditions:

v is the mine truck speed; eta_T-transmission efficiency; m-ore-card mass; g-gravitational acceleration; f-rolling resistance coefficient; c_D-coefficient of air resistance; a is the windward area.

4. The control method for hybrid mine truck energy management of claim 3, wherein the traction force F 'is obtained by combining the traction force F' of the driving wheels and the traction force F of the output shaft on the level road₀The concrete operation of comparing and judging the uphill road condition, the downhill road condition or the horizontal road condition is as follows:

when F' belongs to F₀(1 +/-10%) of the interval, the road condition is horizontal, and when F' is not in the interval, the GPS information at the moment is recorded;

when F'<F₀(1-10%) when the road is downhill, and when the road is downhillWhen F' is not in the interval, the GPS information at the moment is recorded;

when F'>F₀(1+ 10%) is an uphill road condition, and when F' is not in the section, GPS information is recorded at the moment.

5. The control method for hybrid mine truck energy management according to claim 4, wherein the method for calculating the energy consumption of each section is:

according to the working voltage U (t), the current i (t) and the time t of the vehicle motor and the pre-judged road condition, calculating the energy consumption Q of the up-going road section and the down-going road section_{si_up}、Q_{si_down}(ii) a Calculating energy consumption Q of horizontal road according to traction force F and speed V of output shaft of gearbox of hybrid mining truck_{si_level}。

Wherein the power factorGenerally 0.7-0.85, and calculating the average value of 0.78; t is t_i-1And t_iFor the initial and end time of each road segment.

6. The control method for energy management of the hybrid mine truck according to any one of claims 1 to 5, characterized in that the node division and energy consumption calibration of the step 2 are performed several times, and the energy consumption of each node is averaged several times.

Technical Field

The invention relates to the technical field of auxiliary driving of engineering machinery, in particular to a control method for energy management of a hybrid mine truck.

Background

In recent years, open pit coal mining is greatly developed, and important guarantee is provided for stable coal supply. Transportation is one of the main production links in the strip mine mining process, the investment of a transportation system accounts for about 40-60% of the total investment of a mine, the transportation cost accounts for about 30-40% of the ore cost, and the proportion of the transportation cost of part of strip mines in the total production cost of the strip mines even exceeds 60%. Because truck transportation has the characteristics of flexibility, strong adaptability to working conditions, short construction period of a transportation system and the like, the truck transportation is always the leading mode of strip mine transportation in China, and the ore rock transportation amount completed by a truck accounts for more than 85% of the total amount of strip mine stripping in China every year. Therefore, the mine block plays an important role in the coal mine resource mining process.

The traditional mining truck has larger tonnage and large oil consumption, and the tail gas discharged by the truck contains toxic and harmful gases such as sulfur dioxide and the like, thereby seriously polluting the surrounding environment of a mining area. The size of the gearbox of the traditional truck is larger and larger, and the gearbox is difficult to manufacture and arrange; the requirement of braking force is increased when the vehicle goes downhill, and the safety problems such as braking failure and the like are easily caused. Therefore, the problems of energy consumption, environmental protection and safety of the mine card become urgent.

With the development of new energy technology and the application of the new energy technology in mine trucks, hybrid mine trucks and pure electric mine trucks appear in the mine trucks, and the problem that large-tonnage trucks are difficult to manufacture is solved. Among them, the series hybrid drive wheel mine truck is a mine truck whose driving force is completely provided by a motor, and in addition, there are a series-parallel hybrid mine truck, a pure electric mine truck, and the like, but there still exists a common problem: the problem of energy recovery when going downhill is not effectively solved. The energy generated in the transportation process, especially the downhill process of a mine truck, cannot be effectively recovered, and certain energy waste is caused.

Disclosure of Invention

The purpose of the invention is as follows: aiming at the problems in the prior art, the invention provides a control method for energy management of a hybrid mine truck, so as to realize high-efficiency utilization of energy in the transportation process.

The technical scheme is as follows: the invention provides a control method for energy management of a hybrid mine truck, which comprises the following steps:

step 1: firstly, initializing a system, and factory setting an optimal working state value A, a maximum capacity value B and a minimum capacity value C for a battery SOC of a hybrid mine truck;

step 2: the hybrid mine truck performs all-route round trip, node division is performed according to the energy consumption condition of the vehicle in the driving process, the GPS of each node is recorded, whether the road condition among the nodes is an ascending slope, a descending slope or a horizontal road section is confirmed, meanwhile, energy consumption calibration is performed on each node, and energy consumption among each road section is calculated;

and step 3: according to the GPS calibration of each node, road condition and energy consumption information in the step 2, the hybrid mine truck carries out energy control in a way of going and going in a whole route, and Q is used_Bi-1Represents the energy of the battery SOC at the i-1 th node, namely the energy of the battery SOC before the battery SOC is reduced to the optimal working state value A, and the energy required to be consumed by the road section from the i-1 th node to the i-th node of the ith road section is Qs_iThe energy consumption Qs required by the next road section (i +1 th road section), i.e. the road section from the ith node to the (i + 1) th node_i+1With Q_EiRepresenting the engine energy consumption between the i-1 and i-th nodes, F_GTraction force of driving wheel of mine card at rated power of generator, P_GFor rated power of the generator, V₀For normal speed of mine trucks, F_G＝P_G/V₀And F' represents a driving force on a driving wheel of a current road section, Q_BmFor the energy consumed by the battery from a fully charged state to a factory-set minimum capacity value C, Q_B0For the energy consumed by the battery from a fully charged state to an optimum operating state value A, Q_BnThe energy consumed when the battery reaches a factory-set maximum capacity value B from a full-charge state is obtained, and the specific energy control process of the current road section is as follows:

(1) the i +1 th road section is the condition of ascending road

1) If Q_Bi-1≥Qs_i+Qs_i+1

a. If F' is less than or equal to F_GAt the moment, the ith road section and the (i + 1) th road section are both driven by the battery, and the engine does not work;

b. if F'>F_GAt the moment, the ith road section is driven by the work of an engine, and the speed of the (i + 1) th road section is self-adaptively adjusted according to the required traction force;

2) if Qs_i+1+Qs_i>Q_Bi-1>Qs_i

a. If F' is less than or equal to F_GAt the moment, the i section is driven by a battery, the i +1 section is driven by the battery and the engine to work, and the engine provides required energy Q_Ei＝Qs_i+1+Qs_i-Q_Bi-1；

b. If F'>F_GWhen the section i is driven by the engine to provide the required energy Q_Ei＝Qs_i+Q_Bn-Q_Bi-1At the moment, the SOC of the battery is controlled to reach the maximum capacity value B by the section i, and the speed is adaptively adjusted by the section i +1 according to the required traction force;

3) if Q_Bi-1≤Qs_iThe following conditions are followed:

a. if F' is less than or equal to F_GAt the moment, the i road section is driven by the work of a battery and an engine, and the energy required by the engine is Q_Ei＝Qs_i-Q_Bi-1The i +1 road section is driven by the engine to work, and the battery SOC keeps the optimal working state value A;

b. if F'>F_GAt the moment, the i road section is driven by the engine to work, and the speed of the i +1 road section is self-adaptively adjusted according to the required traction force;

(2) the (i + 1) th road section is horizontal road condition

1) If Q_Bi-1≥Qs_i+Qs_i+1If the engine is driven by the battery, the engine does not work;

2) if Qs_i+Qs_i+1>Q_Bi-1>Qs_iThe section i is driven by a battery, and the section i +1 is driven by the working of an engine to provide required energy Q_Ei＝Qs_i+1-Qs_i。

3) If Q_Bi-1≤Qs_iThe section i is driven by the engine;

(3) the (i + 1) th road section is the downhill road condition

1) If Qs_i+1>0, controlling according to the (i + 1) th road section as the horizontal road condition;

2) if Qs_i+1<0<Q_Bi-1I +1 road sections can be used for energy recovery, and then the current road section needs to judge Qs again_i+1+Q_Bi-1Whether or not less than 0:

a.Qs_i+1+Q_Bi-1the current road section is consistent with the control method under the horizontal and uphill road conditions, the battery and the generator are jointly driven, when the ith node is reached, the SOC of the battery meets the factory-set optimal working state value A, the i +1 road section is subjected to energy recovery, and when the battery is recovered to the full-power state, the retarder is accessed;

b.Qs_i+1+Q_Bi-1less than 0:

1.1)|Qs_i+1+Q_Bi-1less than or equal to Q_B0The current road section, namely the i road section is driven by a battery and an engine, the SOC of the battery is driven and controlled to reach the optimal working state value A, the i +1 road section is used for energy recovery, and when the battery is recovered to be in a full-power state, the retarder is connected;

1.2)|Qs_i+1+Q_Bi-1| is greater than Q_B0Less than Q_BmWhen the battery and the engine are driven and the SOC of the battery is driven and controlled to reach between the optimal working state value A and the minimum capacity value C in the current road section, namely the i road section, the performance of the i +1 road section can be realizedQuantity is recycled, and when the quantity is recycled to a full power state, a retarder is connected;

1.3)|Qs_i+1+Q_Bi-1| is greater than or equal to Q_BmAnd when the energy of the i +1 road section is recovered to the full charge of the battery, the retarder is connected.

Further, in the calibration stage of the step 2, when the consumed energy in the process of the hybrid truck ascending the steep slope road section is lower than the optimal working state value of the battery SOC, the engine starts to work, the driving power is the power generation power of the generator, the power is not changed, and the vehicle speed is changed in a self-adaptive mode according to the slope condition.

Further, the step 2 node splitting is operated as follows:

the traction force F' of the driving wheel of the hybrid mine truck and the traction force F of the output shaft of the horizontal road condition are used₀Comparing and judging the road conditions of an ascending slope, a descending slope or a horizontal road condition, acquiring the longitude and the latitude of a GPS positioning point at a current road, particularly a node in real time, and recording the GPS information of the node;

F₀output shaft traction force for horizontal road conditions:

v is the mine truck speed; eta T-transmission efficiency; m-ore-card mass; g-gravitational acceleration; f-rolling resistance coefficient; CD-coefficient of air resistance; a is the windward area.

Further, the traction force F' of the driving wheel and the traction force F of the output shaft on the horizontal road condition are utilized₀The concrete operation of comparing and judging the uphill road condition, the downhill road condition or the horizontal road condition is as follows:

when F' belongs to F₀(1+10%) section, horizontal road condition, and when F' is not in the section, recording the GPS information at the moment;

when F'<F₀(1-10%) when the road is the downhill road condition, and when F' is not in the section, recording the GPS information at the moment;

when F'>F₀(1+ 10%) is an uphill road condition, and when F' is not in the section, GPS information is recorded at the moment.

Further, the method for calculating the energy consumption of each road section comprises the following steps:

according to the working voltage U (t), the current i (t) and the time t of the vehicle motor and the pre-judged road condition, calculating the energy consumption Q of the up-going road section and the down-going road section_{si_up}、Q_{si_down}(ii) a Calculating energy consumption Q of horizontal road according to traction force F and speed V of output shaft of gearbox of hybrid mining truck_{si_level}。

Wherein the power factorGenerally 0.7-0.85, and calculating the average value of 0.78; t is t_i-1And t_iFor the initial and end time of each road segment.

Further, the node segmentation and energy consumption calibration in the step 2 are performed for a plurality of times, and the energy consumption of each node is an average value of the plurality of times.

Has the advantages that:

1. the invention optimizes the mine transportation mode, adopts a control method for mine truck energy management, calibrates nodes and energy consumption of the whole road in advance, calibrates each node in the process of going up the hill and going down the hill, calculates the energy consumption, respectively controls the energy according to the road conditions of going up the hill, going down the hill and level, and completes the energy recovery work of going down the hill by controlling the battery and the engine to work cooperatively, thereby having important significance for improving the transportation efficiency, reducing the transportation cost and reducing the exhaust emission.

2. In the process of ascending and descending in the energy control stage, for the ascending road section, if the next road section is the ascending road section and the ascending road section is an extremely steep slope, namely the sum of the energy supplied by the engine and the energy supplied by the battery is less than the energy required by the previous road section, the engine is preferentially used for driving the previous road section, and the battery is charged, so that the SOC of the battery reaches the maximum capacity value B when the battery leaves a factory. In a downhill section, if an extremely steep slope is encountered, the battery is preferentially used for driving the previous section (horizontal section) so that the SOC of the battery reaches a factory-set minimum capacity value C, more space is made for energy recovery of the next section, and the energy recovery of the next section is facilitated. When the downhill road section recovers energy and is only in a full power state, the retarder is connected to the downhill road section.

3. In the energy control stage, except that the next road section is in an uphill slope state, when the power generation of the battery and the engine is insufficient and the battery is controlled to be in the maximum capacity value B in the previous road section. When the next road section is the downhill road section, if the downhill road section is the condition that energy recovery can be carried out, the battery capacity is not limited to be the optimal state value A by the downhill road section, for the condition of steep downward slope, the SOC of the battery needs to be controlled to be the factory-set minimum capacity value C on the previous road section, and the SOC is kept to be the optimal state value A under other conditions, so that the service life of the battery can be prolonged.

4. In the calibration stage, the error can be reduced by using a mode of calibrating and averaging for multiple times, and the calibration result is more accurate.

5. The invention also judges whether the next stage is in a horizontal, uphill or downhill road condition at the current stage, and when the next stage is in an energy recovery stage, the current stage preferentially selects the battery for driving, so that the battery has more capacity to recover the energy of the next stage.

Drawings

FIG. 1 is a flow chart of node energy consumption calibration according to the present invention;

FIG. 2 is a first flowchart of the energy control process for an i +1 road section as an ascending road section according to the present invention;

FIG. 3 is a second energy control flow chart showing that the i +1 road section is a downhill road section and energy recovery is possible according to the present invention;

FIG. 4 is a schematic view of an uphill road segment according to an embodiment of the present invention;

fig. 5 is a schematic diagram of a downhill section according to an embodiment of the present invention.

Detailed Description

The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.

The invention discloses a control method for energy management of a hybrid mine truck, wherein a related mine truck is of a serial hybrid power structure, and the technical scheme is as follows:

step 1: node energy consumption calibration:

1) designing a calibration strategy, and initializing a system.

And in the process of calibrating the all-route working condition, setting the target value of the SOC of the battery to be 45%, detecting the SOC of the battery, controlling the engine to work if the SOC of the battery is lower than the target value, charging the battery to the target value, and not working if the SOC of the battery is higher than the target value.

2) And (4) carrying out node segmentation according to the energy consumption condition road conditions (level roads and slope road boundary points) in the vehicle driving process.

Demarcating the junction points of all working conditions, and acquiring the longitude and latitude of the GPS positioning point at the current road, particularly at the node in real time, wherein the judgment principle of the junction points is as follows: the traction force F' of the driving wheel of the hybrid mine truck and the traction force F required by the horizontal road surface are used₀And comparing and judging the road conditions of the ascending, the descending or the horizontal road conditions, and recording the GPS information at the moment.

When F' belongs to F₀(1+10%) section, horizontal road condition, and when F' is not in the section, recording the GPS information at the time;

when F'<F₀(1-10%) when the road condition is downhill and F' is not in the section, recording the GPS information at the time;

when F'>F₀(1+ 10%) is an uphill road condition, and when F' is not in this interval, the GPS information at that time is recorded.

Wherein, F₀The traction force of an output shaft under the horizontal road condition.

Wherein V is the mine truck speed; eta T-transmission efficiency; m-ore-card mass; g-gravitational acceleration; f-rolling resistance coefficient; CD-coefficient of air resistance; a is the windward area.

3) Method for calculating energy consumption per road section (i.e. between two nodes): according to the working voltage U (t), the current i (t) and the time t of the vehicle motor, the energy consumption Q of the uphill and downhill sections is calculated_{si_up}、Q_{si_down}(ii) a Calculating energy consumption Q of horizontal road according to traction force F and speed V of output shaft of gearbox of hybrid mining truck_{si_level}。

Wherein the power factorGenerally 0.7-0.85, and calculating the average value of 0.78; t is t_i-1And t_iFor the initial and end time of each road segment.

4) And recording the energy consumption and the GPS information of each road section of the vehicle. And distinguishing the ascending and descending slope by judging the GPS position information with the previous wheel speed not equal to zero and the position at the node.

If the road section is judged to be the uphill road section, recording the energy consumption storage of the road section as Q_{si_up}；

If the section is judged to be the downhill section, recording the energy consumption storage of the section as Q_{si_down}；

Energy storage consumed in the horizontal section is denoted as Q_{si_level}。

5) And returning the vehicle to the initial starting point after the vehicle returns to the original starting point, finishing the first calibration, and storing the data information.

6) Repeating the steps twice, and averaging the data calibrated for three times (the upslope is recorded as Q'_{si_up}And goes uphill and is recorded as Q'_{si_down}) And stored.

7) And finishing calibration.

Step 2: energy management control process

The SOC of the battery of the hybrid mine truck is factory-set with an optimal working state value A, a maximum capacity value B and a minimum capacity value C.

With Q_Bi-1Represents the energy of the battery SOC at the i-1 th node, namely the energy of the battery SOC before the battery SOC is reduced to the optimal working state value A, and the energy required to be consumed by the road section from the i-1 th node to the i-th node of the ith road section is Qs_iThe energy consumption Qs required by the next road section (i +1 th road section), i.e. the road section from the ith node to the (i + 1) th node_i+1With Q_EiRepresenting the engine energy consumption between the i-1 and i-th nodes, F_GTraction force of driving wheel of mine card at rated power of generator, P_GFor rated power of the generator, V₀For normal speed of mine trucks, F_G＝P_G/V₀And F' represents a driving force on a driving wheel of a current road section, Q_BmFor the energy consumed by the battery from a fully charged state to a factory-set minimum capacity value C, Q_B0For the energy consumed by the battery from a fully charged state to an optimum operating state value A, Q_BnThe energy consumed when the battery reaches a factory-set maximum capacity value B from a full-charge state is obtained, and the specific energy control process of the current road section is as follows:

(1) the i +1 th road section is the condition of ascending road

1) If Q_Bi-1≥Qs_i+Qs_i+1

a. If it isF’≤F_GAt the moment, the ith road section and the (i + 1) th road section are both driven by the battery, and the engine does not work;

b. if F'>F_GAt the moment, the ith road section is driven by the work of an engine, and the speed of the (i + 1) th road section is self-adaptively adjusted according to the required traction force;

2) if Qs_i+1+Qs_i>Q_Bi-1>Qs_i

a. If F' is less than or equal to F_GAt the moment, the i section is driven by a battery, the i +1 section is driven by the battery and the engine to work, and the engine provides required energy Q_Ei＝Qs_i+1+Qs_i-Q_Bi-1；

b. If F'>F_GWhen the section i is driven by the engine to provide the required energy Q_Ei＝Qs_i+Q_Bn-Q_Bi-1At the moment, the SOC of the battery is controlled to reach the maximum capacity value B by the section i, and the speed is adaptively adjusted by the section i +1 according to the required traction force;

3) if Q_Bi-1≤Qs_iThe following conditions are followed:

a. if F' is less than or equal to F_GAt the moment, the i road section is driven by the work of a battery and an engine, and the energy required by the engine is Q_Ei＝Qs_i-Q_Bi-1The i +1 road section is driven by the engine to work, and the battery SOC keeps the optimal working state value A;

b. if F'>F_GAt the moment, the i road section is driven by the engine to work, and the speed of the i +1 road section is adaptively adjusted according to the required traction force.

Referring to fig. 4, for the ascending road section, referring to fig. 4, a horizontal road section and an ascending road section are taken as an example for explanation, the starting node is an i-1 node, the end node of the horizontal road section is an i node, the end node of the ascending road section is an i +1 node, the battery SOC at the position of the i-1 node has energy (i.e., the energy of the battery SOC before the battery SOC is reduced to the optimal operating state value a), and the energy required by the road section between the i-1 node and the i node is Qs_iThe required energy of the road section from the node i to the node i +1 is Qs_i+1. For such road conditions, Q needs to be determined first_Bi-1And Qs_i+Qs_i+1The relation between them, i.e. section i-1The battery energy of the point, the energy required by the section from the node i-1 to the node i and the energy required by the section from the node i to the node i +1 are Qs_i+1And (4) summing.

If the energy consumption is larger than the energy consumption of the ith node, the energy consumption of the ith node battery can be provided by the energy of the battery corresponding to the i-1 node, and the energy consumption of the (i + 1) th node battery can be provided by the battery. For above if F'>F_GIn the case where the power supplied by the engine cannot ascend uphill, the speed of the mine block needs to be reduced for adjustment.

If Qs_i+1+Qs_i>Q_Bi-1>Qs_iThe equivalent battery energy can provide the energy consumption of the i road section, but is not enough to provide the energy consumption of the i +1 road sections, in this case, the i +1 road section is driven by the battery and the engine work, and the engine provides the required energy Q_Ei＝Qs_i+1+Qs_i-Q_Bi-1It is desirable to provide support for the engine, which is powered to maintain the battery SOC at the optimum state value a for the i +1 road segment. In this case, if F'>F_GThen, the battery is preferentially used for driving the i road section, and the required energy Q is provided_Ei＝Qs_i+Q_Bn-Q_Bi-1And equivalently, the battery energy needs to be reserved in advance in the i road section, so that the battery energy is reserved to the maximum capacity B in advance, and the i +1 road section reserves the energy in advance.

If Q_Bi-1≤Qs_iAnd the energy corresponding to the battery can not provide the energy consumption of the i road section, and can not provide the energy consumption of the i +1 road sections, the i road section needs to work together with the battery and the engine, the i +1 road section needs to work with the engine, and the SOC capacity of the battery is kept at the optimal state value A.

(2) The (i + 1) th road section is horizontal road condition

1) If Q_Bi-1≥Qs_i+Qs_i+1If the engine is driven by the battery, the engine does not work;

2) if Qs_i+Qs_i+1>Q_Bi-1>Qs_iThe section i is driven by a battery, and the section i +1 is driven by the working of an engine to provide required energy Q_Ei＝Qs_i+1-Qs_i。

3) If Q_Bi-1≤Qs_iAnd the section i is driven by the engine.

The i +1 road sections are horizontal road conditions, the horizontal road conditions are all road conditions for adjusting the battery capacity according to actual needs, the battery SOC is always kept in the optimal state value under normal conditions, and the battery SOC is controlled to be in the maximum capacity value under the condition that the next road section is an extremely steep slope or an extremely steep slope, and when the next road section is an extremely steep slope. When descending an extremely steep slope, the battery SOC is controlled to be at the minimum capacity value on the horizontal road section, and redundant description is omitted here.

(3) The (i + 1) th road section is the downhill road condition

1) If Qs_i+1>0, controlling according to the (i + 1) th road section as the horizontal road condition;

2) if Qs_i+1<0<Q_Bi-1I +1 road sections can be used for energy recovery, and then the current road section needs to judge Qs again_i+1+Q_Bi-1Whether or not less than 0:

a.Qs_i+1+Q_Bi-1the current road section is consistent with the control method under the horizontal and uphill road conditions, the battery and the generator are jointly driven, when the ith node is reached, the SOC of the battery meets the factory-set optimal working state value A, the i +1 road section is subjected to energy recovery, and when the battery is recovered to the full-power state, the retarder is accessed;

b.Qs_i+1+Q_Bi-1less than 0:

1.1)|Qs_i+1+Q_Bi-1less than or equal to Q_B0The current road section, namely the i road section is driven by a battery and an engine, the SOC of the battery is driven and controlled to reach the optimal working state value A, the i +1 road section is used for energy recovery, and when the battery is recovered to be in a full-power state, the retarder is connected;

1.2)|Qs_i+1+Q_Bi-1| is greater than Q_B0Less than Q_BmWhen the current road section, namely the battery and the engine of the i road section are driven, the SOC of the drive control battery reaches between the optimal working state value A and the minimum capacity value C, the i +1 road section carries out energy recovery, and when the battery is recovered to a full-power state, the retarder is connected;

1.3)|Qs_i+1+Q_Bi-1| is greater than or equal to Q_BmAnd when the energy of the i +1 road section is recovered to the full charge of the battery, the retarder is connected.

Referring to fig. 5, for the downhill section, referring to fig. 5, the energy consumption is required for dividing the downhill section and the energy recovery can be performed for the downhill section.

The energy consumption is needed for the downhill road section, the control method is the same as the control method for the horizontal road condition of the (i + 1) th road section, and the SOC of the battery is required to be controlled to be in the optimal state value A in the control process.

In the case where energy consumption is possible on a downhill section, it is necessary to determine Qs_i+1+Q_Bi-1The value of (i.e. the sum of the energy of the i-1 node battery and the energy required to be consumed by the i +1 link), when the energy can be recovered, the energy required to be consumed by the i +1 link is negative, which corresponds to the energy capable of being recovered being | Qs_i+1If energy is recovered, there are extremely steep slopes (| Qs)_i+1+Q_Bi-1| is greater than or equal to Q_Bm) The energy recovered on the downhill is large, in the process of reverse operation of the engine, the battery is charged to full charge from the optimal state value, and part of the energy cannot be recovered, so that the battery is required to be preferentially used for operation in the i road section for better energy recovery, and the SOC of the battery reaches the minimum capacity value C, so that a charging range with more energy can be provided for the i +1 road section, and if the residual energy is not recovered after full charge, a retarder is required to be connected in the case, and the battery is prevented from being damaged.

There is a moderate steep slope (when | Qs)_i+1+Q_Bi-1| is greater than Q_B0Less than Q_Bm) The current road section, namely the battery and the engine of the i road section are driven, the SOC of the drive control battery reaches between the optimal working state value A and the minimum capacity value C, the i +1 road section carries out energy recovery, and when the battery is recovered to the full-power state, the retarder is connected.

Some common downhill sections (| Qs)_i+1+Q_Bi-1Less than or equal to Q_B0) Energy recovery, but recyclabilityThe energy is less than the energy consumed when the battery reaches the optimal state value A set by a manufacturer under the full-charge state, then the battery SOC is driven and controlled to reach the optimal working state value A in the i road section, the engine reversely works to charge the i +1 road section, and the charged energy is charged to the full-charge state at most.

The above embodiments are merely illustrative of the technical concepts and features of the present invention, and the purpose of the embodiments is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.